Seapath 200 User`s Manual

Seapath 200 User`s Manual
Seatex Seapath™ 200
User's Manual
Issued: 2006-09-26
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Notice
•
All rights reserved. Reproduction of any of this manual in any form whatsoever without
prior written permission from Kongsberg Seatex AS is forbidden.
•
The contents of this manual is subject to change without notice.
•
All efforts have been made to ensure the accuracy of the contents of this manual.
However, should any errors be detected, Kongsberg Seatex AS would greatly appreciate
being informed of them.
•
The above notwithstanding, Kongsberg Seatex AS can assume no responsibility for any
errors in this manual or their consequences.
Copyright  2006 by Kongsberg Seatex AS. All rights reserved.
Kongsberg Seatex AS
Pirsenteret, N-7462 Trondheim, Norway
Telephone: +47 73 54 55 00
Facsimile: +47 73 51 50 20
Duty phone: +47 73 50 21 11
E-mail: km.seatex@kongsberg.com
www.km.kongsberg.com
III
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IV
Revision log
Document ID
38120-GM-001
Rev.
Date
Reason for revision
First version
Approved
(sign)
0
96-08-30
1
1997-11-10 Updated to correspond with software FOS
version 1.01
2
1998-05-04 Included description of multiref
functionality and some corrections.
FOS
3
1999-01-14 Upgraded with new MRU mounting
bracket and to correspond with
Seapath version 1.02.03 and MRU
version 2.53.
FOS
4
1999-11-30 Updated to correspond with the
MRU 3.00 software version.
FOS
5
1999-12-30 Updated to include the new HWplatform
FOS
6
2000-06-06 Updated to correspond with Seapath FOS
version 2.0 software
7
2000-11-14 Updated to correspond with the new FOS
Processing Unit with analog output
channels
8
2003-02-12 Updated to correspond with Seapath FOS
sw. version 2.02 and SCC version
2.1
9
2003-06-10 Updated with the possibility to
disable range rate corrections and
the change to LCD monitor
10
2004-03-30 Updated to correspond with Seapath FOS
sw. version 2.03 and SCC version
2.1.3
11
2006-05-11 Updated to correspond with latest
PU hardware
FOS
12
2006-09-08 Information on export restrictions
included
FOS
13
2006-09-26 Changed roll and pitch specification FOS
V
EJ
FOS
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VI
Table of contents
1. INTRODUCTION ............................................................................................................... 1
1.1 About this manual .......................................................................................................... 1
1.2 References ...................................................................................................................... 2
1.3 Definitions, abbreviations and acronyms ....................................................................... 2
1.3.1 Definitions .......................................................................................................... 2
1.3.2 Abbreviations and acronyms .............................................................................. 3
2. TECHNICAL DATA........................................................................................................... 5
2.1 Health, environment and safety...................................................................................... 5
2.2 Restrictions in export...................................................................................................... 5
2.3 Restrictions in guarantee ................................................................................................ 5
2.4 Performance data ............................................................................................................ 6
2.5 Restrictions in use .......................................................................................................... 6
2.6 Physical dimensions ....................................................................................................... 6
2.7 Power.............................................................................................................................. 7
2.8 Environmental specification........................................................................................... 8
2.9 Other data ....................................................................................................................... 9
3. INSTALLATION............................................................................................................... 11
4. TECHNICAL DESCRIPTION ........................................................................................ 13
4.1 Introduction .................................................................................................................. 13
4.2 Design principles.......................................................................................................... 13
4.2.1 Heading determination ..................................................................................... 14
4.2.2 Roll and pitch determination ............................................................................ 15
4.2.3 Position and velocity determination ................................................................. 15
4.2.4 Heave position and velocity computation ........................................................ 15
4.2.5 Selection of heave filter mode .......................................................................... 16
4.2.6 High speed data in real-time............................................................................. 19
4.3 System components ...................................................................................................... 20
4.3.1 Processing Unit................................................................................................. 21
4.3.2 MRU 5 .............................................................................................................. 24
4.3.3 GPS antennas and antenna bracket................................................................... 26
5. OPERATING INSTRUCTIONS...................................................................................... 27
5.1 Start procedure ............................................................................................................. 27
5.2 Operation ...................................................................................................................... 27
5.2.1 Height aided GPS position ............................................................................... 27
5.2.2 Gyro calibration................................................................................................ 28
5.2.3 Differential GPS corrections ............................................................................ 28
5.2.4 SBAS corrections ............................................................................................. 30
5.2.4.1 Selection of satellites ....................................................................... 30
VII
5.2.4.2 Use of SBAS corrections ................................................................. 30
5.2.4.3 Use of Geo Ranges in position solution........................................... 31
5.2.5 Heave measurements ........................................................................................ 31
5.3 Stop procedure.............................................................................................................. 32
5.4 Performance monitoring............................................................................................... 32
6. MAINTENANCE............................................................................................................... 33
6.1 General ......................................................................................................................... 33
6.2 Periodic maintenance ................................................................................................... 33
6.2.1 Software upgrades ............................................................................................ 33
6.2.2 Cleaning of air inlet .......................................................................................... 33
6.2.3 Recalibration of the Antenna Bracket .............................................................. 34
6.2.4 Recalibration of the MRU ................................................................................ 34
6.2.5 Changing the internal lithium battery............................................................... 34
6.3 Repairs and modifications ............................................................................................ 35
6.3.1 Replacement of GPS antenna cable.................................................................. 35
6.3.2 Replacement of GPS antenna ........................................................................... 35
6.3.3 Repair of the Processing Unit........................................................................... 36
6.3.3.1 Installing spare Processing Unit....................................................... 36
6.3.4 Repair of the MRU 5 ........................................................................................ 37
6.3.4.1 Installing a spare unit ....................................................................... 37
6.3.5 Repair of the MRU junction box ...................................................................... 37
6.4 Troubleshooting............................................................................................................ 38
6.4.1 All "four lights" are black................................................................................. 38
6.4.2 All data invalid "four red lights" ...................................................................... 38
6.4.3 Invalid position/velocity "left light red"........................................................... 39
6.4.4 Reduced position/velocity "left light orange" .................................................. 39
6.4.5 Invalid heave and roll/pitch "two red lights".................................................... 40
6.4.6 Reduced heave and roll/pitch data "two orange lights".................................... 40
6.4.7 Invalid heading "right light red"....................................................................... 40
6.4.8 Reduced heading "right light orange" .............................................................. 41
6.4.9 Problems with the MRU 5 ................................................................................ 42
6.4.10 Reduced roll or pitch performance ................................................................... 42
6.4.11 Reduced heave performance............................................................................. 43
7. DRAWINGS....................................................................................................................... 45
8. PARTS LIST ...................................................................................................................... 47
APPENDIX A – SEAPATH DISPLAY WINDOWS .......................................................... 49
APPENDIX B – LOGGING OF DIAGNOSTICS DATA .................................................. 65
INDEX ..................................................................................................................................... 67
READER'S COMMENTS..................................................................................................... 69
VIII
List of illustrations
Figure 1 Seapath data flow..................................................................................................... 14
Figure 2 Relative heave residual in percentage of amplitude for "Hydrographic survey" filter
with damping 0.7 and various average heave periods 5, 10, 15 and 20 seconds ............. 17
Figure 3 Heave step response with corresponding settling time for "Hydrographic survey"
filter with damping 0.7 and various average heave periods 5, 10, 15 and 20 seconds .... 18
Figure 4 Relative heave residual as percentage of amplitude for "Hydrographic survey" filter
with average heave period set to 10 seconds with various damping factors 0.5, 0.6, 0.7,
0.8 and 0.9 ........................................................................................................................ 19
Figure 5 Front panel of the Processing Unit .......................................................................... 21
Figure 6 Rear panel of the Processing Unit ........................................................................... 22
Figure 7 MRU 5 functional modules...................................................................................... 24
Figure 8 Mechanical layout of MRU (MRU 5 does not include shown fluxgate compass) .. 25
Figure 9 The Antenna Bracket ............................................................................................... 26
Figure 10 Side view of the GPS antenna installation............................................................. 26
Figure 11 Height Aiding set to Filter and the Aided Height found to be 50 metres.............. 28
Figure 12 The stations 255 and 123 are ignored in the automatic selection of stations ........ 29
Figure 13 SBAS Common Settings for WAAS satellites ...................................................... 30
Figure 15 Common Network Settings.................................................................................... 65
Figure 16 The log option in the Debug menu ........................................................................ 66
IX
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Seatex Seapath 200 User's Manual, rev.13
Introduction
1.
INTRODUCTION
1.1
About this manual
This is a compilation of information on the Seapath 200 product released for the user. The
manual is organised into the following chapters:
Chapter 1 Introduction - A brief overview of this manual with references and
abbreviations.
Chapter 2 Technical Data - Presents detailed product specification, physical dimensions,
required power, environment restrictions, together with restrictions in use and
guarantee.
Chapter 3 Installation - Refers to the Installation Manual.
Chapter 4 Technical Description - A brief description of the theory of an integrated
GPS/IMU system and how the Seapath calculates accurate position, velocity, and
attitude.
Chapter 5 Operation Instructions - Describes system operation following installation.
Chapter 6 Maintenance - Describes repair and servicing procedures including a detailed
troubleshooting section.
Chapter 7 Drawings - Refers to the Installation Manual.
Chapter 8 Parts list - Lists the parts in the basic delivery and available optional equipment.
In this manual the following notations are used:
CAUTION
Is used to make the user aware of procedures and operational practice which, if not
followed, may result in degraded performance or damage to the equipment.
Note
A note text has this format and is used to draw the user's attention to special
features or behaviour of the equipment.
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Seatex Seapath 200 User's Manual, rev.13
1.2
[1]
[2]
[3]
[4]
Introduction
References
38120-GM-002 Installation Manual, Seapath 200, rev. 11
NMEA 0183 Standard for interfacing marine electronic devices, Version 2.3
RTCM recommended standards for differential Navstar GPS service, Version 2.2
General Conditions for the Supply of Products, Orgalime S 2000 with one exception
sheet
1.3
Definitions, abbreviations and acronyms
1.3.1
Definitions
alignment
Is the process of adjusting the current internal navigation
frame (g, h or b-frame) in the instrument to the true external
frame.
antenna bracket
Is the arrangement on which to mount the GPS antennas.
antenna holder
Is the arrangement on board the vessel for mounting the
antenna bracket to.
attitude
The orientation relative to the vertical axis of a vehicle.
Heading is not included. If heading is included, the word
orientation for the vehicle is used.
heading
The direction of the main axis (bow direction) of the vehicle
as opposed to course, which is the direction of motion of the
vehicle. Yaw angle as defined here is the same as heading.
heave
The vertical dynamic motion of a vehicle and defined positive
down. Heave position and velocity are dynamic motion
variables with a certain lower cutoff frequency.
host system
In this manual defined as Navigation computers, Dynamic
Positioning Systems, etc., receiving data from Seapath.
pitch
A rotation about the pitch axis and is positive when the bow
moves up. Normally pitch means the dynamic pitch angle
motion.
roll
A rotation about the roll axis and is positive when starboard
side of the vehicle moves down. Normally roll means the
dynamic roll angle motion.
starboard
When looking in the bow direction of a vehicle, this is the
right hand side of the vehicle.
yaw
A rotation about the vertical axis and is positive when turning
Eastward when the vehicle cruises in North direction.
Normally yaw means the dynamic yaw motion.
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Seatex Seapath 200 User's Manual, rev.13
1.3.2
b-frame
CEP
CG
EMI
g-frame
GPS Time
IMU
MP
MRU 5
NMEA
P-axis
PPM
1PPS
RFI
RMS
R-axis
SBAS
SAPOS
SCC
UTC
Y-axis
Introduction
Abbreviations and acronyms
Body frame. An orthogonal frame fixed to the MRU housing or to the
vehicle where the MRU is fixed.
Circular Error Probability.
Centre of gravity. The mass centre of a vessel. This is normally the location
with least linear acceleration, and hence the best location for measurements
of roll and pitch.
Electromagnetic interference.
Geographic frame. An orthogonal frame having axes pointing North, East,
and Down at the current location of the vehicle.
The time in the GPS system. The GPS time is within UTC time ±180 nsec
(95 per cent) plus possible leap seconds.
Inertial Measurement Unit. A system consisting of gyros and
accelerometers.
Measurement Point.
Motion Reference Unit, model 5. This is the IMU within the Seapath
measuring dynamic linear motion and attitude.
National Marine Electronics Association. NMEA 0183 is a standard for
interchange of information between navigation equipment.
This axis is fixed in the vehicle, and points in the starboard direction
horizontally when the roll angle is zero. Positive rotation about this axis is
bow of the vehicle up.
Parts per million.
One Pulse Per Second.
Radio Frequency Interference.
Root Mean Square.
This axis is fixed in the vehicle, and points in the forward direction
horizontally when the pitch angle is zero. Positive rotation about this axis is
starboard side of the vehicle down.
Satellite Based Augmentation System
The German National Survey Satellite Positioning Service SAPOS®
Seapath Control Centre is a special software used to set configuration
parameters in Seapath. The software runs under Microsoft Windows version
95, 98, NT 4.0 or compatible on a PC.
Universal Time Co-ordinated. This is the official time in the world and has
replaced GMT (Greenwich Mean Time) as the official time.
This axis is fixed in the vehicle and points in the downward direction when
the vehicle is aligned horizontally. Positive rotation about this axis is
turning the bow of the vehicle to starboard.
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Introduction
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Seatex Seapath 200 User's Manual, rev. 13
Technical data
2.
TECHNICAL DATA
2.1
Health, environment and safety
Operation or troubleshooting of Seapath equipment will not imply any risk for high voltages,
explosions or exposure to gas. The Seapath 200 complies with IEC 60950/EN60950 standards
regarding product safety (low voltage) and IEC 60945/EN60945 standards on electromagnetic
compatibility (immunity/radiation) and vibration.
All Seapath 200 electrical and electronic components have to be disposed separately from the
municipal waste stream via designated collection facilities appointed by the government or
local authorities. The correct disposal and separate collection of your old appliance will help
preventing potential negative consequences for the environment and human health. It is a
precondition for reuse and recycling of used electrical and electronic equipment. For more
detailed information about disposal of your old appliance, please contact your local
authorities or waste disposal service.
2.2
Restrictions in export
Export of the MRU 5 component within the Seapath 200 product to other countries than EU
countries or Argentina, Australia, Canada, Iceland, Japan, New Zealand, Switzerland, SouthKorea, Turkey, Ukraine and USA, requires an export license.
Notice to Importer: The MRU product specified in this document has been shipped from
Norway in accordance with The Ministry of Foreign Affairs' Official Notification on Export
Control and may be subject to restrictions if re-exported from your country.
2.3
Restrictions in guarantee
The liability of Kongsberg Seatex AS is limited to repair of the Seapath 200 only under the
terms and conditions stated reference [4], and excludes consequential damages such as
customer's loss of profit or damage to other systems traceable back to Seapath malfunction.
The warranty does not cover malfunctions of the Seapath resulting from the following
conditions:
a) The MRU 5 is not shipped in the original transport boxes.
b) The MRU 5 has been exposed to extreme shock and vibrations.
c) The Processing Unit or the MRU 5 housing has been opened by the customer.
d) Over-voltage or incorrect power connection.
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Seatex Seapath 200 User's Manual, rev. 13
2.4
Technical data
Performance data
Roll and pitch accuracy1 for ±5° amplitude: .............................................................. 0.02° RMS
Heading accuracy with 2.5 metre antenna baseline: ................................................ 0.075° RMS
Heading accuracy with 4 metre antenna baseline: ..................................................... 0.05° RMS
Scale factor error in roll, pitch and heading:...................................................................... 0.15%
Heave accuracy: .......................................................................5 cm or 5% whichever is highest
Heave motion periods: .........................................................................................1 to 25 seconds
Position accuracy with DGPS: ....................................................0.7 m RMS or 1.5 m 95% CEP
Position accuracy with SBAS: ....................................................0.7 m RMS or 1.5 m 95% CEP
Velocity accuracy:............................................................. 0.03 m/s RMS or 0.07 m/s 95% CEP
The performance figures are valid with a minimum of four visible satellites, HDOP less than
2.5, PDOP less than 6, high quality DGPS corrections, correctly measured offsets and
otherwise normal conditions. Excessive multipath, GPS signal obstructions or interference
may reduce the performance.
2.5
Restrictions in use
The Seapath 200 function is based on GPS signals and requires free sight to the sky,
minimum four visible satellites, PDOP value less than 6 and otherwise normal conditions to
operate. It is designed for use on board marine surface operated vehicles with linear
acceleration less than ±30 m/s2 (±3g) and an angular rate range less than ±150°/s.
Only relative dynamic heave position is calculated and the measurements are limited by the
selection of their motion periods available in the range 1 to 25 seconds.
2.6
Physical dimensions
Processing Unit
Width:...................................................................................................... 482 mm (19-inch rack)
Height:....................................................................................................................132 mm (3 U)
Depth: .............................................................................................................................. 430 mm
Weight: ................................................................................................................................ 12 kg
Colour:.........................................................................................................Front anodised black
Connection Box, M410-32
Length: ............................................................................................................................ 114 mm
Width:................................................................................................................................ 89 mm
Height:............................................................................................................................... 55 mm
Weight: ............................................................................................................................... 0.3 kg
Colour:.................................................................................................................................. Grey
1
When the Seapath is stationary over a 30-minute period or is exposed to a combined two-axis sinusoidal
angular motion with five minutes duration.
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Seatex Seapath 200 User's Manual, rev. 13
Technical data
Video Display Unit, 17" LCD (Samsung SyncMaster 710n)
Width:.............................................................................................................................. 380 mm
Height:............................................................................................................................. 383 mm
Depth: .............................................................................................................................. 170 mm
Weight: ............................................................................................................................... 3.8 kg
Colour:...................................................................................................................... Black/Silver
MRU 5
Height:............................................................................................................................. 204 mm
Diameter:......................................................................................................................... 105 mm
Weight: ............................................................................................................................... 2.5 kg
Colour:...................................................................................................................................Blue
MRU Mounting Bracket, MRU-M-MB3
Length: ............................................................................................................................ 265 mm
Width:.............................................................................................................................. 119 mm
Height:............................................................................................................................. 119 mm
Weight: ............................................................................................................................... 1.6 kg
Colour:................................................................................................................................. Black
Material: .......................................................................................................................... POM-H
MRU Junction Box, MRU-E-JB1
Length: ............................................................................................................................ 226 mm
Width:.............................................................................................................................. 126 mm
Height:............................................................................................................................... 90 mm
Weight: ............................................................................................................................... 2.0 kg
Colour:................................................................................................................................. Black
Antenna Bracket
Length............................................................................................................................ 2560 mm
Height:............................................................................................................................... 40 mm
Width:................................................................................................................................ 75 mm
Weight for the 2.5-metre aluminium version ..................................................................... 6.6 kg
Colour:................................................................................................................ Grey RAL 7035
2.7
Power
Processing Unit
Voltage: .......................................................................................85 to 135 and 180 to 265V AC
Power consumption:............................................................................................... 100 W (max.)
Batteries: ...................................................................... None, connection to UPS recommended
Video Display Unit, 15" LCD (Philips 150S4FB)
Voltage: ........................................................................................... 100 to 240V AC (50/60 Hz)
Power consumption:.............................................................................................. 23 W (typical)
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Seatex Seapath 200 User's Manual, rev. 13
2.8
Technical data
Environmental specification
Processing Unit
Enclosure material:..................................................................................................... Aluminium
Enclosure protection: .......................................................................................................... IP-30
Operating temperature range:...................................................................................... 0 to +55ºC
Operating humidity: ........................................................................................20 to 80% relative
Storage temperature range: ......................................................................................-20 to +60ºC
Storage humidity: ..................................................................................................Less than 55%
Vibration testing according to:..................................................................................... EN 60945
Connection Box, M410-32
Material: ..................................................................................................................... Aluminium
Enclosure protection: .......................................................................................................... IP-20
Video Display Unit, 15" LCD (Philips 150S4FB)
Operating temperature range:...................................................................................... 5 to +40ºC
Relative humidity: ........................................................................................................20 to 80%
MRU 5
Enclosure material:......................................................................................Anodised aluminium
Enclosure protection: .......................................................................................................... IP-66
Operating temperature range:.....................................................................................-5 to +55ºC
Operating humidity (max.):................................................................................................. 100%
Storage temperature range: ......................................................................................-20 to +70ºC
Storage humidity (max.):..................................................................................................... 100%
Max. allowed vibration operational (10-2000 Hz continuous): ...................................... 0.5 m/s2
Max. allowed vibration non-operational (0-2000 Hz continuous):.................................. 20 m/s2
Max. shock non-operational (10 ms peak):.................................................................. 1000 m/s2
MRU Junction Box, MRU-E-JB1
Material: ..................................................................................................................... Aluminium
Enclosure protection: .......................................................................................................... IP-65
GPS Antennas (L1)
Enclosure material:.....................................................................................Weatherable Polymer
Operating temperature range:...................................................................................-40 to +70ºC
Operating humidity (max.):................................................................................................. 100%
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2.9
Technical data
Other data
Data I/O
Configuration: ..................................................... External PC connected to the Processing Unit
Data outputs: .............................. Up to eight RS-232/RS-422 serial lines and Ethernet UDP/IP
Data update rate: .....................................................................................................Up to 100 Hz
Data delay:.................................................. All data in real-time (0 ms) plus transmission delay
Analog outputs: ..................................................... Three user configurable channels, ±10 Volts
Data inputs: ..................................................................... Up to five RS-232/RS-422 serial lines
DGPS corrections:................................. RTCM 104 vers. 2.2, SAPOS®EPS and Trimble CMR
Optional external gyro compass:..............................NMEA 0183 HDT, Robertson 4 byte BCD
Baud rate: ..........................................................................................................Max. 38.4 kBaud
1PPS signal accuracy: .................................................................................................... 220 nsec
Data output formats:
•
•
•
•
•
•
•
•
•
•
•
•
•
•
NMEA 0183 ZDA, GGA, GLL, VTG, HDT, GST, GSA and GRS messages and the
proprietary PSXN,20, PSXN, 21, PSXN, 22 and PSXN, 23 messages.
Simrad EM1000 (Simrad EM950 and EM1000 compatible).
Seapath binary format 3.
Simrad EM3000 (Simrad EM3000, EM300 and HiPap compatible).
Calibration format.
Echo sounder format.
RD Instrument ADCP proprietary NMEA format, "PRDID".
Seapath binary format 11.
Lehmkuhl gyro repeater format.
1PPS time tag, NMEA ZDA message.
1PPS time tag, Trimble compatible messages.
Atlas Fansweep format.
Echo sounder format 18, TSS1.
The Submetrix format.
Note
The system has up to eight output serial lines and up to five input lines. However,
the total number of serial lines is limited to twelve.
Other data
Lifetime of the lithium battery within the MRU:..........................................................>10 years
MTBF:............................................................................................................................. 18500 h
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Technical data
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Seatex Seapath 200 User's Manual, rev. 13
3.
Installation
INSTALLATION
For description of installation of the Seapath, please see the Installation Manual, reference
[1].
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Installation
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
4.
TECHNICAL DESCRIPTION
4.1
Introduction
The Seapath 200 provides a real-time heading, attitude, position and velocity solution by
integrating the best signal characteristics of two technologies, Inertial Measurement Units
(IMUs) and the Global Positioning System (GPS). Seapath utilises the proven and reliable
Seatex MRU 5 inertial sensor and two GPS carrier phase receivers as raw data providers. The
raw sensor data are integrated in a Kalman filter in the Seapath Processing Unit. The Kalman
filter is a proven and effective filtering technique for integration of various sensors in a realtime environment, and the filter output provides heading, attitude and position data required
in survey applications.
Seapath is developed specifically for the professional survey market where gyros, motion
sensors and GPS are critical sensors in order to achieve optimal surveying capability. The
Seapath is developed to replace three instruments; the gyro compass as heading reference, the
motion sensor for roll, pitch and heave, and GPS for positioning and velocity determination.
The result led to major improvements for the customer:
• No interfacing problems and timing errors. All Seapath data are referred to the same time
stamp.
• Reduced investments and maintenance costs.
4.2
Design principles
Seapath 200 is a stand-alone system, which does not require input of data from any other
sensors in order to provide accurate heading, roll, pitch and heave. However, Seapath requires
input of DGPS corrections or reception of SBAS corrections in order to achieve optimal
position performance. In addition, heading input from a gyro compass can be used to increase
system redundancy. By interfacing the gyro compass to Seapath, calibration data for the gyro
compass is automatically generated.
Heading, determined from GPS phase measurements between the two GPS antennas, velocity
and position from GPS together with angular rate and linear acceleration measurements from
the MRU, are input into a Kalman filter. This filter outputs position and velocity in three axes
together with precise roll, pitch, heading and heave measurements. The outputs from the
Processing Unit are available on up to eight RS-232/RS-422 individually configurable serial
lines and on Ethernet. All the data are output in real-time, at high update rate, including the
position data.
To ensure accurate time tagging, the one Pulse Per Second (1PPS) time pulse from the GPS
sensor is used as a common time reference for both the central processing unit and the MRU.
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
Figure 1 Seapath data flow
4.2.1
Heading determination
True heading is provided by integrating the best signal characteristics of the MRU 5 yaw rate
and differential carrier phase measurements between two GPS antennas. On rare occasions
where GPS heading may be unavailable due to poor GPS conditions, an external gyro
compass can be used as a secondary heading reference to increase reliability.
The GPS part of the system measures direction from antenna no. 1 to antenna no. 2. In order
to output ship’s heading from Seapath, the angular offset between the Antenna Bracket and
the ship's centre line is entered as a parameter. The angular offset is determined during
calibration by comparing heading measured by GPS with ship’s heading measured by a
reference system.
In order to maximise heading performance, Seapath continuously calibrates gyro compass
versus GPS heading. This gives the best result, if gyro heading must be used, because the
GPS heading is more accurate and does not need re-calibration regularly. Seapath calculates a
long-term gyro bias, which is the average difference between the gyro compass and the GPS
heading since system start-up. Assuming that Seapath has been correctly calibrated, the longterm bias can be used directly as a calibration value for the gyro compass. In addition, a shortterm gyro bias is calculated as a filtered value of the difference between the gyro compass and
the GPS heading with a 15-minute time constant. The intention with the short-term bias is to
measure dynamic errors in the gyro, e.g. after manoeuvres. When gyro compass heading is
used in Seapath, the short-term bias is applied as correction to the gyro heading. If GPS
heading for some reason is missing for a longer period, the short-term bias converges towards
the long-term bias with a 15-minute time constant. As a result, the best available correction is
always used for the gyro heading.
Gyro re-calibration can be done at any time without affecting the use of a gyro compass as a
backup heading sensor in Seapath, because of the continuous calibration routine in Seapath.
The Seapath heading does not need re-calibration unless the Antenna Bracket has been
moved.
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4.2.2
Technical description
Roll and pitch determination
Roll and pitch output from Seapath is based on highly accurate linear accelerometer data and
angular rate sensor data from the IMU. By tightly integrating these IMU data in the Kalman
filter with data from the GPS receivers, Seapath provides accurate roll and pitch under all
conditions. With this feature, horizontal accelerations are observable, making the run-ins
needed to stabilise conventional vertical reference systems unnecessary.
4.2.3
Position and velocity determination
The two, fixed baseline GPS antennas and their receivers are used as redundant GPS position
and velocity sources. In case of missing data from one GPS receiver, the other (remaining)
receiver provides position and velocity. The Seapath 200 is robust against GPS dropouts by
using the IMU for dead reckoning navigation in order to provide position, velocity and also
heading measurements when GPS is not available.
Position and velocity are measured by differential GPS using phase-smoothed pseudo-range
and Doppler observations. Differential corrections from up to six reference stations can be
combined in order to obtain the best solution. If data from more than six stations are
available, the six nearest stations are used. This automatic selection can be overridden if
needed.
The GPS data are lever arm compensated to the vessel's centre of gravity. Acceleration data
from the MRU are also lever arm compensated to the centre of gravity and integrated with the
GPS data in a Kalman filter.
The resulting position, velocity and heave measurements are then compensated for the lever
arm from centre of gravity to the user measurement point before output.
4.2.4
Heave position and velocity computation
Heave is the vertical position or height relative to a zero mean level and positive downwards.
The vertical acceleration is high pass filtered and integrated twice over time to heave position.
Heave velocity is computed with one integration over time of filtered vertical acceleration.
The heave filter removes static and slowly varying errors.
The user must tune this filter according to these requirements. The heave filter parameters
should be selected according to the expected average wave period To for the vessel. The
expected average wave period To can be selected in the range 1 to 25 seconds. If a too long
period is selected, the velocity and position outputs will have a slowly varying error. If a too
short period is chosen, the estimated heave will have a phase error for long period motions.
A low damping factor ε reduces the short-term error for long period motions close to the
selected average period To, since the phase error is reduced. However, ringing in the output at
To may cause some problems. The damping factor ε can be set in the range 0.3 to 1.0.
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
In the software two different types of filter structures are implemented. The filter mode
"General purpose" is implemented to achieve optimal amplitude performance, whereas the
"Hydrographic survey" mode provides optimal phase performance. For the "Automatic" filter
mode the hydrographic survey filter structure is used. This algorithm estimates the sea
conditions by computing the dominating period of the waves seen from ship or vehicle and
automatically sets the average heave period To in real time during operations.
4.2.5
Selection of heave filter mode
The following selections are available in the Seapath configuration in order to achieve the
optimal heave performance:
• Heave filter mode. Selection between different filter structures.
• Period. The average heave period for the vessel, To.
• Damping. The heave damping factor ε to be used in the filter.
The heave filter damping and average period should be chosen in order to obtain the best
possible correspondence between the estimated heave motion and the real heave motion.
These parameters can be set to a constant value or the automatic adaptive filter may be chosen
in case of varying sea states. The following should be considered when selecting the different
heave filter modes and parameters:
Heave filter mode:
• Automatic. To be selected when the vessel is operating in various sea states or when the
average heave period is unknown.
• General purpose. Is selected when optimal heave amplitude is to be measured and the
heave phase is of no importance. This mode is typically selected when the Seapath is to be
used for measuring the heave height and period on oceanographic buoys.
• Hydrographic survey. To be selected when the heave phase and amplitude have to be
output correctly in real time. This mode is typically selected when the heave output signal
from the Seapath is to be used for heave compensation of echo sounders, hydro acoustic
positioning systems and offshore crane systems.
• Off. To be selected if heave is not to be used and the status indication of heave in the
Seapath Display Window and the Processing Unit front panel is confusing for the
operation. In this mode the status indication for heave on the output formats will be invalid
and the LED indicator on the front panel will be turned off.
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
Period:
• An expected average heave period has to be set to the heave filter.
• The settling time for the heave measurements from power-on or after a turn will be about
10 times the selected period, To. By selecting an unnecessary high heave period the settling
time will be longer than optimal. For vessels performing surveys with frequent turns, the
period should be set as low as possible to minimise the heave settling time after turns.
Damping:
• The heave damping factor shall usually be set to 0.7. Only for particular operations this
parameter should be changed. In operations with heave periods of more than 25 seconds,
the damping factor should be reduced to 0.6 in order to achieve correct phase
measurements. In operations with heave periods of less than 2 seconds, the damping factor
should be increased to 0.8.
Figure 2 and Figure 3 below should be used as a guideline for selecting the correct average
heave period (To) in the "Hydrographic survey" filter.
Figure 2 Relative heave residual in percentage of amplitude for "Hydrographic survey"
filter with damping 0.7 and various average heave periods 5, 10, 15 and 20 seconds
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
Figure 3 Heave step response with corresponding settling time for "Hydrographic survey"
filter with damping 0.7 and various average heave periods 5, 10, 15 and 20 seconds
The selection of heave filter settings is a trade-off between low heave error over a wide range
of heave periods and the settling time after an occurrence introducing a step response in the
heave filter, such as after a turn if the MRU has not external input of the vessel speed. Input
of vessel speed to the MRU is important to reduce the heave errors after a turn or changes in
speed.
For an MRU without external input we recommend the following selections:
• The selection To =5 or lower is recommended for vessels performing surveys with a lot of
turning on rivers or within harbours. The settling time in heave will be about 50 seconds.
• The selection To =10 is the default setting for this heave mode and covers most surveys,
unless long period heave motions.
• The selection To =20 is recommended used for vessels operating in oceans with deep
waters or vessels that frequently operates with following sea.
Figure 4 shows the change in the "Hydrographic survey" filter performance when changing
the damping factor. We recommend that the damping factor is set to 0.7.
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
Figure 4 Relative heave residual as percentage of amplitude for "Hydrographic survey"
filter with average heave period set to 10 seconds with various damping factors 0.5, 0.6, 0.7,
0.8 and 0.9
4.2.6
High speed data in real-time
By the integration of motion data with GPS positions in the Kalman filter, a 100 Hz update
rate of heading, roll, pitch and position is achieved. All Seapath data are output in real-time,
including the position data, due to internal processing predicting the data to real-time. This
eliminates delays due to processing.
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Seatex Seapath 200 User's Manual, rev. 13
4.3
Technical description
System components
The Seapath comprises three main components, which are physically separated. These are:
•
•
•
The Processing Unit.
The MRU 5 motion sensor.
The Antenna Bracket with two GPS antennas.
In addition comes:
•
•
•
•
•
•
The Processing Unit connection box with 1.5-metre cable.
VDU monitor and keyboard for table mounting.
The MRU mounting bracket.
A junction box with three metres of cable for interfacing to the MRU.
GPS cables, power cable and the cable between the Processing Unit and the junction box.
Configuration software, configuration cables and documentation.
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Seatex Seapath 200 User's Manual, rev. 13
4.3.1
Technical description
Processing Unit
The Seapath Processing Unit is designed to fit standard 19-inch racks and is typically
installed on the bridge or in the instrument room. The Processing Unit comprises the
following main parts:
•
•
•
•
•
•
Hard disk
3.5-inch floppy disk
Serial and analog I/O boards
Computer main board
Two GPS receivers
110/230V AC power supply
The front panel contains a communication port for configuring Seapath. The four status lights
on the front panel indicate whether the quality of data is normal, reduced performance or
invalid. The front panel includes the following items:
•
•
•
•
•
On/off switch
RS-232 communication interface for configuration
USB connection (not in use)
A 3.5-inch floppy disk for software installation and upgrade
Four status indicator lights
Seatex Seapath 200
Figure 5 Front panel of the Processing Unit
The rear panel of the Processing Unit contains communication interface ports for interfacing
to external systems as well as interface of the MRU 5. These ports are individually
galvanically isolated, except for the AUX - Serial port which is not isolated.
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
VGA
COM 2
COM 5
COM 8
MRU
COM 6
COM 9
LPT1
COM 7
COM 10
GPS 1
GPS 2
NET
IALA
PPS
MOUSE
KEYB
AUX - Serial
Input : 100-240VAC/47-63Hz/100VA
Fuse
: 2A
Class1 : Must be connected to
grounded outlet only
USB
Compass safe distance:
Steering Magnetic Compass : 1.1 m
Standard Compass
: 1.9 m
NET
Figure 6 Rear panel of the Processing Unit
The use of the different connectors:
Connectors
VGA
PPS
MOUSE
KEYB
NET
COM 2
Type
MRU
LPT1
AUX - Serial
COM 5
RS-422
Parallel port
Analog output channels and
additional serial lines (com13
to com16)
RS-232 or 422 (default 232)
COM 6
RS-232 or 422 (default 232)
COM 7
RS-232 or 422 (default 232)
COM 8
RS-232 or 422 (default 232)
COM 9
RS-232 or 422 (default 232)
COM 10
RS-232 or 422 (default 232)
GPS 1
GPS 2
NET
IALA
USB
100/240VAC
N-Connector 50 ohm
N-Connector 50 ohm
1 pulse-per-second
Ethernet output
RS-232
Power
22
Connected to
Video display unit
External equipment
Not in use
Keyboard
External equipment
User configurable input or output (default
output)
MRU 5
Not in use
User configurable
User configurable input or output (default
output)
User configurable input or output (default
output)
User configurable input or output (default
output)
User configurable input or output (default
output)
User configurable input or output (default
gyro compass input)
User configurable input or output (default
DGPS corrections input)
GPS antenna no. 1
GPS antenna no. 2
Not in use
Not in use
Not in use
Input of 85 to 135 and 180 to 265V AC
Seatex Seapath 200 User's Manual, rev. 13
Technical description
Optional
The comports available on the AUX - Serial connector may be used if more serial input or
output lines than those described above (Com 5 to 10) are required. The AUX-Serial port
makes it possible to increase the number of communication ports. On the 25-pin DSub male
connector, six comports are available. These ports are default RS-232 serial lines. The pin
layout is described below.
Pin no.
1
14
2
15
3
16
18
6
19
7
20
8
21
9
22
10
23
11
Note
Signal
GND
RX
TX
GND
RX
TX
GND
RX
TX
GND
RX
TX
GND
RX
TX
GND
RX
TX
Line
Description
Com4
RS-232, not galvanically isolated
Com14
RS-232, not galvanically isolated
Com15
RS-232, not galvanically isolated
Com16
RS-232, not galvanically isolated
Com17
RS-232, not galvanically isolated
Com18
RS-232, not galvanically isolated
The AUX - Serial ports are limited in use since these ports are not galvanically
isolated. They can only be used to distribute signals to/from other systems
mounted in the same rack and use the same power reference, unless addtional
electronic equipment which provides isolation is connected in between.
In order to galvanically isolate these lines and maybe convert them to RS-422, the Kongsberg
Seatex product HMS 100 Converter Box (part no. M410-30) can be used. However, for the
Seapath product we recommend that the product Seatex EXT 6 unit (part no. M320-41) is
used for this purpose. The Seatex EXT 6 unit is a 1 U rack module including isolation and
conversion to RS-422 on all the AUX - Serial comports.
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Seatex Seapath 200 User's Manual, rev. 13
4.3.2
Technical description
MRU 5
The Seatex MRU 5 is specifically designed for motion measurement in marine applications.
The unit incorporates 3-axis sensors for linear acceleration and angular rate, along with
complete signal processing electronics and power supply. The MRU 5 outputs absolute roll
and pitch. Dynamic acceleration in the MRU axes direction as well as velocity and relative
position, are also provided. The MRU achieves high reliability by using sensors with no
rotational or mechanical wear out parts.
When the MRU is used within the Seapath product, only raw angular rate and linear
acceleration data is output from the unit. All processing of these signals to roll, pitch, heave
and velocity measurements is performed in the Kalman filter in the Processing Unit. The
analog output channels from the MRU, as indicated in Figure 7, are therefore not used when
the MRU is used within the Seapath product. Instead, three analog channels are available on
the rear panel of the Processing Unit.
Figure 7 MRU 5 functional modules
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Seatex Seapath 200 User's Manual, rev. 13
Technical description
The interior of the MRU is divided into two sub-assemblies consisting of an electronic unit
and a sensor unit. The electronic unit consists of plug-in circular multi-layer boards.
Extensive use is made of surface mounted components. The unit is divided into nine separate
mechanical parts, which may be exchanged very quickly by plug in boards when the housing
cylinder has been removed. The housing cylinder should, however, not be removed by anyone
else than Seatex.
Figure 8 Mechanical layout of MRU (MRU 5 does not include shown fluxgate compass)
The MRU is integrated in Seapath, and all digital data are routed through the Processing Unit.
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Seatex Seapath 200 User's Manual, rev. 13
4.3.3
Technical description
GPS antennas and antenna bracket
In a standard Seapath delivery, the Antenna Bracket is 2.5 metres. However, in order to
achieve maximum heading accuracy of 0.05 degrees, a 4-metre Antenna Bracket is available.
The Antenna Bracket is delivered in aluminium. On customer request, the Antenna Bracket
can be delivered in steel.
Figure 9 The Antenna Bracket
Figure 10 Side view of the GPS antenna installation
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Seatex Seapath 200 User's Manual, rev. 13
Operating instructions
5.
OPERATING INSTRUCTIONS
5.1
Start procedure
Once installed, calibrated and started, the Seapath needs no manual intervention during
operation.
After power on, up to 30 minutes is needed to obtain full accuracy on all data. Since there
normally is no reason to turn off Seapath, it should be left running continuously.
Note
Seapath can get problems initially if the vehicle has high dynamics during startup. At worst the alignment must be redone by turning the power off and on by use
of the on/off switch in the front panel of the Processing Unit. High dynamics
during start-up means that the Seapath components are moved up to ±10 degrees
in all the orientation axes.
5.2
Operation
Normally the Seapath outputs signals on the serial lines without any involvement from the
user. However, the following should be taken into consideration during operation:
5.2.1
Height aided GPS position
In periods with weak satellite geometry, the position can be made more accurate by using
height aiding. The height aiding improves the solution by using the knowledge that a vessel at
sea has only small short-term variations in height caused by heave. The long-term variations
caused by tide are taken care of in the system. The height value used, as input to the GPS
solution is a low-pass filtered value of the measured height.
A start value for the low-pass filter should be specified for use at system start-up. The value
to use is the height of the vessel's centre of gravity above the WGS-84 ellipsoid when the sea
level is at its mean value. This height can be found by running the system without height
aiding and logging the height output on a serial line. If the measurement point selected for the
serial line is not centre of gravity, the difference must be accounted for.
Height aiding is enabled by changing GPS processing configuration parameters in the SCC
software, see reference [1]. Parameters to set are:
•
•
Aid Mode. The selections are "Off" or "Filter". If "Filter" is selected, the Aided Height
should be specified.
Aided Height. The height of CG in metres above the WGS-84 ellipsoid at mean sea level
(tide) to be specified when Aid Mode "Filter" is selected.
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Seatex Seapath 200 User's Manual, rev. 13
Note
Operating instructions
The height difference between mean sea level and the WGS-84 ellipsoid can be
significant. Values between +/- 100 metres can be encountered.
Example
Figure 11 Height Aiding set to Filter and the Aided Height found to be 50 metres
Height aiding is active only with input of differential GPS.
5.2.2
Gyro calibration
If a gyro compass is connected to Seapath, calibration data for the gyro is continuously
calculated by Seapath and output to the host system. Because the accurate Seapath heading is
used as reference, gyro calibration can be performed while the vessel is in motion.
The calibration value output to the host system is the mean value of the gyro's offset from the
Seapath heading calculated since last time Seapath was switched on. A calibration time of at
least two hours is recommended to eliminate errors caused by multipath effects. The
manoeuvre pattern during calibration should be carefully selected to avoid introducing
systematic errors to the gyro readings.
5.2.3
Differential GPS corrections
If data from more than one reference station are available on the links, Seapath combines data
from up to six reference stations to obtain the best solution. If data from more than six
stations are available, the six nearest stations are used.
In some cases, it may be desirable to override the automatic selection of the six nearest
stations. If one of the six stations is known to produce poor data, the system can be told to
ignore that station (the system itself has no routines to ignore poor stations since it selects the
stations based on distance and not on quality of the signal). The six nearest of the remaining
stations will be used. Alternatively, if you want to use a station, which is not automatically
selected, you can force the system to use it. In addition, the five nearest stations will be used.
If you want full control, you can enter a list of reference stations to use, thereby disabling the
automatic selection.
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Seatex Seapath 200 User's Manual, rev. 13
Operating instructions
Use the SCC software to change the selection of reference stations, see reference [1].
Configuration parameters for reference stations selection are:
•
Only Stations List. Only the DGPS corrections from the station IDs listed are used to
determine position and velocity. The automatic selection is turned off.
•
Force Stations List. The listed station IDs to be forced used in addition to the
automatically selected stations.
•
Ignore Stations List. All the station IDs listed to be ignored in the automatic selections of
stations.
Note
Initially, all the lists contain the word <Empty>, giving automatic selection which
is the normal operational setting.
Example
Figure 12 The stations 255 and 123 are ignored in the automatic selection of stations
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Seatex Seapath 200 User's Manual, rev. 13
5.2.4
Operating instructions
SBAS corrections
Figure 13 below illustrates a typical configuration of SBAS satellites for WAAS.
Figure 13 SBAS Common Settings for WAAS satellites
5.2.4.1
Selection of satellites
The current satellite status (January 2004) is:
Satellite no.
PRN
122 and 134
SBAS system
Status
WAAS
120, 124 and 126
EGNOS
131
EGNOS
TESTBED
WAAS is commissioned and approved for flying down
to 350 feet. Launch of more satellites are planned during
the next years.
EGNOS will not be fully operational before the second
half of year 2004. Until then only test signal is
available.
Is transmitting corrections, but only for test purpose.
Be aware that EGNOS and EGNOS Test Bed are not using the same reference stations and
transmitting the same corrections. Corrections from EGNOS and EGNOS Test Bed should
not be mixed.
The first MSAS Geo satellite is to be launched this year. MSAS is supposed to be operational
within the second half of 2005.
5.2.4.2
Use of SBAS corrections
It is possible either to specify which Geo satellite to track or to let the receiver choose which
Geo satellites to track using Automatic mode. However, it is recommend to specify which
Geo satellites to track. This enables the receiver to keep better track of the specified satellites
without starting to search for PRN numbers every time it looses track of the satellite.
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Seatex Seapath 200 User's Manual, rev. 13
Operating instructions
In Automatic mode the receiver will select which two satellites to track. Be aware that
occasionally the chosen satellites might be from two different SBAS systems.
If the receiver is set in Automatic tracking mode, you must select which satellite to decode. It
is possible to decode data from two satellites, but you must be sure they are from the same
SBAS system sending the same SBAS corrections. Seapath can only use data from one SBAS
system at the time. Any mixture will give an unpredictable result.
The recommended setting is to select one or two Geo satellites for tracking. Select only one
satellite for decoding.
5.2.4.3
Use of Geo Ranges in position solution
In addition to send corrections, most Geo satellites can be used for ranging. This might
improve the geometry significantly in periods of few satellites. Ranging signals from the Geo
satellites are noisier than the signals from a normal GPS satellite. Generally, we therefore do
not recommend to use Geo satellites for ranging at the time being but this might change in the
future when more experience with Geo ranges is gained. Anyway, Geo satellites should not
be used for ranging without differential corrections such as SBAS.
5.2.5
Heave measurements
When using the Seapath for heave measurements it is important to tune the heave parameters
(heave period and damping) to the vessel size and motion characteristics for the actual
weather conditions. Since the configuration window MRU Heave Filter only enters the
default values of the heave period and damping according to the selected filter mode, these
values have to be tuned for the actual vessel and weather conditions in order to achieve
optimum heave performance. Therefore, before a survey and/or during operation check the
heave performance of the Seapath and tune the heave parameters until the best heave
performance is achieved on the echo sounder. An alternative is to select Automatic as the
heave filter mode and let the Seapath automatically choose the best settings.
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Seatex Seapath 200 User's Manual, rev. 13
5.3
Operating instructions
Stop procedure
When power to the Processing Unit is cut, the Seapath system will automatically stop in a
controlled way. The configuration of the Seapath system is stored on the hard disk.
5.4
Performance monitoring
The data quality status output on the serial lines is also displayed on four LED indicators on
the front panel. The indicators represent from left to right:
•
•
•
•
horizontal position and velocity
heave
roll and pitch
heading
Seatex Seapath 200
The colour codes are:
•
•
•
Green; normal
Orange; reduced performance
Red; invalid data
A full overview of the performance of the Seapath system connect a VGA screen to the port
marked "VGA" and a keyboard to the port marked "KEYB" on the rear panel of the
Processing Unit. Then use the arrow keys to navigate in the screen menu to find the Seapath
window that shows the figures to be monitored. A description of the different screen pictures
is found in appendix A.
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Seatex Seapath 200 User's Manual, rev. 13
6.
MAINTENANCE
6.1
General
Maintenance
Seapath consists of both a software and a hardware part. The software part can be reinstalled
or upgraded to the latest version in the field by connecting a PC to the MRU or loading a
floppy disk into the Processing Unit. Service on the Seapath hardware in the field can consist
of:
•
•
•
•
•
•
Replacing damaged GPS antenna cables.
Replacing failed GPS antennas.
Replacing failed Processing Unit.
Replacing failed MRU 5 unit.
Checking fuse in the MRU junction box or replacing the whole junction box.
Checking fuses within the power connector on the Processing Unit.
The Processing Unit and the MRU 5 are not designed for service in the field and opening the
housing will result in damage or degradation of the units and void the warranty. A failed
MRU unit has to be shipped back to Seatex in the original transportation box for service. The
return address is provided in the first pages of this manual.
During the time the Seapath Processing Unit or the MRU 5 is in service, Seatex will be
helpful by renting the user a spare component if needed. The user can then load his own
configuration file into the spare unit making it ready to operate. Seatex will also assist the
user with the configuration.
6.2
Periodic maintenance
The periodic maintenance of the Seapath 200 can be divided into five categories:
6.2.1
Software upgrades
Seatex will regularly offer software upgrades for the Seapath 200 with improvements and new
functionalities. It is up to the user to decide whether he will upgrade his unit to the latest
version.
6.2.2
Cleaning of air inlet
The air inlet at the rear of the Processing Unit needs to be cleaned at least twice a year, to
avoid overheating of the unit. One cleaning method is to blow it clean by use of a compressed
air tool.
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Seatex Seapath 200 User's Manual, rev. 13
6.2.3
Maintenance
Recalibration of the Antenna Bracket
The direction of the GPS antenna baseline relative to the vessel's heading has to be
recalculated only if the Antenna Bracket has been moved or dismounted from the Antenna
Holder. Then the calibration procedures described in the Installation Manual [1] have to be
followed for recalibration of the heading and antenna baseline.
6.2.4
Recalibration of the MRU
After two years in operation a recalibration of the MRU is recommended. A recalibration is
recommended due to changes in the characteristics of the internal sensors over time and is
therefore necessary in order to achieve the specified performance. Exactly when a
recalibration is required, will depend on the use of the unit and the actual model number. An
indication that recalibration is needed is oscillations in the roll, pitch and yaw measurements
that cannot be related to the vehicle motions. The MRU has to be returned to Seatex for
recalibration.
To reduce the need for recalibration, try to install the unit in an environment with constant
and low temperatures.
6.2.5
Changing the internal lithium battery
The lifetime of the internal lithium battery within the MRU should be at least 10 years, unless
the unit has been stored unused for many years. An indication of a discharged battery will be
that the MRU loses its configuration when the unit is unpowered. The MRU has to be
returned to Seatex for changing of the lithium battery. A discharged battery will not have any
influence on the MRU as long as it is connected to an external power source, like the Seapath
Processing Unit.
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Seatex Seapath 200 User's Manual, rev. 13
6.3
Maintenance
Repairs and modifications
Repair of the Seapath consists of replacement of damaged GPS antenna cables, exchange of
GPS antennas, replacement of the Processing Unit, the MRU 5 or the MRU junction box.
6.3.1
Replacement of GPS antenna cable
First power off the Processing Unit and dismount the damaged antenna cable. The new
antenna cable must be as straight as possible. Do not crush or crimp the cable with tie-downs,
as this will affect the electrical properties of the cable. The connection between the GPS
antenna and the antenna cable should be sealed against water penetration, preferably by using
waterproof self-vulcanising tape. Strap the antenna cable inside the Antenna Bracket.
CAUTION
Attach the antenna cables to the GPS antennas on the Bracket before attaching the
antenna cables to the Processing Unit. If the antenna cables are attached to the
Processing Unit, do not attach the antenna cables to the GPS antennas with the
Processing Unit powered on. If the antenna cables are short-circuited with power on,
the GPS receivers within the Processing Unit will be damaged.
6.3.2
Replacement of GPS antenna
First power off the Processing Unit and dismount the failed GPS antenna. Then mount the
new antenna on the Antenna Bracket in the same direction as the other antenna (the
connectors on the antennas are pointing in the same direction). The screw for mounting the
GPS antenna to the Bracket has to be secured with washers.
CAUTION
If the antenna cable is attached to the Processing Unit, do not attach the antenna
cable to the new GPS antenna with the Processing Unit powered on. If the antenna
cable is short-circuited with power on, the GPS receiver within the Processing Unit
will be damaged.
Connect the antenna cable to the antenna. The connection between the GPS antenna and the
cable should be sealed against water penetration, preferably by using waterproof selfvulcanising tape.
After a replacement of GPS antennas, it is recommended to perform a recalibration of the
antenna baseline length and heading. The procedure for performing a recalibration of the
antenna baseline is described in the Installation Manual [1]. If the Antenna Bracket has been
dismounted during exchange of the GPS antenna, a full recalibration of both heading and
antenna baseline has to be performed.
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Seatex Seapath 200 User's Manual, rev. 13
6.3.3
Maintenance
Repair of the Processing Unit
The Processing Unit is not designed for service in the field. All repairs and modifications of
the unit, except for changing the fuse in the power inlet, installation of new software versions
and setup of the system, have to be done by Seatex. The fuse in the power inlet is of type T2A
250V with size 6.3x20 mm and there are two of them. A failed Processing Unit has to be
shipped back to Seatex for repair.
6.3.3.1
Installing spare Processing Unit
If a spare unit is rented while your unit is repaired, use the following procedure to install your
setup file in the received spare unit:
1) If your Seapath setup file is not already available on your PC or backup diskette, connect
a null-modem cable from a free serial port on an external PC to the front panel connector
on the Processing Unit and power on the Processing Unit. Start the SCC program on the
external PC. In the SCC start-up window select Connect in order to establish connection
between the external PC and the Processing Unit. Check if correct Port and Baud rate
are selected if no contact with the Processing Unit is achieved. Then select Save to file.
Save the parameter values on a directory on the external PC disk with e.g. the vessel name
as the file name. Exit SCC.
2) Disconnect the unit to be repaired from its cables and the rack, and replace it with the
spare Processing Unit.
3) Connect the external PC to the front panel connector on the spare Processing Unit and
power on the Processing Unit. Start the SCC program on the external PC. In the SCC
start-up window select Connect in order to establish connection between the external PC
and the Processing Unit. Check if correct Port and Baud rate are selected if no contact
with the Processing Unit is achieved. In the SCC configuration folder list, select Load
from file under the Parameter Management folder. Select the parameter file saved
under item 1) above. Then select Download in order to download the parameters from the
failed unit to the spare Processing Unit. Exit SCC and disconnect the external PC. The
spare unit should now be fully operational.
If it is not possible to get hold of the setup file from the failed Processing Unit, the spare unit
has to be set up from start as described in the Installation Manual, [1].
36
Seatex Seapath 200 User's Manual, rev. 13
6.3.4
Maintenance
Repair of the MRU 5
All repairs and modifications of the MRU except for installation of new software versions and
user configuration, have to be carried out by Seatex.
CAUTION
Opening the MRU housing will result in permanent damage and the user should under
no circumstances make any attempt to do so.
6.3.4.1
Installing a spare unit
If a spare unit is rented while your unit is in for repair, use the following procedure to
exchange the units:
1) Power off the Processing Unit and disconnect the MRU cable. Unscrew the unit from the
mounting bracket.
2) Insert the spare MRU into the mounting bracket. Ensure that the MRU is mounted in the
same orientation in the mounting bracket as the failed MRU. Connect the MRU cable to it
and power on the Processing Unit.
3) Put the failed MRU in the MRU transportation container and ship it to the nearest Seatex
office for repair.
6.3.5
Repair of the MRU junction box
First check that the fuse within the box is not blown and replace it if it is. The fuse used is of
type F1AH 250 V with size 5x20 mm. Second, check if any of the cable wires have loosened
from the terminals. If the box is functioning correctly the LED1 light diode should shine
green indicating that the MRU receives power. A yellow light in LED2 indicates that digital
data are sent from the MRU on TX+. The LED3 for analog signals from the MRU should not
shine, since analog signals are not sent out of the MRU when used in Seapath. If the LED
light diodes indicate that the junction box is still not working, the box has to be returned to
Seatex for repair.
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Seatex Seapath 200 User's Manual, rev. 13
6.4
Maintenance
Troubleshooting
A good start for troubleshooting the Seapath 200 is to check the colour of the four LED
indicators located on the front panel, see chapter 5.4.
For a more in-depth troubleshooting of the system ensure that the VDU monitor is connected
to the port marked "VGA" and the keyboard to the port marked "KEYB" on the rear panel of
the Processing Unit. Then use the arrow keys to navigate in the screen menu. A description of
the different screen windows is found in appendix A.
The next sections contain some hints for troubleshooting.
6.4.1
All "four lights" are black
In normal operation it takes a minute from the Processing Unit is powered on to the four LED
indication lights turn red. If all the indicator lights are still black after three minutes from
power on, do as follows:
•
Check the power connection to the Processing Unit. Is the Processing Unit supplied with
110 to 240 VAC power supply, see power specification in chapter 2.7.
•
Check if the fuse within the power inlet of the Processing Unit is blown. If so, change it.
•
Turn the power switch on the front panel off and on two or three times in case of poor
connection.
If the LED lights are still not turning red, contact your nearest Seatex office.
6.4.2
All data invalid "four red lights"
In normal operation it can take up to 30 minutes from the Processing Unit is powered on to
full accuracy on all data is obtained and the LED lights changes colour from red. If all the
indicator lights are still red after 30 minutes from power on, then do as follows:
•
Check if the GPS cables and the MRU cable are properly connected to the Processing Unit.
If not, switch off the power and connect the cables properly and power on the unit again.
•
Is the cable from the Processing Unit to the MRU junction box properly terminated and is
the cable from the junction box connected to the MRU? Check if the fuse in the junction
box is blown and replace it if it is.
If there are still four red lights, contact your nearest Seatex office.
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Seatex Seapath 200 User's Manual, rev. 13
6.4.3
Maintenance
Invalid position/velocity "left light red"
The problem occurs if the Processing Unit does not get data from any of the GPS receivers.
Do the following:
•
Check that both GPS antenna cables are properly connected to the antenna ports on the
Processing Unit. In the Seapath Display Window on Show Other, Serial, data from the
GPS antenna number 1 shall appear on com11 and com2 from antenna no. 2.
•
Check that the both GPS antennas are not damaged and their cables are properly
terminated in the connectors. Replace the whole cable if necessary.
•
Check that both GPS antennas are functioning properly by dismounting the antennas from
their Antenna Brackets and inspecting them. Replace the antenna with a new one if
necessary.
If it is still not working after checking all the above items, then the GPS receiver boards
within the Processing Unit are most likely broken and the Processing Unit has to be shipped
to Seatex for repair.
6.4.4
Reduced position/velocity "left light orange"
The possible reason for reduced position/velocity function could be one of the following:
•
No differential corrections are input through com10 port on the rear panel of the
Processing Unit. If differential corrections are input through the com10 port, check that
the link is properly set up by using the SCC software.
•
You can be out of range to a radio reference station and the differential corrections are
therefore missing. If the reference station is too far away or it is in the shadow of
geographical obstructions or other equipment on board, reception may be unreliable or
missing. The location of the reference stations connected to Seapath is shown in the
window Show GPS, Correction as described in appendix A.
•
The reference station can be out of function. Check the status of the reference station with
the authorities responsible for it, or contact the nearest Seatex office.
•
The antenna or the MRU offset setup can be incorrect. Check the setup in SCC of the
lever arms from centre of gravity to antenna no. 1 and to the MRU once again. Check
particularly that the sign for each of the vector components are correct.
Please note that the Seapath outputs position in WGS-84 Datum. If the position from Seapath
differs from positions from other GPS sensors onboard, check that all systems use the same
Datum.
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Seatex Seapath 200 User's Manual, rev. 13
6.4.5
Maintenance
Invalid heave and roll/pitch "two red lights"
The Processing Unit does not receive any data from the MRU 5. Do the following:
•
Check that data is coming in to the MRU connector on the Processing Unit, by selecting
com12 on the Seapath Display Window Show Other, Serial.
•
Check that the cable from the MRU is properly connected to the MRU port on the rear
panel of the Processing Unit. Also check that the MRU cable is properly terminated in the
junction box and that the fuse in the box is not blown.
•
If the above is OK, see chapter 6.4.9 below for troubleshooting of the MRU unit.
6.4.6
Reduced heave and roll/pitch data "two orange lights"
These lights indicate that there are some problems with the MRU. The unit may of some
reason be unstable. See chapter 6.4.9 below for troubleshooting of the MRU unit.
6.4.7
Invalid heading "right light red"
If a gyro compass is not connected to the Processing Unit, the possible problem can be one of
the following:
•
Check that the antenna baseline setup parameters in GPS Antenna Configuration in
SCC are properly configured, and if needed re-measure and perform a new calibration of
the antenna baseline.
•
The Processing Unit is receiving no data from GPS receiver no. 1 or 2. That can be
verified by checking whether data appear on the Seapath Display Window on Show
Other, Serial, Com11 from GPS antenna number 1 and com13 (com2 for Processing
units with s/n less than 2000) from antenna no. 2. If no data are coming in, check that the
cable from GPS antenna no.1 and 2 are properly connected to the ANT.1 and ANT.2
connector on the Processing Unit. Check that the cables for GPS antenna no. 1 and 2 are
not damaged and the cables are properly terminated in the connectors. Replace the both
cables if necessary.
•
Check that GPS antenna no. 1 and 2 are functioning properly by dismounting the antennas
from the Antenna Bracket and inspecting them. Replace both antennas with new ones if
necessary.
If a gyro compass is connected to the Processing Unit, check the items described above, and
in addition check that data are coming in from the gyro compass. That can be verified by
checking whether data appear on the Seapath Display Window on Show Other, Serial, and
the communication line the gyro compass data is input on, normally Com9.
40
Seatex Seapath 200 User's Manual, rev. 13
Maintenance
If it is still not working after checking all of the above items, then the GPS receiver board
within the Processing Unit is most likely broken and the Processing Unit has to be shipped to
Seatex for repair.
6.4.8
Reduced heading "right light orange"
The reason for reduced heading performance could be one of the following:
•
It may be a problem with the MRU. Check that by troubleshooting the MRU as described
in chapter 6.4.9 below.
•
Otherwise if the MRU is functioning OK, check that the antenna baseline setup
parameters in GPS Antenna Configuration in SCC are properly configured, and if
needed re-measure and perform a new calibration of the antenna baseline.
•
The Processing Unit is receiving no data from GPS receiver no. 1 or 2. That can be
verified by checking whether data appear on the Seapath Display Window on Show
Other, Serial, Com11 from GPS antenna number 1 and com13 (com2 for Processing
units with s/n less than 2000) from antenna no. 2. If no data are coming in, check that the
cable from GPS antenna no.1 and 2 are properly connected to the ANT.1 and ANT.2
connector on the Processing Unit. Check that the cables for GPS antenna no. 1 and 2 are
not damaged and the cables are properly terminated in the connectors. Replace both
cables if necessary.
•
Check that the two GPS antennas are of the same type and are mounted in the same
orientation. If not, the heading could get unstable and switches from normal to reduced
heading performance frequently.
•
Check that the GPS antenna no. 1 and 2 are functioning properly by dismounting the
antennas from the Antenna Bracket and inspecting them. Replace both antennas with new
ones if necessary.
If it is still not working after checking all of the above items, then the GPS receiver board
within the Processing Unit is most likely broken and the Processing Unit has to be shipped to
Seatex for repair.
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Seatex Seapath 200 User's Manual, rev. 13
6.4.9
Maintenance
Problems with the MRU 5
The tool available for troubleshooting the MRU is the Seapath Display Windows described in
appendix A.
If the heave and roll/pitch indications show invalid "Red", then the Processing Unit most
likely does not receive any data from the MRU 5. Then do the following:
•
Check that data are coming in to the MRU connector on the Processing Unit by selecting
com12 on the Seapath Display Window Show Other, Serial.
•
Check that the cable from the MRU is properly connected to the MRU port on the rear
panel of the Processing Unit. Also check that the MRU cable is properly terminated in the
junction box and that the fuse in the box is not blown. Replace it if it is.
If the heave and roll/pitch indications show reduced "Orange", then the data from the MRU
are most like unstable. Then do the following:
•
Check if the "Status" in the MRU window in Show Other indicates "SY". Then the 1PPS
pulse from the Processing Unit is probably sent correctly to the MRU. In order to be sure,
check also the Debug / Timedelay window. The timedelay shown on the parameter
"RawMruData" should be 20 ms or less. If the timedelay is larger than 20 ms, then the
PPS signal from the Processing Unit in not properly connected. Check that the shield
around each pair in the cable between the MRU and the Processing Unit is individually
isolated in the DB-15 connector. The outer shield is connected to pin 1 (screen) in this
connector, and this pin is not connected further to earth (open end). In the MRU junction
box both the shield around each pair and the outer shield are terminated in pin 1 (chassis)
on the x3 side.
If it is still not working after checking all of the above items, then the MRU has most likely
failed and the MRU has to be shipped to Seatex for repair. Contact your nearest Seatex office.
6.4.10
Reduced roll or pitch performance
Reduced roll or pitch performance may occur when:
•
The MRU +R arrow is not properly aligned with the vehicle's longitudinal axis. A
misalignment of only one degree will reduce the performance when exposed to heavy
motions due to cross-coupled roll and pitch measurements. If not already done, ensure that
the MRU yaw offset according to the vehicle's longitudinal axis is accurately measured
and entered into the MRU configuration.
•
It has been several years since the MRU was last calibrated. Contact Seatex to check
whether the MRU needs recalibration.
•
If DGPS corrections are input to the Seapath and range rate corrections are used, check
that these corrections are not noisy. This is done by entering the Seapath Display
42
Seatex Seapath 200 User's Manual, rev. 13
Maintenance
Window, Show GPS Correction, and reading the dPrc values under L1. None of these
dPrc values should be higher than a few centimetres (.02). If high values occur (like .10),
disable the use of range rate correction by deselecting the checkbox Enable Range Rate
Corrections in the SCC software under the Configuration Folder List, Sensor \ GPS \
Processing. Disabling range rate corrections will reduce velocity and attitude noise when
receiving DGPS corrections from a reference station with noisy range rate.
Depth errors in the outer beams on a multi-beam echo sounder may occur when:
•
The oscillations in the depth of the outer beams are correlated with the pitch angle of the
vessel. Check the mounting angle around the Y-axis. The MRU R-axis has to be parallel
with the ship's longitudinal axis as long as the sounder transducer is aligned with the ship
axes.
•
The oscillations in the depth of the outer beams are correlated with the roll angle of the
vessel. Check that the lever arm vector from the ship's centre of gravity (CG) to the MRU
is input correctly both when it comes to the length and the sign. Check also that the vector
from CG to GPS antenna no. 1 is input correctly both when it comes to the length and
sign. Check specially the sign in the z-axis, which always shall have a negative sign.
6.4.11
Reduced heave performance
Reduced performance in heave or depth errors in the centre beam of an echo sounder may
occur when:
•
There are oscillations in the depth of the centre beams. Check that the correct heave filter
mode and heave period are selected in MRU Heave Config in SCC.
Be aware that the Seapath outputs heave measurements in the centre of gravity, and not in the
transducer location, unless the vector from centre of gravity to the transducer head
(Measurement Point, MP) is entered into the Seapath configuration and defined on the output
data string. Please note that the horizontal vector components from the CG to MP are defined
positive forward, to starboard and down.
43
Seatex Seapath 200 User's Manual, rev. 13
Maintenance
Blank page
44
Seatex Seapath 200 User's Manual, rev. 13
7.
Drawings
DRAWINGS
For outline drawings of the mechanical dimensions of the different Seapath parts, see the
Installation Manual reference [1].
45
Seatex Seapath 200 User's Manual, rev. 13
Drawings
Blank page
46
Seatex Seapath 200 User's Manual, rev. 13
8.
Parts list
PARTS LIST
The standard Seapath 200 consists of:
Part no.
M320-10
M410-32
M320-21
G060-02
MRU-5-E
MRU-M-MB3
MRU-E-JB1
MRU-E-CS1
MRU-M-SC1
G032-10
G060-32
G062-11
M320-40
M320-51
M320-70
No.
1
1
1
2
1
1
1
1
1
1
1
1
1
1
1
Description
Seapath 200 Processing Unit
Processing Unit connection box with 1.5-metre cable
Antenna Bracket in aluminium, 2.5 metres baseline
GPS antennas (L1)
MRU 5 sensor
MRU 5 mounting bracket
MRU Junction box for flexible connection of MRU to Seapath
3 metres heavy duty screened cable with 14 twisted pairs
MRU transportation box
2 metres power cable to Computing Unit
VDU 17" standard LCD monitor, table mount
Standard keyboard (US layout)
Interconnection cable (null modem cable, 3 metres)
Seapath Control Centre Software
Seapath 200 Product Manuals
The Seapath 200 can be delivered with following optional equipment:
Part no.
G070-01
G071-03
M310-44
M310-41
M310-42
M310-60
90.076
M310-50
M320-41
M320-42
G071-21
Description
GPS antenna cable, ½" Superflex or similar, length on request
Connector kit for GPS antenna cable, ½" Superflex or similar
Bend kit (90 deg) for GPS cable connector, ½" Superflex or similar
Flexible GPS antenna cable type RG214 Hiflex (max length 40
metres)
Connector kit for RG214 Hiflex cable
Processing Unit to Junction box cable, length on request
Connection box to MRU Junction box cable, length on request
RS-232/-422 cable to external systems, length on request
Seatex EXT 6, a serial extension unit for the AUX - Serial lines
Analog output cable with DB-25 connector, 3 metres
Processing Unit cabinet, 6U height
47
Seatex Seapath 200 User's Manual, rev. 13
Parts list
Blank page
48
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Appendix A – Seapath Display Windows
By connecting a VGA screen to the port marked "VGA" and a PC keyboard to the port
marked "KEYB" on the back plane of the Processing Unit, you are able to display the
performance of the Seapath for troubleshooting or for monitoring its performance. In this
appendix the different display windows are shown and the information on the screen
described.
The Seapath display windows consist of:
•
•
•
On the top a menu for selection of the wanted display window.
A middle part where the actual information is shown. This part can in some windows be
divided into two parts where the left part will be the same for all windows.
In the bottom of the window are four lines with the latest Seapath messages.
Use the arrow keys to navigate in the window menu.
Note
To freeze the data on the screen, type the "F" key on the keyboard. Type any key
to cancel the freezing of the screen.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show GPS, Solution
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Solution Satellites Heading Tracking
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││17 Oct 2000, 08:12’31.000
│
│Position N 63°26’31.356
││Position N 63°26’31.356
Satellites
7
│
│
E 10°24’12.196
││
E 10°24’12.196
HDOP
0.9
│
│Height
76.44
││Height
76.44
PDOP
1.9
│
│Heave
0.00
││Velocity North
0.00
∆POS H: 0.2 V: 0.4│
│VelN -0.00 E -0.00 D -0.00││
East
-0.00
∆Vel H: 0.00 V: 0.0│
│Course 346.2 Speed
0.00││
Down
-0.00
│
│Attitude Roll
0.87 ││
│
│
Pitch
-0.91 ││Mode RTK
L1/l2
Corr. age
1.0 │
│
Heading
336.86 ││Used GPS
BOTH
Accuracy
0.02 │
│Pos/Vel:
Normal ││
│
│Heave :
Normal ││17 Oct 2000, 08:12’31.000
│
│Roll/pitch:
Normal ││Heading 336.31
Satellites
7
│
│Heading:
Normal ││Valid
Meas. err
0.65 │
│Sys time 8:12:31
Valid ││
Baseline err 0.22 │
└───────────────────────────┘└────────────────────────────────────────────┘
TIMECHECK
0.3560
08:25’59:
[7000]
TIMECHECK
0.3570
TIMECHECK
0.3740
The left part of this window is common for all windows that are divided into two parts. This
left window part shows the integrated navigation data and status:
•
•
•
•
•
•
•
•
GPS time of last data sample as date and time.
Position (centre of gravity).
Height above WGS-84 ellipsoid and heave (centre of gravity).
Velocity in north-east-down components (centre of gravity).
Course and speed over ground (centre of gravity).
Attitude with roll, pitch and system heading.
Status indicators.
Current time with status indicator.
The right window part shows GPS data:
•
•
•
•
•
•
•
GPS time of last position/velocity data.
Position (antenna no. 1).
Height above WGS-84 ellipsoid (antenna no. 1).
Velocity in north-east-down components (antenna no. 1).
Number of satellites, HDOP and PDOP for position/velocity solution.
Positioning mode: differential (DGPS) or non-differential (GPS).
Used GPS: The normal situation is that both GPS receivers are used. If only one GPS
receiver is used, the other GPS receiver or its antenna or antenna cable has failed.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
• Corr. age: Indicates the age of differential corrections. If Seapath receives no differential
correction, the displayed correction age will be high. To show the actual reference stations
utilised in the position solution, select the windows Satellites or Correction. In the upper
left of the screen a menu with the actual used reference stations will appear and you are
asked to select for which station to show the information.
• Accuracy: Shows the estimated RMS accuracy on the position solution.
• GPS time of last heading data.
• GPS heading with status indicator.
• Number of satellites, measurement error and baseline error for heading solution. The
measurement and the baseline error figure shown on the screen Show GPS, Solution are
only normalised figures and are not the errors measured in metres. If these figures are less
than 1, then the system works perfect. A figure less than 2 is normal. If the figure is higher
than 2 a significant part of the time this indicates that there are some problems.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show GPS, Satellites
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Solution Satellites Heading Tracking
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││GPS1:8 SV 17 Oct 2000,08:12’31.0 GPS RefID50│
│Position N 63°26’31.356
││
┌─── L1 ────┐ ┌─── L2 ────┐ │
│
E 10°24’12.196
││SV OK Az El URA T SN UDRA c-o T SN UDRA c-o │
│Height
76.44
││1811D342↓15.2↓32 Ca 5 2.3 -.50
│
│Heave
0.00
││2211D281↓48.6↑32 Ca15 2.3 -.04
│
│VelN -0.00 E -0.00 D -0.00││3011D136↓15.8↓32 Ca 8 2.3 -.66
│
11
│Course 346.2 Speed
0.00││25 D222↓28.2↓32 Ca12 2.2 -.68
│
│Attitude Roll
0.87 ││1711D171↓38.9↑32 Ca18 2.2 -.18
│
│
Pitch
-0.91 ││.611D 98↓58.4↓32 Ca15 2.2 .45
│
│
Heading
336.86 ││241 Dm37↓ 5.5↓32 Ca 8 16
14
│
│Pos/Vel:
Normal ││1011D 60↓27.7↑32 Ca12 2.2 -1.1
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││3
256↑ 1.8↑ ─Not tracked ─
│
│Sys time 8:12:31
Valid ││
│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows GPS position fix details:
•
•
Shows the number of satellites used and time of last position/velocity data.
The following lines show the data for each satellite used in the position/velocity
calculation. The first number in each line SV is the satellite identifier. The up and down
arrows indicate increasing or decreasing azimuth and elevation.
With the keys PgUp and PgDn you can switch between all combinations of receivers (1 or 2)
and reference stations.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show GPS, Heading
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Solution Satellites Heading Tracking
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│MODE: DGPS Ref Id: 50 Ref Age: 1.0
MRU: OK
Head: -0.03 Hgt:-0.09│
│RTK Attitudes
17 Oct 2000, 08:12’31.000 GPS
Cog : 0.00 Sog: 0.01│
│---------------- dn -------------- cnt rms brms slow fast head hgt (avg)│
│ 18 22 25 17 6
10 3
│
│ 9 0-10-12 -7
0 -1
381 5
1
830 815 671 339.05-0.09│
│ 9 0-10-12 -7
0 -1
412 5
1
841 812 957 339.10-0.09│
│
│
│
│
│
│
│
│
│
│
│
│
│
│
│
│
│
Baseline 28163 Mean: 2.5025 Std: 0.005
│
└─────────────────────────────────────────────────────────────────────────┘
This screen picture shows the GPS heading fix details, which are only of interest to service
personnel.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show GPS, Tracking
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Solution Satellites Heading Tracking
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│GPS 1 avg S/N 44/33 (filt. 44/31)
GPS 2 avg S/N 45/ 0 (filt. 45/ 0)│
│
┌─────GPS 1 ─────┐┌──────GPS 2 ──────┐┌─RefID 50─┐
│
│
S/N
Track time
S/N
Track time Track time
│
│SV
AZ
El
L1
L2
L1
L2
L1
L2
L1
L2
L1
L2
│
│ 1
164
69.0 50
36
8134 8125 49
8971
8264 8264
│
│ 4
280
52.3 50
34
5881 5880 48
7598
6888 6886
│
│ 7
236
8.4
35
9999
│
│13
217
36.2 46
31
3690 3397 45
4364
3652 3652
│
│19
168
13.0 39
28
427 147 38
1347
587 587
│
│20
117
48.4 47
35
9999 9999 48
9999
9999 9999
│
│24
310
26.5 45
25
2704 2569 39
3421
2488 2487
│
│25
50
29.0 43
31
9578 8613 46
9999
9517 9517
│
│30
352
10.9 40
30
5358 268 40
3381
│
│
│
│
│
└─────────────────────────────────────────────────────────────────────────┘
•
The first line on this page shows average signal-to-noise level on all satellites for L1 and
L2 on both GPS receivers.
•
The following lines show track time (continuous time of track without cycleslips) and
signal noise ratio for each satellite on both receivers. If a Searef RTK reference station is
used, tracking information from the reference station is also shown. If another RTK
reference station is used, the track time information will have heading RTCM 18/19
instead of RefID 50.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show corrections, Rtcm
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Rtcm Sbas
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││DGPS 4 SV 17 Oct 2000, 08:12’31.0 GPS (RTK) │
│Position N 63°26’31.356
││Station ID50 Status [0] Normal
│
│
E 10°24’12.196
││Pos: N 63°26’31.356 E 10°24’12.196 A 49.291 m│
│Height
76.44
││
┌── Iode ──┐┌──── L1 ───┐┌─── L2 ──┐∆Trop│
│Heave
0.00
││SV Mob Ref Dcc Udre Prc dPrc Udre Prc Dcc
│
│VelN -0.00 E -0.00 D -0.00││18 184 184
4.0 -18.3 .00
-.1 0.0│
│Course 346.2 Speed
0.00││ 3 96 96
4.0 11.0 .01
-.0 0.0│
│Attitude Roll
0.87 ││22 111 111
1.0 -38.5 .00
-.0 0.0│
│
Pitch
-0.91 ││10 214 214
4.0
4.5 .00
-.0 0.0│
│
Heading
336.86 ││
│
│Pos/Vel:
Normal ││
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││ 3 96
─Not tracked on reference ─
│
│Sys time 8:12:31
Valid ││18 184
│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows differential GPS correction details:
•
•
•
•
Line one shows the number of satellites used and time of last correction data.
Line two shows the ID for the selected reference station to be monitored and its status and
delay.
Line three shows the position of the selected reference station.
The following lines show the data for each satellite used in the position/velocity
calculation.
You can switch between the reference stations with the PgUp and PgDn keys.
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Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show corrections, Sbas
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Rtcm Sbas
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│
│
│Sv
Fast
Udrei Age dx
dy
dz dClock Age IonS Std Ion Trop
│
│ 16 0.00
14
2
0.0 0.0 0.0
0.0
16
4.6 13.5
│
│ 17 0.00
14
2
0.0 0.0 0.0 -1.4
16
5.1 15.1
│
│ 20 1.63
5
2
0.0 0.0 0.0
0.1
12
3.3
0.5 4.1 4.6
│
│ 24 -0.63
4
2
0.0 0.0 0.0 -0.8
4
2.9
0.4 3.6 3.8
│
│ 25 -1.60
9
2
0.0 0.0 0.0 -1.0
4
4.1
0.7 4.2 10.5
│
│ 27 -0.88
5
2
0.0 0.0 0.0 -0.7
4
6.2
0.8 8.2 11.8
│
│131 0.00
14
1
0.0 0.0 0.0
0.0 999
0.0 0.0
│
│ 15 0.00
14
2
0.0 0.0 0.0 -0.8
16
0.0 0.0
│
│ 18 0.00
14
2
0.0 0.0 0.0
0.0
12
0.0 0.0
│
│ 21 0.00
14
2
0.0 0.0 0.0 -0.8
12
0.0 0.0
│
│ 22 0.00
14
2
0.0 0.0 0.0
0.4
16
0.0 0.0
│
│ 26 0.00
14
2
0.0 0.0 0.0
0.0
8
0.0 0.0
│
│
│
└─────────────────────────────────────────────────────────────────────────┘
The colour code describes the following:
Green
Yellow
Red
Grey
Seapath is tracking these satellites and SBAS has valid corrections for them.
The satellites are not monitored by SBAS (Udrei=14).
The SBAS system does not use these satellites (Udrei=15).
These satellites are not tracked by Seapath.
The figures in the IonS column show the ionosphere correction by the SBAS model and the
corresponding standard deviation figure (Std).
The figures in the Ion column show the ionosphere corrections for the standard GPS model.
You can switch between the pages of satellites with the PgUp and PgDn keys.
56
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, Filter
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││17 Oct 2000, 08:12’31.962 Rune time 26101.23│
│Position N 63°26’31.356
││Position accu N 0.009 E 0.007 D 0.014 m │
│
E 10°24’12.196
││Velocity accu N 0.005 E 0.006 D 0.004 m/s│
│Height
76.44
││Attitude accu N 0.008 E 0.008 D 0.021 deg│
│Heave
0.00
││
│
│VelN -0.00 E -0.00 D -0.00││
│
│Course 346.2 Speed
0.00││
│
│Attitude Roll
0.87 ││
│
│
Pitch
-0.91 ││
│
│
Heading
336.86 ││
│
│Pos/Vel:
Normal ││Position inno N –0.005 E 0.030 D 0.067 m │
│Heave:
Normal ││Phase
inno N –0.003 E –0.002 D –0.006 m │
│Roll/pitch:
Normal ││Baseline inno N 0.000 E 0.000 D 0.000 m │
│Heading:
Normal ││Attitude inno N 0.003 E –0.004 D –0.000 deg│
│Sys time 8:12:31
Valid ││Velocity inno N –0.001 E –0.000 D –0.002 m/s│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows system details, which are only of interest to service personnel.
57
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, Heave
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││
│
│Position N 63°26’31.356
││
│
│
E 10°24’12.196
││Heave CG =
0.000 m
│
│Height
76.44
││Heave Vel =
0.000 m/s
│
│Heave
0.00
││
│
│VelN -0.00 E -0.00 D -0.00││Heave MP1 =
0.000 m, (0.00, 0.00, 0.00)
│
│Course 346.2 Speed
0.00││Heave MP2 =
0.000 m, (0.00, 0.00, 0.00)
│
│Attitude Roll
0.87 ││Heave MP3 =
0.000 m, (0.00, 0.00, 0.00)
│
│
Pitch
-0.91 ││Heave MP4 =
0.000 m, (0.00, 0.00, 0.00)
│
│
Heading
336.86 ││Heave period 4.19s, sign heave height 0.01 m│
│Pos/Vel:
Normal ││
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││
│
│Sys time 8:12:31
Valid ││Hydrographic survey: period 12s, damping 0.7│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows heave data:
• The heave position and velocity in the defined vessel CG.
• Heave MP: Shows the actual heave position in the different measurement points (MP)
configured in the SCC software.
• Heave statistics with computed heave period and significant heave height (Hs).
• The heave filter mode is selected and the corresponding period and damping, which are
configured in the SCC, are shown.
58
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, MRU
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││17 Oct 2000, 08:12’31.962
│
│Position N 63°26’31.356
││
│
│
E 10°24’12.196
││Status SY
10a00001
│
│Height
76.44
││Angular rate R –0.886, P –1.435, Y –0.832
│
│Heave
0.00
││Acceleration R 0.135, P –0.165, Y –9.831
│
│VelN -0.00 E -0.00 D -0.00││
│
│Course 346.2 Speed
0.00││Innovation
R –0.010, P –0.023
[deg] │
│Attitude Roll
0.87 ││Attitude Roll
0.870 deg Normal
│
│
Pitch
-0.91 ││
Pitch
-0.913 deg Normal
│
│
Heading
336.86 ││
│
│Pos/Vel:
Normal ││
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││
│
│Sys time 8:12:31
Valid ││
│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and shows the integrated system data
as described under "Show GPS Solution". The right part shows the raw data coming from the
MRU into the system:
• GPS time of last sample.
• MRU status indicator as mnemonic code and hexadecimal status word. SY means that the
MRU receives PPS pulse to synchronise the clock. A code not including SY means that the
MRU is NOT receiving the PPS signal and that will cause reduced performance on the
heave and roll/pitch indications. See the troubleshooting chapter on how to solve this.
• Angular rate and linear acceleration in the R, P and Y-axes of the MRU.
• Innovation and filtered values in the MRU R and P-axes. These values are only of interest
to service personnel.
• Attitude in roll and pitch. The values and the status indications shown here are only for the
MRU itself and not an indication of the system performance unless both GPS receivers are
not operating.
59
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, Gyro
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│17 Oct 2000, 08:12’31.962 ││17 Oct 2000, 08:12’31.962
│
│Position N 63°26’31.356
││
│
│
E 10°24’12.196
││Gyro heading
335.17
│
│Height
76.44
││
│
│Heave
0.00
││System heading
336.86
│
│VelN -0.00 E -0.00 D -0.00││Deviation
-0.21
│
│Course 346.2 Speed
0.00││
│
│Attitude Roll
0.87 ││Calibration value
1.69
│
│
Pitch
-0.91 ││Offset
1.69
│
│
Heading
336.86 ││
│
│Pos/Vel:
Normal ││
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││
│
│Sys time 8:12:31
Valid ││
│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows external gyro data:
•
•
•
•
GPS time of last gyro data sample.
Gyro heading.
Seapath system heading.
Deviation of gyro heading from system heading. The gyro heading is corrected for offset
(short-term bias) before calculating the deviation.
• Gyro calibration value. Long term gyro bias calculated since system start-up.
• Offset. Short term gyro bias.
Bias calculations are described in chapter 4.2.1.
60
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, Serial
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌───────────────────────────┐┌────────────────────────────────────────────┐
│24 May 2000, 08:12’31.962 ││
│
│Position N 63°26’31.356
││
│
│
E 10°24’12.196
││
Serial data is printed in this window
│
│Height
76.44
││
for the selected channel: COMx
│
│Heave
0.00
││
│
│VelN -0.00 E -0.00 D -0.00││
│
│Course 346.2 Speed
0.00││
│
│Attitude Roll
0.87 ││
│
│
Pitch
-0.91 ││
│
│
Heading
336.86 ││
│
│Pos/Vel:
Normal ││
│
│Heave:
Normal ││
│
│Roll/pitch:
Normal ││
│
│Heading:
Normal ││
│
│Sys time 8:12:31
Valid ││
│
└───────────────────────────┘└────────────────────────────────────────────┘
The left part of this window is common for all windows and is described under "Show GPS
Solution". The right part shows serial line I/O. The data are printed as a continuous string.
ASCII characters are printed in their normal representation. Other characters are printed in
their graphical representation in the IBM PC character set. Non-printable characters are
printed as dots. Input and output characters are distinguished with different colours.
61
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Show Other, System
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│
│Filter Heave MRU Gyro Serial About
└─────────────────────────────────────────────────────────────────────────┘
┌─────────────────────────────────────────────────────────────────────────┐
│Software:
│
│
Seapath 200 v. 2.03.a 2004-03-03
13:20:22
│
│
Options 0020604
│
│MRU:
│
│
MruType 5
SwVer 3.30
SerNo 1403 Modus Normal VerString MRU_3.30 │
│GPS receiver 1:
│
│
Ashtech G1,GH00,TT0PU-IL-GM_C_
│
│GPS receiver 2:
│
│
Ashtech G1,GH00,TT0PU-IL-GM_C_
│
│
│
│
│
│
│
│
│
│
│
│
│
└─────────────────────────────────────────────────────────────────────────┘
• This window shows the software version and options on the different parts of the system.
62
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Debug
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│Threads Async Log Timedelay
│
└─────────────────────────────────────────────────────────────────────────┘
CAUTION
The functions on the Debug menu are for service personnel only, and should not be
used unless you are instructed to do so. Changing any of the flags and functions on
this menu can degrade the performance of the Seapath 200.
Each of the menu selections include the following functions:
Threads:
Indicates the status of the different processes in the system.
Async:
Outputs the data stream in the system on the screen.
Log:
Logs data to file. By pressing RETURN on this selection logging starts and the indication
"1Log" is then shown in the menu. By pressing RETURN once again the following logging
stops. The logging option is recommended used only when instructed by Seatex to do so. In
Appendix B it is described how to transfer the logged data to an external computer through
the Ethernet.
Timedelay:
Outputs the following time delays in the system:
• RawMruData
• SatMeasData [0]
• SatMeasData [1]
• GpsPosition
• GpsHeading
63
Seatex Seapath 200 User's Manual, rev. 13
Appendix A – Seapath display windows
Blank page
64
Seatex Seapath 200 User's Manual, rev. 13
Appendix B – Logging of data
Appendix B – Logging of diagnostics data
In the Seapath it is possible to log raw diagnostics data to troubleshoot the system. The
logged files have to be transferred to service personnel at Kongsberg Seatex for processing.
From version 2.0.3.00 of the Seapath software logged data can be transferred to an external
computer through the Ethernet port. This chapter describes how to start logging to file and
how to transfer the logged data to an external computer through the Ethernet port by use of
FTP.
The procedure for enabling data logging and transfering the data from the Processing Unit is
as follows:
1. Before starting transfer of data ensure that the Ethernet port is correctly set up. Connect an
external PC with the SCC configuration software installed. In SCC enter the
Configuration Folder List and select Data Interface \ Network Common. Proceed as
follows to set the common network parameters:
•
In the IP Network Address field, enter the port ID. Default is 192.168.1.10. If the
Seapath is already connected to the network on board the vessel, then no change in the IP
address is required to use FTP.
•
In the IP Network Mask field, input the mask. Default is 255. 255. 255. 0. If the Seapath
is already connected to the network on board the vessel, then no change in the IP mask is
required to use FTP.
•
In the FTP Server Password field, input wanted password to get access to the FTP
server. The default password is "seapath". This password is typically needed when
transferring Seapath log files through the Ethernet to an external computer. The FTP
client software will ask for this password.
Figure 14 Common Network Settings
Check with the network administrator on board the vessel for the correct selection of
network address and mask.
2. In the Seapath Display Window, go to Debug menu and move the cursor to Log, as shown
in Figure 15 below, and press Enter. This will start the logging, and keep it active until it
is stopped by the same procedure, or the system is restarted.
65
Seatex Seapath 200 User's Manual, rev. 13
Appendix B – Logging of data
┌─────────────────────────────────────────────────────────────────────────┐
│Show GPS Show corrections Show Other Debug
│
│Threads Async Log Timedelay
│
└─────────────────────────────────────────────────────────────────────────┘
Figure 15 The log option in the Debug menu
3. When the logging of data is stopped, proceed as follows to get contact with the Seapath
FTP server: The procedure below uses basic FTP command lines in a DOS window. Any
FTP server can be used for this purpose e.g. the freeware FTP server called GuildFTPD.
This one is available on http://www.guildftpd.com. If no other FTP client is available
other than FTP commands from a DOS window, then proceed as follows:
•
Start a DOS window on the external PC which is supposed to receive the logged data.
Proceed as follows by writing the text in red in the DOS window:
:\>ftp
ftp>open
(to) x.x.x.x (default is 192.168.1.10)
(user) xxx (default is "???")
(password) xxx (default is "seapath")
•
The logged data is binary files and will be named *.ib. The files typically have the
following names:
mmddhhmm.ib
monthdayhourminute.ib
•
Transfer the logged data from Seapath to the external PC by typing:
ftp>bin (to tell the FTP client that the files to be downloaded are in binary format))
ftp>mget *.ib (transfers all the log files available in the folder with extension *.ib. It may
take som time to transfer all the files).
ftp>get setup (transfers the Seapath setup file)
•
To ensure maximum storage capacity on the Seapath hard disk, always remember to
delete the logged data files after file transfer. This is performed in the following way:
ftp>mdelete *.ib (delete transferred log files from the Seapath hard disk)
•
Finally, disconnect the FTP connection by writing ftp>close.
The logged data files (*.ib files) and setup file are sent to Kongsberg Seatex for analysis.
FTP = File Transfer Protocol (RFC 959)
66
Seatex Seapath 200 User's Manual, rev. 13
Index
Index
A
I
air inlet · 33
Analog · 22
Antenna Bracket · 26
antenna cable · 35
Automatic · 31
installation · 11
J
junction box · 37
B
K
battery · 34
Kalman filter · 13
C
L
cables · 33
calibration · 14, 28
connectors · 22
LED1 · 37
lever arm · 15
light diode · 37
limited · 6
lithium · 34
D
damage · 37
Data I/O · 9
Debug · 63
delays · 19
depth errors · 43
differential GPS · 15
display windows · 49
drawings · 45
M
misalignment · 42
modifications · 37
monitoring · 49
MRU · 42, 59
MRU 5 · 24
F
O
failed · 33
FTP · 65
fuse · 33
output formats · 9
P
G
periodic maintenance · 33
pitch · 15
ports · 21
Position · 15
pps,1PPS · 9
Processing Unit · 21, 36
GPS antenna · 35
Gyro · 60
gyro compass · 14
H
R
heading · 14
Heading · 53
heave · 31, 43
heave damping · 17
heave filter · 16
heave period · 17
height aiding · 27
range rate · 43
recalibration · 34
re-calibration · 14
reduced · 42, 43
reference station · 28
reference stations · 15
67
Seatex Seapath 200 User's Manual, rev. 13
Index
Repair · 35
Replacing · 33
roll · 42
Roll · 15
Rtcm · 55
T
Tracking · 54
troubleshooting · 38
tune · 31
S
U
Satellites · 52
Sbas · 56
Serial · 61
Service · 33
software upgrades · 33
spare · 33
spare unit · 37
status lights · 21
System · 62
unstable · 42
V
velocity · 15
W
warranty · 5, 33
68
Seatex Seapath 200 User's Manual, rev. 13
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Seatex Seapath 200 User's Manual, rev. 13
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Secretary of Research and Development
Kongsberg Seatex AS
Pirsenteret, N-7462 Trondheim, Norway
Telephone: +47 73 54 55 00
Facsimile: +47 73 51 50 20
E-mail: firmapost@kongsberg-seatex.no
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