NAVIPAC 4.

5
INSTRUMENT PARAMETERS
 Contents

1 Introduction ..................................................................................................................... 4
2 GPS .................................................................................................................................. 5
3 Gyro .................................................................................................................................. 7

3.1 Gyro from RTK ........................................................................................................... 8

3.2 Constructed gyro ........................................................................................................ 9
3.3 User defined gyro ..................................................................................................... 10
4 Motion Sensor ............................................................................................................... 12

4.1 User defined motion sensor ..................................................................................... 14

5 Doppler Velocity Log .................................................................................................... 16
6 Data acquisition ............................................................................................................ 17

6.1 User defined data acquisition ................................................................................... 18

6.2 MAG G-880 .............................................................................................................. 18
6.3 Channel selection ..................................................................................................... 20
6.4 Super acquisition inputs ........................................................................................... 21
7 Point of interest............................................................................................................. 23
8 Dynamic positioning .................................................................................................... 25

8.1 USBL Position .......................................................................................................... 25

8.1.1 Target................................................................................................................. 28
8.2 LBL Position ............................................................................................................. 30
8.2.1 Target................................................................................................................. 32
8.3 Remote Dynamic Objects ........................................................................................ 33
8.3.1 Target................................................................................................................. 33
8.4 Total station from vessel to target ............................................................................ 34
8.5 Total station from fixed location to target ................................................................. 35
9 Data outputs .................................................................................................................. 36

Page 2 of 49
 9.1 NMEA ....................................................................................................................... 38
9.2 User defined outputs ................................................................................................ 39
9.3 Data to NaviScan ..................................................................................................... 40
9.4 Annotation of EPC Recorders .................................................................................. 41
9.5 Data to external navigation system .......................................................................... 42
9.6 Dual or triple object outputs ..................................................................................... 44
9.7 Autopilot ................................................................................................................... 45
9.8 Data to Rob Track .................................................................................................... 46
9.9 DOF Subsea Pipe inspection ................................................................................... 46
9.10 Data to Geco TriAcq ............................................................................................. 47
9.11 Data to Coda ......................................................................................................... 47
9.12 EMGS TX .............................................................................................................. 49

NaviPac_Instrument_Parameters.docx
Page 3 of 49
Last update: 23/4/2021
 1 Introduction
This document describes the various parameters defined for most instrument interfaces in
the NaviPac configuration tool.

For general parameters such as IO, offsets etc please refer to Help on the program itself.
It is important to notice

• You must select a valid I/O setting for the import as it otherwise might block the
entire navigation process
• COM Serial interfaces using build in or adapter ports
• UDP Network broadcast messages UDP/IP
• TCP Network server using TCP/IP
• ATTU EIVA ATTU unit sending time tagged data on network
• The offsets may be specified as numbers (XYZ) or by selection a POI (Point of
interest). Offsets are always defined as offset from CRP (local zero point – Common
Reference Point) to the instrument
• String details is extremely important as it defines how NaviPac identifies a string
and how many updates per second we allocate space for. Default values are
normally OK – but it is a good place to start when performing troubleshooting!

All items are handled via the property selection observed at the instrument properties
(default right part of the window) after selecting an instrument:

Figure 1 NaviPac config – instrument editing

Page 4 of 49
 2 GPS

Figure 2 Detailed parameters for GPS receivers

• Apply datum shift:

Shall NaviPac apply a datum shift (from WGS84 to User Datum) or shall we use the
position directly.

NaviPac_Instrument_Parameters.docx
Page 5 of 49
Last update: 23/4/2021
 • Use time in telegram
Shall NaviPac use the timestamp in the position telegram (eg. NMEA GGA) to
determine when the position is valid. This requires that the NaviPac PC somehow is
synchronized in time with the GPS clock. This can be either via special time input or
network time server. Please see document on Timing Principles in NaviPac (Manual
16)
• Use age in telegram
Shall NaviPac use the data age given out by the GPS (eg. UKOOA GPS format or
Ashtech RTK GPS) and compensate for this latency. Please see document on
Timing Principles in NaviPac (Manual 16)
• Fixed latency
Here the operator may enter a fixed data latency in seconds.
• Apply ITRF Shift
Shall NaviPac include time based datum shift parameters to account for the
situation where the datum shift is changing over time? The basic NaviPac datum
shift parameters will be adjusted daily using the “speed of change” parameters
based on the reference date.
This type of datum shift can, for example, be relevant in North America where the
use of ITRF to NAD83 is widely used and in Europe to shift from ITRF to EUREF89.
Please note that this field only will be visible is ITRF is enabled globally

Page 6 of 49
 3 Gyro

Figure 3 Detailed setup for gyro and heading sources

• C-O
Gyro add value – a value added to the raw instrument reading
• Minimum time slice
Data down-sampling. If data density is closer than entered interval then data is
down-sampled.
• Latency
If the gyro has a known data delay then the latency can be entered here
• SeaPath format:
Only for Seapath Gyro. Select the data source (binary EM1000, binary EM3000 or
ASICC PSXN)

NaviPac_Instrument_Parameters.docx
Page 7 of 49
Last update: 23/4/2021
 3.1 Gyro from RTK
This gyro will be calculated by NaviPac based on the two primary RTK GPS’s antennas as
the difference between observed baseline and defined baseline

Figure 4 Special setup for RTK GPS based heading

• Gain
The system may add a smoothing filter to the calculated gyro. Gain is the smoothing
factor 1 defines no filter and the lower value the more smooth,
• Sigma
Defines a spike detection value. Jumps above entered value is discarded

Page 8 of 49
 3.2 Constructed gyro

Figure 5 Special setup for constructed gyro

This gyro will be calculated by NaviPac as the direction from selected object (Direction from)
to the object where the gyro is defined (Location)

NaviPac_Instrument_Parameters.docx
Page 9 of 49
Last update: 23/4/2021
 3.3 User defined gyro

Figure 6 Additional setup for user defined gyro input

Page 10 of 49
 For the user defined gyro the operator must specify how and where to read the data

• Item separator:
How shall NaviPac divide the string into items – eg. By counting bytes, comma
separated or using special item identifier (the above)
• Read item at field:
Which item (separated) or byte (byte count) shall NaviPac read from. Note first item
is called number 0
• Item id;
A special search pattern to identify where to read the value. The number will be
read just after this text.
• Item length:
For byte count only – how many characters must we read in the string. This can be
very important if the string in action just gives a continuous set of numbers without
any separation. Enter 0 to ignore this,
• Scale:
Shall the resulting gyro be scaled – eg. If input is in radians. See note in dump on
the calculation.
• Zero level:
Do we need an offset (before scaling) – eg.is data is from some A/D converter. See
note in dump on the calculation.

NaviPac_Instrument_Parameters.docx
Page 11 of 49
Last update: 23/4/2021
 4 Motion Sensor

Figure 7 General setup for motion sensor input

Page 12 of 49
 The number of parameters may differ depending on the selected unit

• Roll, Pitch and Heave C-O

Data add value – a value added to the raw instrument reading
• Minimum time slice
Data down-sampling. If data density is closer than entered interval then data is
down-sampled.
• Latency
If the data has a known data delay then the latency can be entered here. Eg. For
Octans.
• SeaPath format:
Only for Seapath Gyro. Select the data source (binary EM1000, binary EM3000 or
ASICC PSXN)
• Reverse Heave:
Shall NaviPac reverse the heave sign? NaviPac uses positive above datum.
Seen for SeaPath
• Check for aiding:
TSS and Atlas Dynabase: Shall NaviPac flag invalid if motion system isn’t aided

NaviPac_Instrument_Parameters.docx
Page 13 of 49
Last update: 23/4/2021
 4.1 User defined motion sensor

Figure 8 Additional setup for user defined motions sensors

For the user defined gyro the operator must specify how and where to read the data

Page 14 of 49
 • Item separator:
How shall NaviPac divide the string into items – eg. By counting bytes or by comma
separated (the above)
• Read item at field:
Which item (separated) or byte (byte count) shall NaviPac read from. Note first item
is called number 0. Goes for roll, pitch and heave. -1 indicates that NaviPac must
ignore the item.
• Item id;
A special search pattern to identify where to read the value. The number will be
read just after this text.
• Item Length:
For byte count only – how many characters must we read in the string. This can be
very important if the string in action just gives a continuous set of numbers without
any separation. Enter 0 to ignore this.
• Scale:
Shall the resulting gyro be scaled – eg. If input is in radians. See note in dump on
the calculation. Goes for roll, pitch and heave.
• Zero level:
Do we need an offset (before scaling) – eg.is data is from some A/D converter. See
note in dump on the calculation. Goes for roll, pitch and heave.
• Positive starboard down
Is roll positive starboard down (default) or starboard up?
• Postive bow up
Is pitch positive bow up (default) or bow down?
• Positive above datum
Is heave positive above datum (default) or below datum?

NaviPac_Instrument_Parameters.docx
Page 15 of 49
Last update: 23/4/2021
 5 Doppler Velocity Log

Figure 9 Detailed setup for DVL input

• RDI Format
For Teledyne RDI DVL only.
Select between the formats that NaviPac supports (various RDO formats and
special Schilling variants)
• Gyro mount angle
• Roll mount angle
• Pitch mount angle
Rotation mount angles for the DVL
Please note that there are no string details for Teledyne RDI DVL, as this is handled by the
format selection.

Page 16 of 49
 6 Data acquisition

Figure 10 General setup of data acquisition input

• Latency
If the data has a known data delay then the latency can be entered here.

NaviPac_Instrument_Parameters.docx
Page 17 of 49
Last update: 23/4/2021
 • String prefix:
Here you may enter string prefix which determines that only strings starting with this
sub-string will be used. See notes on GPS
• Timeout
Enter how many seconds NaviPac must wait before generating an alarm in case of
missing data. Default is 10 seconds
• Number of channels
read only field showing how many data items the driver supports

6.1 User defined data acquisition

Please note that user defined acquisition drivers may be re-used multiple times, but it is
important that they are having exact same characteristics – string layout, scale etc.

Definition of free drivers is partly done on the instrument level and on the channel level –
see section 6.3.

• Item separator:
How shall NaviPac divide the string into items – eg. By counting bytes or by comma
separated etc (User defined acquisition)

6.2 MAG G-880

Includes special scaling and offset for depth and altitude calculations

Page 18 of 49
 Figure 11 Special setup for magnetometer input

• Scale:
Shall the resulting data be scaled – eg. If input is in cm.
• Zero level:
Do we need an offset (before scaling).

NaviPac_Instrument_Parameters.docx
Page 19 of 49
Last update: 23/4/2021
 6.3 Channel selection
Each acquisition input supports up to three channels – each channel must be defined
individually.

Figure 12 General channel (data source) selection

• Name
User defined name of the data type. Please note that NaviPac requires unique
naming – i.e. you must not use the same name twice
• Active
Shall NaviPac use this channel or not
• Unit
For display only – data unit
• Read item at field
For user defined input: Which field shall NaviPac read. Note the first field is
numbered 0.

Page 20 of 49
 • Item id;
For user defined input : A special search pattern to identify where to read the value.
The number will be read just after this text.
• Item length:
For user defined input - byte count only: How many characters must we read in the
string. This can be very important if the string in action just gives a continuous set of
numbers without any separation. Enter 0 to ignore this.
• Scale:
Shall the resulting data be scaled – eg. If input is in radians. (User defined
acquisition).
• Zero level:
Do we need an offset (before scaling) – eg.is data is from some A/D converter.
(User defined acquisition).
• Data type
For user defined input – identify the data type (echosounder, bathy, magnetometer
or other). This has heavily influence on the usage in NaviEdit and various data
outputs

6.4 Super acquisition inputs

NaviPac version 3.8.3 and onwards support a new type of data acquisition input’s which
allows assignment of up to 20 parameters to each input. The user defined version of this
includes a huge series of parameters to define this:

NaviPac_Instrument_Parameters.docx
Page 21 of 49
Last update: 23/4/2021
 Figure 13 Special 20 channel input

• Number of channels
Defines the number of active channels (1-20)
• Item separator
Defines how to separate items (comma, space, semicolon, colon, tab or byte count)
• Channel n Item
For each channel define the item number to read (or first byte in the string)

Page 22 of 49
 • Channel n Name
A user defined name for the item
• Channel n Active
is the channel in use or not

7 Point of interest
The POI (former known as User Defined Offsets) defines points at an vehicle

Figure 14 Definition of user defined offsets

• Offsets
Specify the XYZ offset (the 3D arm) from the mother object to me.
X: Positive starboard
Y: Positive front
Z: Positive up
• Calculation mode
Select how the offset is calculated
• Gyro
The arm is roll, pitch and gyro corrected using gyro (required) and motion
data (optional) from the primary sensors

NaviPac_Instrument_Parameters.docx
Page 23 of 49
Last update: 23/4/2021
 • CMG
The arm is gyro corrected using the calculated course (known as CMG or
COG) and motion corrected using the primary roll/pitch sensor.
• Drag
The object is considered to be dragged (pulled) in a chain after the mother
object. Will give a smooth position, as the relative heading between object
and mother are kept stable.
Defined as Dynamic Position: Dragged offset
• Depth compensated Drag
Same as drag – but compensated for depth below mother object.
The input is treated as cable out information and the layback is calculated
using simple triangle (Pythagoras) calculation of depth and cable out.
Defined as Dynamic Position: Dragged offset

Figure 15 The triangular calculation

• Relative Positon
The target is calculated a mid point between two other vehicles based on
defined relative distance
Defined as Dynamic Position: Relative Offset
• Circular Average – currently not available
Similar to secondary. Calculates a new position based on two input’s as the
input is the range from both objects to the new and the resulting position is
the circular crossing of the two – using the solution behind them. The
resulting heading is defined as average of the two directions from new to
old.

Page 24 of 49
 8 Dynamic positioning
NaviPac supports a series of what we call dynamic positioning – that is positioning of
external or UW vessels. Some properties are defined at instrument level at both the main
vessel (eg USBL) and the vehicle in use while other just are defined as instruments on the
vehicle (eg range/bearing system)

8.1 USBL Position

The USBL data will be defined both on the vessel (mounting and io) and on the target
vehicle

Figure 16 Vessel part of USBL configuration

Figure 17 Vehicle part of the USBL configuration

NaviPac_Instrument_Parameters.docx
Page 25 of 49
Last update: 23/4/2021
 Figure 18 Definition of an ultra-short baseline system

• UW hold time
How long time shall NaviPac keep the USBL position before flagging it invalid, i.e.
the object state changes to red.

Page 26 of 49
 • Gyro add angle
Horizontal mount error of the USBL system. Found in USBL calibration
Note can also be entered in most USBL systems – do not enter both places!
• Roll add angle
Vertical (XZ) mount error of the USBL system. Found in USBL calibration.
Note can also be entered in most USBL systems – do not enter both places!
• Pitch add angle
Vertical (YZ) mount error of the USBL system. Found in USBL calibration.
Note can also be entered in most USBL systems – do not enter both places!
• Scale
Gives scale factor for raw USBL range – due to wrong sound velocity or similar.
Found in USBL calibration.
• Range tolerance
Shall NaviPac check and de-spike data? The data tolerance (% of total range)
defines how big a window we shall allow. 100% results in use all data. If you are on
700-meter range and have defined a tolerance of 2%, then jumps in data bigger
than 14 meter are removed.
• Use time in telegram
Shall we use the time in the Kongsberg HiPap string to determine age of USBL
data? Require that both systems is synchronised to GPS and PPS.
This entry is disabled for non Kongsberg systems.
• Use binary HiPap telegram
Shall NaviPac read binary (HPR300 and HiPap) or ASCII (HiPap NMEA etc) from
the Kongsberg system.
This entry is disabled for non-Kongsberg systems.
• Transceiver id
For Kongsberg dual transceiver only. Select transceiver number. See section in
data formats for details
• Use this USBL unit for differential USBL
NaviPac 3.5 patch 4 utilises a simple differential USBL function. The operator may
use one or two objects as reference in the USBL setup. He must enter the known
coordinates (X, Y, Z) in a special online window (pops up automatically) and
NaviPac monitors hereafter the error between measured and entered. These values
are then applied directly to all objects (or more correct copy of all objects)
positioned by this USBL system – and thus delivering a solution similar to
differential GPS.

NaviPac_Instrument_Parameters.docx
Page 27 of 49
Last update: 23/4/2021
 Figure 19 Dynamic positioning – weighting

The position weighting enables the operator to control how NaviPac combines multiple
position items into on solution based on reverse standard deviation

• Automatic from telegram

Use the standard deviation read from the input telegram – eg. Kongsberg
$PSIMSSB
• Scale
For automatic – scale the value read from telegram.
• Manual deviation
• Range scale deviation
Non-automatic. Define the deviation as a constant plus a fraction of the range

8.1.1 Target

For each selected vehicle, the following parameters must be defined.

Page 28 of 49
 Figure 20 Definition of the USBL target(s)

• Name
Identifies the position source
• TP Code
Select the transponder number defined for this object. It must correspond to the
selection on the USBL system.
• Kongsberg mode (For HiPAP/APOS only)
• Normal
• Master
• Slave
Is the USBL part of a dual head solution – and is this data measured from
master, slave or ordinary input.
• Emergency A

NaviPac_Instrument_Parameters.docx
Page 29 of 49
Last update: 23/4/2021
 • Emergency B
Kongsberg only (For HiPAP/APOS only) – special beacon
• Transponder offsets
If the required position calculated for this object is different from the transponder
position (eg. you just need the CRP and not the raw observed position), then the
operator must specify the X,Y,Z offset here.
Please note that these values are treated as ordinary antenna offsets, ie. Defined
as offset from CRP to the transponder.
CRP = raw TP - Offsets(3D compensated).
Note that this requires as minimum a gyro and preferable a motion sensor is
attached to the object!
This can also be obtained by specifying an user-defined offset on the object.

8.2 LBL Position

The position output is assumed to be a final computed position (in grid components or
latitude/longitude) and NaviPac just assign that to internal objects.

The LBL data will be defined both on the vessel (mounting and io) and on the target vehicle

Page 30 of 49
 • UW hold time
How long time shall NaviPac keep the USBL position before flagging it invalid, i.e.
the object state changes to red.
• Sonardyne Format
Select the output format from Sonardyne APS3. Supports Stolt Offshore 1 and 2,
Geoconsult and special Pharos formats:
• Mode1="FXT;time,E east, N,north,D depth,A error,H heading,T id" -
>Geoconsult
• Mode2="FXT;delay,TARGET SINGL TRAK,E east, N north,D depth,A
error,H heading" -> Stolt Offshore 1
• Mode3="FXT;ttttt.tt,m,Eeeeeee.ee,Nnnnnnnn.nn,Ddddd.dd,Axx.xx,Hhhh.h -
>Stolt Offshore 2
• EIVA/Pharos =
2"FXTNP;ID,HH:MM:SS.ss,LL.LL,Eeeeeeeee.ee,Nnnnnnnnn.nn,Dddddd.dd

,Saaa.aa,Maaa.aa,Taaa.aa,Paaa.aa,Hhhh.h<cr><lf>"

2 This is called Fusion in newer Sonardyne systems

NaviPac_Instrument_Parameters.docx
Page 31 of 49
Last update: 23/4/2021
 • PSONALL
$PSONALL,Name,Offset,HHMMSS.ss,XXXXXXXXX.xx,YYYYYYYYY.yy,D
DDD.dd,HHH.hh,CCC.cc,T,PP.PP,RR.RR,VVV.vv,AAA.A,BBB.B*hh

8.2.1 Target

For each selected vehicle (an object assigned to a transponder/responder) the following
parameters must be defined.

Figure 21 Definition of LBL targets

• Name
Identifies the position source
• TP Code
Select the transponder number defined for this object. It must correspond to the
selection on the LBL system.
• Transponder offsets
If the required position calculated for this object is different from the transponder
position (eg. you just need the CRP and not the raw observed position), then the
operator must specify the X,Y,Z offset here.

Page 32 of 49
 Please note that these values are treated as ordinary antenna offsets, ie. Defined
as offset from CRP to the transponder.
CRP = raw TP - Offsets(3D compensated).
Note that this requires as minimum a gyro and preferable a motion sensor is
attached to the object!
This can also be obtained by specifying a user-defined offset on the object.

8.3 Remote Dynamic Objects

The position output is assumed to be a final computed position (in grid components or
latitude/longitude) and NaviPac just assign that to internal objects. NaviPac supports a
series of formats like NaviPac, WinFrog, IMCA, Apache, QPS Pseudo NMEA, Tracs etc.

The remote position data will be defined both on the vessel (mounting and io) and on the
target vehicle

8.3.1 Target

For each selected vehicle (an object assigned to a identification number) the following
parameters must be defined.

Figure 22 Definition of target for remote navigation input

NaviPac_Instrument_Parameters.docx
Page 33 of 49
Last update: 23/4/2021
 • Name
identification of position source
• TP Code
Select the code number defined for this object. It must correspond to the selection
in the outputting system.
For IMCA outputs please note that a mapping between IMCA name and NaviPac
numbers has to be defined. This is done in the Options, Survey Parameters menu.

8.4 Total station from vessel to target

The total stations like AGA, Leica and similar are always defined as measurements from the
main vessel (vehicle 0) to the target. The total station is assumed to be oriented in vessel
coordinate system – but has possibility to add mounting corrections for some units.

Figure 23 Leica total station

• Offset
identification of offset on the main vessel to the tracking device
• Prism
Offsets of the prisms on the target. Requires that you have as minimum gyro on the
target vehicle

Page 34 of 49
 • Mount angles
Mounting correctio of the total station relative to vessel coordinate system
• Perform roll/pitch correction
Shall NaviPac compensate the measurements from the unit for roll/pitch from the
main vessel MRU
• Weighting
When using multiple prisms -possible to weight them individually

8.5 Total station from fixed location to target

You may also use a total station mounted on a fixed location and tracking a prism on the
target. This will be a 2D position solution, Here you must enter the coordinates of the fixed
location – and the output is assumed to be related to north.

NaviPac_Instrument_Parameters.docx
Page 35 of 49
Last update: 23/4/2021
 Figure 24 Leica from fixed location

9 Data outputs
NaviPac has many specialised outputs. Most setup should be self-explainable – some very
special. Some inputs covers multiple position vehicles – than can either be performed via
section of multiple vehicles or adding the output to more vehicles (eg data to external nav
system)

This section covers most general items.

Page 36 of 49
 Figure 25 General definition of data output

• Scale positions and depths

If you are operating in non-metric system then you may control if the output shall be
in metric or in user selected data unit. (Future use)
• File information
If data is output to a file then you may select name, path and size

NaviPac_Instrument_Parameters.docx
Page 37 of 49
Last update: 23/4/2021
 9.1 NMEA

Figure 26 Special setup of NMEA data output

• String prefix
Enter the two character to put in between the $ and the first ID (The NMEA
TALKER)
• Position
Select between various positions formats. You may select 0, 1 or more as you
need.

Page 38 of 49
 • Datum
Shall NaviPac output position in user datum (default) or WGS84
• Use Position Prediction
Shall NaviPac extrapolate the position to real-time predicted value?
• TLL Object
The target output may represent another object (eg. Towed vehicle) than
the primary selected)
• Various
Select between various auxillian formats. You may select 0, 1 or more as you need.
• Autopilot
Select between various runline status data formats. You may select 0, 1 or more as
you need.

9.2 User defined outputs

User defined outputs has been re-enabled in NaviPac4.5 – and works similar to the solution
in NaviPac 3. Please see dedicated manual on user defined outputs for details.

Figure 27 Details on user defined outputs

NaviPac_Instrument_Parameters.docx
Page 39 of 49
Last update: 23/4/2021
 9.3 Data to NaviScan

Figure 28 Special parameters for data to NaviScan

• Include MC
Shall NaviPac send Meridian Convergence value to NaviScan. Recommended to be
selected when used with older NaviScan versions

Page 40 of 49
 9.4 Annotation of EPC Recorders

Figure 29 Special setup of EPC data annotation

• Interval
Specify how often (event interval) the annotation must be performed.
• Character size
Specify size of EPC characters (between 1 and 9). Changes will be applied online!

NaviPac_Instrument_Parameters.docx
Page 41 of 49
Last update: 23/4/2021
 9.5 Data to external navigation system
Data to external navigation systems and similar contains multiple vehicles in same output.
This is done by defining the output on each vehicle with same destination.

Figure 30 Selection and setup of data to external navigation systems

• Format:
In this list you select what format you want to output:
• NaviPac:
Compressed format that is most efficient if two or more NaviPac systems
exchange information. Includes position and heading.
• WinFrog:
Send data on the WinFrog format
• NMEA:
Send data on a pseudo NMEA format (header is $xxGGA and $xxHDT,
where xx is the object id).

Page 42 of 49
 • Expanded NaviPac:
Ordinary NaviPac format plus motion data, quality factors and data
acquisition data.
• $SFPOS:
Output of position using the Apache format
• IMCA:
Position and heading using standard IMCA format – remember to specify
IMCA ID in Survey Parameters
• NaviPac + tug State:
The short NaviPac format plus status of primary GPS sensor (satellites,
HDOP, Quality) sent every 10’Th update.
Do also output geodesy information with low frequency.
This in mainly used between tug’s and barges.
• Sonsub $PSURP
Position and attitude data in special Sonsub format.
• Kongsberg $PSIMSSB
Position data in Kongsberg NMEA format – position in radians. Compatible
with IxSea ROVINS/Phins.
• Interval:
Here you specify the output rate, as the value is a multipla of cycles.
• ID:
Unique id number (corresponding to transponder codes).

Similar dialogues are used for position to EIVA 3D, Acergy ACDAT etc.

NaviPac_Instrument_Parameters.docx
Page 43 of 49
Last update: 23/4/2021
 9.6 Dual or triple object outputs
Some outputs as data to Data to Datasonics ChirpII, ROVLOG, ArcScene etc requires
specification of 2 or three objects.

Figure 31 General handling of outputs with multiple objects

The first object is the vehicle where the output is attached to. The up to two other can be
selected between vehicles and POI’s

Page 44 of 49
 9.7 Autopilot

Figure 32 Detailed autopilot settings

The advanced (two way communication) autopilot allows selection of data format

• EMRI
• None – out dated
• Condor Autotrack
• Kongsberg DP
• EMRI SEM 200
• Sjöfartsverket Low speed

NaviPac_Instrument_Parameters.docx
Page 45 of 49
Last update: 23/4/2021
 9.8 Data to Rob Track

Figure 33 Special handling of Rob Track

• Max Turn rate

Enter the maximum turn rate in seconds

9.9 DOF Subsea Pipe inspection

Not supported in the Kuda editon

Page 46 of 49
 9.10 Data to Geco TriAcq

Figure 34 Selection for Geco seismic operations

Definition of a series of parameters specific for this output

9.11 Data to Coda

Most settings are handled via right mouse and Edit Special Settings. Select which data shall
be used for bathy and altitude.

NaviPac_Instrument_Parameters.docx
Page 47 of 49
Last update: 23/4/2021
 Figure 35 Data output to Coda Octopus

Page 48 of 49
 9.12 EMGS TX
Special output for EMGS TX recordings

Selection of the various data points in the subsea network

NaviPac_Instrument_Parameters.docx
Page 49 of 49
Last update: 23/4/2021