Kongsberg Maritime

Seapath 300 User Manual

Supplier: Kongsberg Seatex

Reference: M300-50
Version: 4

345619/D
Kongsberg Seapath® 300
Heading, attitude and
positioning sensor
User Manual

M300-50/4.0
January 2012 © Kongsberg Seatex AS
Document history
Document number: M300-50 / Revision 4.0
Rev. 4 January 2012 Updated to correspond with Operator SW version 1.02.00

Copyright
©Kongsberg Seatex AS
All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise
copied without prior permission from Kongsberg Seatex AS.

Note
The information contained in this document remains the sole property of Kongsberg Seatex AS. No part of
this document may be copied or reproduced in any form or by any means, and the information contained
within it is not to be communicated to a third party, without the prior written consent of Kongsberg
Seatex AS.
Kongsberg Seatex AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.

Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Seatex disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.

Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: [email protected]

Kongsberg Seatex AS
www.kongsberg.com
 User Manual

Table of contents

1 INTRODUCTION............................................................... 7
1.1 About the reader .....................................................................................................7
1.2 Notations used in this manual.................................................................................7
1.3 Product restrictions.................................................................................................8
1.3.1 Restrictions in export ................................................................................. 8
1.3.2 Restrictions in guarantee ............................................................................ 8
1.3.3 Restrictions in use...................................................................................... 8
1.4 Disposal ..................................................................................................................9
1.5 Equipment handling................................................................................................9
1.6 Abbreviations and glossary ..................................................................................10
2 PRODUCT DESCRIPTION................................................ 14
2.1 Purpose and applications ......................................................................................14
2.2 System components ..............................................................................................15
2.2.1 Processing Unit........................................................................................ 16
2.2.2 HMI Unit ................................................................................................ 17
2.2.3 MRU 5 Unit ............................................................................................ 18
2.2.4 GNSS antennas and antenna bracket.......................................................... 19
2.3 Networked architecture ........................................................................................19
2.4 GNSS systems ......................................................................................................20
2.4.1 GPS - Global Positioning System.............................................................. 20
2.4.2 Differential GNSS (DGNSS) .................................................................... 21
2.4.3 SBAS system description ......................................................................... 23
3 TECHNICAL DESCRIPTION ............................................. 26
3.1 System architecture ..............................................................................................26
3.2 Main data flow......................................................................................................27
3.3 Heading determination .........................................................................................28
3.4 Roll and pitch determination ................................................................................29
3.5 Position and velocity determination .....................................................................29
3.6 Real-time heave computation ...............................................................................30
3.6.1 Selection of heave filter mode ................................................................... 31
3.7 Delayed heave output ...........................................................................................34
3.8 High speed data in real-time.................................................................................34
4 OPERATING INSTRUCTIONS .......................................... 35
4.1 Screen sections views ...........................................................................................35
4.1.1 Switch and select views............................................................................ 36
4.2 Top bar..................................................................................................................36
4.2.1 System modes.......................................................................................... 37
4.2.2 Data quality status.................................................................................... 37

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4.2.3 System status ........................................................................................... 38

4.2.4 Events ..................................................................................................... 38
4.2.5 Application menu..................................................................................... 38
4.3 Sky view ...............................................................................................................39
4.4 DGNSS views.......................................................................................................40
4.5 Integrity view........................................................................................................42
4.6 Compass view.......................................................................................................43
4.7 Motion data view..................................................................................................44
4.8 Time series view ...................................................................................................45
4.9 View menu............................................................................................................46
4.9.1 Display mode .......................................................................................... 47
4.9.2 View ....................................................................................................... 48
4.9.3 Display format......................................................................................... 49
4.9.4 Bars ........................................................................................................ 50
4.10 Alarm menu ..........................................................................................................50
4.10.1 Alarm history view .................................................................................. 51
4.11 Tools menu ...........................................................................................................54
4.11.1 Utilities ................................................................................................... 54
4.11.2 Diagnostics.............................................................................................. 57
4.11.3 Log ......................................................................................................... 62
4.12 System menu ........................................................................................................64
4.12.1 Configuration........................................................................................... 64
4.12.2 Operator software configuration ................................................................ 64
4.12.3 Information ............................................................................................. 73
4.12.4 System control......................................................................................... 75
5 MAINTENANCE .............................................................. 77
5.1 Periodic maintenance............................................................................................77
5.1.1 Cleaning of air inlet.................................................................................. 77
5.1.2 GNSS antenna care .................................................................................. 79
5.1.3 UHF antenna care .................................................................................... 79
5.1.4 Recalibration of the antenna bracket.......................................................... 79
5.1.5 Recalibration of the MRU......................................................................... 79
5.1.6 Changing the internal lithium battery........................................................ 80
5.2 Software upgrades ................................................................................................80
5.2.1 Software upgrade procedure ..................................................................... 80
5.2.2 Upgrade troubleshooting .......................................................................... 82
5.3 Repairs and modifications ....................................................................................83
5.3.1 Exchange of GNSS antenna ...................................................................... 84
5.3.2 Exchange of GNSS antenna cable ............................................................. 84
5.3.3 Repair of Processing and HMI Units ......................................................... 85
5.3.4 Installation of spare Processing Unit.......................................................... 85
5.3.5 Installation of spare HMI Unit .................................................................. 86

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 User Manual

5.3.6 Repair of the MRU................................................................................... 86

5.3.7 Installation of spare MRU......................................................................... 86
5.3.8 Repair of the MRU junction box ............................................................... 87
5.3.9 Installation of spare UHF Receiver Module ............................................... 87
5.4 Troubleshooting....................................................................................................88
5.4.1 System status ........................................................................................... 88
5.4.2 No power ................................................................................................ 88
5.4.3 No mouse cursor ...................................................................................... 89
5.4.4 External output problems.......................................................................... 89
5.4.5 All data quality status are black................................................................. 89
5.4.6 All data invalid "four red data quality indicators" ....................................... 89
5.4.7 Invalid position/velocity indicator ............................................................. 90
5.4.8 Reduced position/velocity indicator........................................................... 90
5.4.9 Invalid heave and roll/pitch indicators ....................................................... 91
5.4.10 Reduced heave and roll/pitch data indicators.............................................. 91
5.4.11 Invalid heading indicator .......................................................................... 91
5.4.12 Reduced heading indicator........................................................................ 92
5.4.13 Problems with the MRU ........................................................................... 93
5.4.14 Reduced roll or pitch performance ............................................................ 93
5.4.15 Reduced heave performance ..................................................................... 94
6 REFERENCES.................................................................. 95
A LCD DISPLAY AND KEYBOARD ....................................... 96
A.1 Navigation ............................................................................................................96
A.2 Hardware menu ....................................................................................................97
A.2.1 Status ...................................................................................................... 98
A.2.2 Display.................................................................................................... 98
A.2.3 About HW............................................................................................... 98

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Kongsberg Seapath® 300

6 M300-50/4.0
 Introduction

1 Introduction

1.1 About the reader

This user manual is intended as a reference manual for the system operator and it
contains the necessary information in order to configure and operate the Seapath
equipment on a vessel.

1.2 Notations used in this manual

The following notations are used in this manual:
Bold text is used for all menu names. A series of menu selections is indicated by File→
New
Italics is used for manual names and for information that needs your attention.
Note
A note is used to draw attention to special features or behaviour of the equipment

Caution
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.

WARNING
Warning is used when it is necessary to warn personnel that risk of
injury or death exists if care is not exercised.

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Kongsberg Seapath® 300

1.3 Product restrictions

1.3.1 Restrictions in export
Export of the MRU 5 component within this product to other countries than EU
countries or Argentina, Australia, Canada, Iceland, Japan, New Zealand, Switzerland,
South-Korea, Turkey, Ukraine and USA, requires an export license.
Note

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.

1.3.2 Restrictions in guarantee

Changes or modifications to the product not explicitly approved by Kongsberg Seatex
AS will void the guarantee.
The liability of Kongsberg Seatex AS is limited to repair of this system only under the
given terms and conditions stated in the sales documents. Consequential damages such
as customer's loss of profit or damage to other systems traceable back to this system's
malfunctions, are excluded. The warranty does not cover malfunctions of the system
resulting from the following conditions:
• The MRU is not shipped in the original transport box.
• The MRU has been exposed to extreme shock and vibrations.
• The MRU housing has been opened by the customer in an attempt to carry out repair
work.
• Over-voltage or incorrect power connection.
• Shorting of GNSS antenna cable during operation of the systems.

1.3.3 Restrictions in use

The Seapath function is based on GNSS 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.

8 M300-50/4.0
 Introduction

1.4 Disposal
All electrical and electronic components have to be disposed
of 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 prevent 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.
The equipment may be returned to Kongsberg Seatex AS if
there is no local WEEE collection. The equipment is marked with this pictogram.

1.5 Equipment handling

Observe the following when handling the equipment:
• All units must be handled with care.
• The case containing the unit must be kept dry at all times and must be sheltered
from the weather.
• It must not be subjected to shocks, excessive vibration or other rough handling.
• The equipment must be preserved and stored in such a way that it does not constitute
any danger to health, environment or personal injury.
• The unit must, whenever possible, be stored and transported in its original
transportation box.
• The box must not be used for any purpose for which it was not intended.
• The storage area's mean temperature must not be lower than – 20 ºC and not warmer
than + 70 ºC.
• Once unpacked, the equipment must be kept in a dry, non-condensing atmosphere,
free from corrosive agents and isolated from sources of vibration.
Note
After the installation please save the transportation container. To maintain warranty
validity, the MRU must be shipped in this container for service or repair.

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Kongsberg Seapath® 300

1.6 Abbreviations and glossary

Abbreviations
AP Aft perpendicular. It is the same as Frame 0 and the vertical
intersection of the design water line at the stern, alternatively
the centre line of the rudder stock.
CAT Customer acceptance test
CEP Circular error probability
CF Compact Flash disk
CG 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.
CL Centre line. Is the longitudinal axis along the centre of the ship.
COG Course over ground
CPU Central processing unit
CRP Common reference point
CTP Commissioning test procedure
DGNSS Differential Global Navigation Satellite System
DGPS Differential GPS
DNV Det Norske Veritas
DOP Dilution of positioning
DP Dynamic positioning
DWL Design water line
ED50 European Datum of 1950
EGNOS European Geostationary Navigation Overlay System
EMC Electromagnetic compatibility
EMI Electromagnetic interference
EN European Norm
EPE Estimated position error
FP Forward perpendicular
GLONASS Global navigation satellite system
GNSS Global navigation satellite system
GPS Global positioning system
GUI Graphical user interface
HDG The vessel's heading relative to North. Positive clockwise.
HDOP Horizontal dilution of precision

10 M300-50/4.0
 Introduction

HMI Human machine interface

HP High precision
HWP Hardware platform
IALA International Association of Lighthouse Authorities
IEC International Electrotechnical Committee
IMO International Maritime Organization
IMU Inertial Measurement Unit
IP Ingress protection
LED Light emitting diode
LGND Logic ground
LOA Length over all
LPP Length between perpendiculars
MMSI Maritime Mobile Service Identity
MP Monitoring Point
MRU 5 Motion Reference Unit, model 5. This is the Inertial
Measurement Unit (IMU) within the system measuring
dynamic linear motion and attitude. An MRU consists of gyros
and accelerometers.
MSAS Multifunctional transport satellite-based augmentation system
MTBF Mean time between failure
NA Not applicable
NAD27 North American datum of 1927
NDS Not detected serial port
NMEA National Marine Electronics Association. NMEA 0183 is a
standard for interchange of information between navigation
equipment.
NRP Navigation Reference Point, i.e. the reference point for all
measurements in this system. The NRP recommended to be
used is the vessel CG or rotation centre.
PGND Power ground
PPS Pulse per second
PRN Pseudorandom noise
PSS Physical shore station
QA Quality assurance
RAIM Receiver autonomous integrity monitoring
RFI Radio frequency interface

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Kongsberg Seapath® 300

RMS Root mean square

RTCM Radio Technical Commission of Maritime Services
SA Selective availability
SBAS Satellite Based Augmentation System
SL Speed along ship
SBR System Backup and Restore
SNR Signal/noise ratio
SOG Speed over ground
SPS Standard positioning service
ST Speed transverse ship
SW Software
UDP User Datagram Protocol
UPS Uninterruptable power supply used to ensure power supply
in case of mains interruption.
UTC Universal Time Coordinated. This is the official time in the
world and has replaced GMT (Greenwich Mean Time) as the
official time.
UTM Universal transverse mercator
WAAS Wide area augmentation system
WEEE Waste electrical and electronic equipment
WGS84 World Geodetic System of 1984

Glossary
Alignment Is the process of adjusting the current internal navigation frame
in the instrument to the true external frame.
Antenna bracket Is the arrangement for mounting the GNSS 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" is used for the vehicle.
Backup stick A bootable USB memory stick with a fully operational
Windows image and software to create, update and install a
windows image.
Beam The maximum width of the vessel at Main Deck level (B. mld)
GPS Time The time in the GPS system. The GPS time is within UTC time
±180 nsec (95 per cent) plus leap second.

12 M300-50/4.0
 Introduction

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 calculated for a selected average heave period.
Height The height in this product is defined as the vertical position
relative to the WG84 datum (rotational ellipsoid).
Host system In this manual defined as Navigation computers, Dynamic
Positioning Systems etc, receiving data from this system.
Origin The zero point in the coordinate system. The origin is the
intersection point between AP, BL and CL.
P-axis 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.
Pitch A rotation about the pitch axis is positive when the bow moves
up. Normally, pitch means the dynamic pitch angle motions.
R-axis 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.
Roll A rotation about the roll axis 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.
Surge The alongship dynamic motion of a vehicle and defined
positive forward. Surge position and velocity are dynamic
motion variables calculated for a selected surge period.
Sway The athwartship dynamic motion of a vehicle and defined
positive starboard. Surge position and velocity are dynamic
motion variables calculated for a selected surge period.
Yaw A rotation about the vertical axis is positive when turning
Eastward (Clockwise) when the vehicle cruises in North
direction. Normally, yaw means the dynamic yaw motion.

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Kongsberg Seapath® 300

2 Product description

The Seapath 300 is a positioning, attitude and heading sensor. The product combines
inertial technology together with GPS satellite signals. Core components in the product
are the MRU 5 inertial sensor, the two GPS receivers, the Processing Unit and the HMI
Unit.

2.1 Purpose and applications

The product is developed specifically for hydrographic and other high precision
applications where heading, position, roll, pitch, heave and timing are critical
measurements.
The combination of GPS signals and inertial data enables much better performance than
each of the signals alone, with a high output data rate (up to 100 Hz), zero delay on
output data, data available in up to eight different monitoring points and a total of eight
configurable serial lines and Ethernet ports.
This Seapath product is a two-module solution with a Processing and an HMI Unit
connected via Ethernet. The Processing Unit runs all critical computations independent
of user interface on the HMI Unit to ensure continuous and reliable operation. Several
HMI Units can be connected to the same Processing Unit in a networked architecture.
The HMI Units present the vessel motion in a simple and easy-to-understand format to
ensure that the decision making based on the available data is as efficient as possible.

14 M300-50/4.0
 Product description

Figure 1 Typical information shown to the user

2.2 System components

This Seapath system comprises the following main components, which are physically
separated:
• Processing Unit for I/O and calculations
• HMI Unit with monitor, keyboard and PC mouse
• MRU 5 inertial sensor
• MRU wall mounting bracket
• MRU junction box with three metres of cable for interfacing to the MRU
• Antenna Bracket with two GNSS antennas

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Kongsberg Seapath® 300

Figure 2 System architecture

2.2.1 Processing Unit

The 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
• Serial I/O board, Ethernet and computer main board
• Power supply
• Two GNSS receivers
The power on/off switch, LAN port and USB connection are
located under the lid on the left part of the front panel.

Figure 3 Front panel of Processing Unit

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 Product description

The rear panel of the Processing Unit contains communication interface ports for
interfacing to external sensors. These ports are individually galvanically isolated.

Figure 4 Rear panel of Processing Unit

2.2.2 HMI Unit

The HMI Unit is designed to fit 19-inch racks and is typically installed on the bridge or
in the instrument room. The 1U-height HMI Unit comprises the following main parts:
• Flash disk
• Serial I/O board, Ethernet and computer main board
• Power supply
The power on/off switch and USB connection are located
under the lid on the left part of the front panel.

Figure 5 Front panel of HMI Unit

Figure 6 Rear panel of HMI Unit

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Kongsberg Seapath® 300

2.2.3 MRU 5 Unit

The Seatex MRU 5 is specifically designed for motion Figure 7 MRU 5 Unit
measurements 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 this 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 the figure MRU 5 functional modules
on page 18, are therefore not used when the MRU is used
within this product.

Figure 8 MRU 5 functional modules

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 Kongsberg Seatex AS.
The MRU is integrated in this product and all digital data are routed through the
Processing Unit.

18 M300-50/4.0
 Product description

2.2.4 GNSS antennas and antenna bracket

In a standard Seapath delivery, the Antenna Bracket is 2.5 metres. The Antenna
Bracket is delivered in aluminium. However, maximum heading accuracy is achieved
with 4-metre antenna separation. For antenna separations longer than 2.5 metres it is
recommended to mount each antenna separately on a rigid structure.

Figure 9 Antenna Bracket

Figure 10 Side view of GNSS antenna installation

2.3 Networked architecture

The Navigation Engine runs all critical computations independent of the HMI Unit
to ensure continuous and reliable operation. Navigation Engine runs in a safe mode
protected from unintended user operations. Several HMI Units can be connected to the
same Navigation Engine in a networked architecture.

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Kongsberg Seapath® 300

2.4 GNSS systems

GNSS (Global Navigation Satellite System) is a generic term for satellite navigation
systems providing autonomous geo-spatial positioning with global coverage. GPS is
the only GNSS with full constellation. However, GLONASS is operable but do not
have full constellation. Galileo is a third GNSS which is in the development phase
and scheduled to be operational in 2013.

2.4.1 GPS - Global Positioning System

The Global Positioning System (GPS) is a satellite-based navigation system made up of
a network of satellites placed into orbit by the U.S. Department of Defence. GPS was
originally intended for military applications but in the 1980es the government made the
system available for civilian use.
GPS provides a highly accurate and continuous navigation service. It provides 24-hour,
all weather and global coverage.
The system is divided into the following three segments:
Space segment This segment consists of at least 24 satellites (21 active plus
3 operating spares) in 12-hour circular orbits. At an altitude
of 20200 km, each satellite is transmitting orbital and clock
parameters.
Control segment This segment comprises Ground Control Stations
geographically spread for monitoring, up-loading and control
of the satellite transmitted characteristics.
User segment This segment comprises GPS receivers installed onboard ships,
aircraft etc. to track satellite signals and transform them into
position, velocity and time.

Each GPS satellite transmits radio signals at two microwave frequencies in the L band,
1575.43 MHz (L1) and 1227.6 MHz (L2).
The L1 signal is modulated by a precise (P) code for Precise Positioning Service (PPS)
and a course/acquisition (C/A) code for Standard Positioning Service (SPS). The P
code is for military and authorised personnel only and is encrypted before broadcast to
GPS users. The C/A code is for civil users. Until 1 May 2000 the accuracy of the C/A
code was degraded to 100 m (2DRMS) horizontal positioning by the use of Selective
Availability (SA). However, SA is now switched off and the position accuracy of the
system is about 16 metres 95% CEP.
The fundamental technique for GPS is one-way ranging from the satellites. Triangulation,
based on ranging from the satellites, is the basis of the system. In order to triangulate,
the GPS measures distance using the travel time of a radio message. To measure travel
time, timing is crucial. GPS therefore needs very accurate clocks. The transmission is
referred to highly accurate atomic frequency standards onboard the satellites, which are
in synchronisation with the GPS system time base.

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 Product description

The time difference from when the signal leaves the satellites until it is received at the
GPS receiver, is measured. The distance is computed by multiplying with the speed of
light. Once the distance to a satellite is known, the satellite's position in space must be
found. The GPS satellites are launched into very precise orbits and their position is
transmitted to the user. Knowing the satellites' position and the distance to the user
receiver, the user position can be computed. Three perfect measurements can solve a
three-dimensional point in space.
However, the crystal clocks in the GPS receivers are drifting, and the position is therefore
inaccurate. To calculate a three dimensional position, four unknowns have to be solved
(latitude, longitude, height and receiver clock offset). To solve this equation with four
unknowns it is necessary with range measurements from four or more satellites.
The geometry, and hence the accuracy of the position calculation, varies with the number
of satellites available and their location.
Using differential corrections from one or more GPS Reference Stations significantly
reduces all major error sources. This principle is called differential GPS (DGPS).

2.4.2 Differential GNSS (DGNSS)

Position accuracy may be enhanced by using the differential technique. This can be
achieved by using either traditional DGNSS or by clock and orbit corrections.

2.4.2.1 Traditional DGNSS (RTCM)

The DGNSS system improves the position accuracy by using the differential technique.
This is accomplished by accurately surveyed GNSS reference stations which calculate
pseudo-range corrections for all the satellites tracked by the reference station's GNSS
receiver.
The DGNSS system also uses a communication link for transmission of correction data
from the Reference Station to the vessel.
Each GNSS reference station compares the measured distance to a satellite with the one
calculated based on the satellites' and the reference station's known co-ordinates. The
resultant range difference is the correction data, which are broadcast from the GNSS
reference stations to the Differential GNSS correction receiver(s) on board the vessel(s).
The correction data can also be broadcast via satellite, e.g. an Inmarsat satellite.
At the vessel, these pseudo-range corrections are applied to correct the pseudo-ranges
received by the vessel's GNSS receiver, prior to using them for the calculation of a
three-dimensional navigation solution. The concept of a differential GNSS (DGNSS)
real-time system is illustrated in the figure.

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Kongsberg Seapath® 300

Figure 11 Differential GNSS (DGNSS) concept

2.4.2.2 Clock and orbit corrections

In contrast to having a unique set of satellite corrections specific to each reference site,
the orbit and clock concept consists of one set of corrections for the satellites, which is
valid globally.
The orbit and clock concept uses reference stations with a worldwide spread to calculate
the orbit and the clock value of each GNSS satellite more accurately than the broadcast
GNSS ephemeris. Orbit and clock corrections to the broadcast GNSS ephemeris are then
transmitted to the user. The correction data can be used at any location, regardless of
distance to any reference station, making the system truly global. Local ionospheric
errors are corrected at the user end by using a dual frequency receiver. Use of orbit and
clock corrections improves the accuracy from metre level to decimetre level.

22 M300-50/4.0
 Product description

Figure 12 Orbit and clock concept

2.4.3 SBAS system description

SBAS, Satellite Based Augmentation System, is a generic term for GPS augmentation
systems such as WAAS, EGNOS, MSAS and GAGAN, which use geostationary satellites
to broadcast information to users over a large geographical area. SBAS shall provide
additional accuracy and reliability for the GPS system. The systems are independent but
based on the same principles. The systems are fully interoperable and compatible.

2.4.3.1 WAAS
WAAS, Wide Area Augmentation System, is an American GPS based assistance to air
traffic, built and operated by the FAA, Federal Aviation Administration.
WAAS is designed to improve the accuracy and ensure the integrity of information
coming from GPS satellites. The signals from GPS satellites are received at a network of
ground based reference stations. Measurements from the reference stations are routed
to master stations, which generate and send the correction messages to Geostationary
Earth Orbit (GEO) satellites. These GEO satellites broadcast the WAAS message to
the users on the same frequency as GPS.
The FAA commissioned WAAS in July 2003 throughout the continental United States
and most of Alaska. The next segment of WAAS was completed in 2008 and will expand
service coverage to all of the continental United States, most of Alaska and significant
regions of Canada and Mexico.

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Kongsberg Seapath® 300

Figure 13 SBAS coverage

2.4.3.2 EGNOS
EGNOS, European Geostationary Navigation Overlay Service, is the European SBAS
and is being deployed to provide regional satellite based augmentation services to
aviation, maritime and land-based users in Europe. EGNOS is the first step in the
European Satellite Navigation strategy that leads to Galileo, the future European satellite
navigation system which will complement GPS.
The EGNOS architecture is highly redundant, generating wide area differential
corrections and alerting users within six seconds if a malfunction occurs in GPS.
Thirty-four reference stations are deployed to monitor the satellites used for navigation.
Each satellite has to be monitored by multiple stations before correction and integrity
messages are generated. Four Mission Control Centres process data received from these
stations to generate the corrections and the integrity messages for each satellite. Satellite
up-link stations upload the corrections and integrity messages to the EGNOS satellites
for onward broadcasting to the users.

2.4.3.3 MSAS
MSAS, Multifunctional transport Satellite-based Augmentation System, is a Japanese
augmentation system, implemented by the Japanese Civil Aviation Bureau.
MSAS generates GPS augmentation information by analysing signals from GPS
satellites received by monitor stations on the ground. This augmentation information
consists of GPS-like ranging signals and correction information on GPS errors caused by
the satellites themselves or by the ionosphere.
MSAS was commissioned in September 2007.

2.4.3.4 GAGAN
GAGAN is an Indian Space Based Augmentation System. The system is being
developed jointly by the Airports Authority of India (AAI) and the Indian Space
Research Organization (ISRO).

24 M300-50/4.0
 Product description

GAGAN is planned operational in 2013.

2.4.3.5 Signal distribution

SBAS signals are distributed by geostationary satellites. The broadcasting frequency of
the signals is the same as GPS (L1, 1575.42 MHz).
The following PRNs have been allocated to the SBAS satellites:

Table 1 PRN for geo-stationary satellites

Geo satellite Service PRN Position

AOR-W WAAS 122 (phased out) 142° W
Inmarsat 4F3 WAAS 133 98° W
Inmarsat 3 (POR) WAAS 134 (phased out) 178° E
Intelsat Galaxy XV WAAS 135 133° W
Telesat Anik F1R WAAS 138 107.3° W
Inmarsat 3F2 EGNOS 120 15.5° W
(AOR-E)
Artemis EGNOS 124 21.5° E
Inmarsat 4F2 EGNOS 126 25° E
(IOR-W)
IOR-E EGNOS 131 (phased out) 64° E
MTSAT-1R MSAS 129 140° E
MTSAT-2 MSAS 137 145° E
GSAT-4 GAGAN 127 82° E

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3 Technical description

3.1 System architecture

The product is a two-module solution with a Processing and an HMI Unit connected via
Ethernet. The Processing Unit runs the navigation software (NavEngine) which handles
all critical computations independent of the user interface on the HMI Unit to ensure
continuous and reliable operation. The Processing Unit runs in a safe mode protected
from unintended user operations. Multiple HMI Units can be connected to the same
Processing Unit in a networked architecture.
The product is operated through the operator software installed on one or more HMI
Units. This software is used for performance monitoring and configuration of the
system. For performance monitoring the software includes a number of views that can
be adjusted to different operations. On each HMI Unit the operator can select the views
which fit his operation (one HMI Unit at the bridge, one at the operation room).
The product is by standard delivered with an HMI Unit for 19-inch rack mounting and
monitor, keyboard and mouse for desktop mounting.

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Figure 14 System sketch

3.2 Main data flow

The illustration shows the main data flow to and from the Processing Unit.

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Kongsberg Seapath® 300

Figure 15 Processing Unit with the NavEngine software

The NavEngine software runs on the Processing Unit. This software combines the GNSS
signal and the inertial measurements to determine accurate position, heading, attitude
and heave signal. The NavEngine software utilises Kongsberg Seatex AS advanced true
multi-reference algorithms for real-time parallel processing of all available correction
signals including:
• SBAS (WAAS, EGNOS, MSAS)
• IALA
• Standard RTCM corrections (DGPS)
• RTK corrections on RTCM or Trimble CMR format
There is no practical limitation to the number of correction signals/reference stations
handled by the NavEngine.

3.3 Heading determination

True heading is provided by integrating the best signal characteristics of the MRU yaw
rate and differential carrier phase measurements between two GNSS antennas. On rare
occasions where GNSS heading may be unavailable due to poor GNSS conditions,
an external gyro compass can be used as a secondary heading reference to increase
reliability.

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 Technical description

The GNSS 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 GNSS with ship’s
heading measured by a reference system.
In order to maximise heading performance, Seapath continuously calibrates gyro
compass versus GNSS heading. This gives the best result, if gyro heading must be used,
because the GNSS 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 GNSS heading since system start-up. Assuming that Seapath has
been correctly calibrated, the long-term bias can be used directly as a calibration value
for the gyro compass. In addition, a short-term gyro bias is calculated as a filtered value
of the difference between the gyro compass and the GNSS 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 GNSS 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.

3.4 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 MRU. By tightly integrating these MRU data in the
Kalman filter with data from the GNSS 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.

3.5 Position and velocity determination

The two, fixed baseline GNSS antennas and their receivers are used as redundant GNSS
position and velocity sources. In case of missing data from one GNSS receiver, the other
(remaining) receiver provides position and velocity. The Seapath is robust against GNSS
dropouts by using the MRU for dead reckoning navigation in order to provide position,
velocity and also heading measurements when GNSS is not available.
Position and velocity are measured by differential GNSS using phase-smoothed
pseudo-range and Doppler observations. Seapath is capable of providing position and
velocity data with the best possible accuracy by combining all available GNSS signals

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Kongsberg Seapath® 300

and a multitude of differential correction data. NavEngine is capable of simultaneous

integration of the free-of-charge SBAS (e.g. WAAS, EGNOS, MSAS), IALA/USCG
corrections, and a multitude of subscription based corrections services.
RAIM (Receiver Autonomous Integrity Monitoring) extended by data from the MRU
provides ultimate reliability of the position and velocity data under difficult GNSS
conditions.
Seapath has a built-in autonomous real-time quality control feature continuously
monitoring the quality of the calculated position. Alarms and warnings are activated if
critical tolerances are exceeded or if position quality degrades.
The GNSS data are lever arm compensated to the user selected Navigation Reference
Point on the vessel (usually close to the centre of gravity). Acceleration data from the
MRU are also lever arm compensated to the Navigation Reference Point and integrated
with the GNSS data in a Kalman filter.
The resulting position, velocity and heave measurements are then compensated for the
lever arm from the Navigation Reference Point to the user monitoring points before
output.

3.6 Real-time heave 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 user requirements. The heave filter parameters
should be selected according to the expected average wave period T0 for the vessel.
The expected average wave period T0 can be selected in the range 1 to 20 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 T0, since the phase error is reduced. However, ringing in
the output at T0 may cause some problems. The damping factor ε can be set in the
range 0.3 to 1.0.
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 T0 in real time
during operations.

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3.6.1 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, T0.
• 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.

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, T0. 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
should this parameter 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.
The figures Relative heave residual in percentage of amplitude on page 32 and Heave
step response with corresponding settling time on page 32 should be used as a guideline
for selecting the correct average heave period (T0) in the "Hydrographic survey" filter.
The figure Relative heave residual in percentage of amplitude on page 32 illustrates the
relative heave residual in percentage of amplitude for the "Hydrographic survey" filter
with damping 0.7 and various average heave periods of 5, 10, 15 and 20 seconds.

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The figure Heave step response with corresponding settling time on page 32 illustrates
the heave step response with corresponding settling time for the "Hydrographic survey"
filter with damping 0.7 and various average heave periods of 5, 10, 15 and 20 seconds.

Figure 16 Relative heave residual in percentage of amplitude

Figure 17 Heave step response with corresponding settling time

32 M300-50/4.0
 Technical description

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.
For an MRU without external input we recommend the following selections:
• The selection T0 = 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 T0 =10 is the default setting for this heave mode and covers most
surveys, unless long period heave motions.
• The selection T0 = 20 is recommended used for vessels operating in oceans with deep
waters or vessels that frequently operate with following sea.
The figure Relative heave residual as percentage of amplitude – average heave period 10
s on page 33 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.
The figure illustrates the relative heave residual as a percentage of the amplitude for the
"Hydrographic survey" filter with average heave period set to 10 seconds with various
damping factors of 0.5, 0.6, 0.7, 0.8 and 0.9.

Figure 18 Relative heave residual as percentage of amplitude – average heave period

10 s

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Kongsberg Seapath® 300

3.7 Delayed heave output

The new developed PFreeHeave® algorithm uses past measurements to output a correct
and phase-free heave from Seapath. PFreeHeave® has an advantage in long swell
conditions and for applications that can utilise a heave signal that is delayed some
minutes, typical seabed mapping applications. The PFreeHeave® signal can be output on
serial line or Ethernet (UDP/IP) together with the real-time heave signal.
To take advantage of this new functionality, the Seapath user has to post-process the
echo sounder recordings together with the motion sensor recordings. The application
of delayed heave has to be performed in post-processing software delivered from QPS,
CARIS, EIVA, HYPACK, Kongsberg Maritime and others. These software packages
are able to read the PFreeHeave® format. See the Installation Manual for details on
the PFreeHeave® format.

3.8 High speed data in real-time

By the integration of motion data with GNSS positions in the Kalman filter, a 200 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 by use of accelerometer
measurements between each GNSS position. This eliminates delays due to processing.

34 M300-50/4.0
 Operating instructions

4 Operating instructions

The system starts automatically after power on and it is operated through the operator
software installed on one or more HMI Units. The software is used for performance
monitoring, configuration and system troubleshooting.
Normally, the system outputs signals on the serial lines, analog channels and Ethernet
ports without any involvement from the user. After power on, it takes up to 30 minutes
before full accuracy on all data is obtained. Since there normally is no reason to turn off
the system, it should be left running continuously.
The Processing Unit includes an integrated LCD display and keypad for accessing the
internal menu system. Use the menus and screens to review system status.

Figure 19 Integrated LCD display and keypad

In the following sections, the various display pages comprising the software are
described.

Related topics
• LCD display and keyboard on page 96

4.1 Screen sections views

The main application window of the system is divided into four sections: Top bar, View
1, View 2 and View 3. The size and position of the sections are fixed.

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Kongsberg Seapath® 300

Figure 20 Main view sections

4.1.1 Switch and select views

By use of function keys the operator may select between the following views:
• Sky view
• DGNSS age view
• DGNSS status view
• Integrity view
• Compass view
• Motion data view
• Time series view
Press F2 to browse to the next available view in View 2.
Press Shift + F2 to browse to the next available view in View 3.
Press F3 to switch the contents of View 1 and View 2.
Press Shift + F3 to switch the contents of View 1 and View 3.
Press F5 to let View 1 cover the whole screen.

4.2 Top bar

The Top bar includes the following information:
• Type of system
• Current date and time (UTC)
• Data source

36 M300-50/4.0
 Operating instructions

• System mode
• Data quality status
• System status
• Event message list including type of event and time tag for the event
• Application menu

Figure 21 Top bar

4.2.1 System modes

There are three system modes, indicated in the System mode field of the Top bar:
Operation mode This is the default mode. In this mode it is not possible
to launch any external applications, diagnostic tools or
reconfigure the system. A password is not required to
switch to this mode.
Configuration mode In this mode it is possible to change settings related to
the connected sensors, applications and system-wide
settings.
Engineering mode This mode is primarily intended for field engineers during
initial installation, fault diagnostics and system-wide
reconfiguration.

A password is required to switch from Operation to Engineering or Configuration

mode. The password is "stx" and it is not possible to change. The system will return to
Operation mode after 30 minutes of user inactivity.

4.2.2 Data quality status

The Seapath has the following four data quality status indicators:
• Horizontal position and velocity
• Heave
• Roll and pitch
• Heading
The colour codes are:
• Green; normal
• Yellow; reduced performance
• Red; invalid data

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Kongsberg Seapath® 300

The quality status information output on serial lines or Ethernet is the same as indicated
on the data quality status indicators.

4.2.3 System status

There are three system states. The system status describes the position integrity level,
and is indicated in the Status field of the Top bar. The background colour of this field
helps indicate the system status. The system states are:

4.2.4 Events
Three types of events may appear:
• Information messages
• Warnings
• Alarms
An event message is acknowledged by clicking in the Event check box. When an event is
acknowledged, it disappears from the Event list. However, the event can still be viewed
in the Alarm history under the Alarm menu.

4.2.5 Application menu

The four menu buttons located to the far right on the Top bar constitute the Application
menu:
• View
• Alarm
• Tools
• System
The various menus have a drop-down list offering various operational and visual options.

Related topics
• Integrity view on page 42
• Alarm menu on page 50

38 M300-50/4.0
 Operating instructions

4.3 Sky view

The Sky view display shows which satellites the system is tracking and using in the
position computation. The satellites are presented according to satellite geometry. The
grey outer circle represents the elevation mask. Satellites under the set elevation mask
are marked grey. The satellite azimuth angle is according to the north-south axis.

Figure 22 Sky view

In the upper left corner, the number of GPS satellites tracked and used in the position
solution is presented.

Figure 23 Satellite colours

Satellites marked grey are disabled as they are not used directly in the position fix,
e.g. satellites under the elevation mask.
The bar at the bottom of each satellite represents the signal-to-noise level (L1) for the
satellite, and the longer the bar, the stronger the signal.

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Kongsberg Seapath® 300

When the mouse cursor hovers over a satellite symbol,

a tooltip will appear with the status of the satellite
including azimuth, elevation, L1 signal-to-noise ratio and
differential correction availability.
If the vessel has a gyro interfaced, the display shows
the vessel's true heading.
The shadow sector may be configured from the Operator software configuration dialogue.
It has no effect on calculations but will assist in explaining why some satellites are not
used in the position fix.
The Sky view is configured in the Sky view tab in the Operator software configuration
dialogue. It is possible to enable or disable the correction satellites, the signal bars, the
track plot and the shadow sectors.

Related topics
• Configuration of Sky view on page 70

4.4 DGNSS views

There are two DGNSS views, DGNSS age view and DGNSS status view. Both views
indicate the status of the available correction links.
All links are indicated using green colour if correction data are received and used in the
position solution, yellow if data are received but not used, red if no data are received
through that link, or light grey if the link has been disabled for some reason.
Status of up to 9 correction links may be displayed. Each link is identified by its name
as defined in the software configuration. The number of reference stations used in the
position calculation and the number of reference stations available are indicated for
each correction link.

40 M300-50/4.0
 Operating instructions

Figure 24 DGNSS status view

A tooltip is displayed when the mouse cursor hovers over a correction link. The tooltip
displays information on the specific correction link.
The DGNSS age view presents each link as a circular button and presents a bar that
indicates the quality as the age of the corrections received through that link. If a bar
is filled green, the correction signals are newer. The older the signals are, the shorter
the bar is.
If the bar is grey, the age of the corrections has exceeded the maximum age, and the
corrections from the link are not in use. The maximum age for using differential
corrections is set in the NAV Engine →Standard configuration view.

Figure 25 DGNSS age view

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Kongsberg Seapath® 300

When clicking on one of the link buttons, the DGNSS Monitor appears. This view lists
details of all available reference stations from all correction links.

Related topics
• DGNSS Monitor on page 58

4.5 Integrity view

The Integrity view indicates the position integrity of the system position according to the
IMO requirements to positioning equipment based on the RAIM exclusion and detection
algorithm implemented. The integrity indication for different position accuracy levels
is expressed in three states (Safe, Caution and Unsafe) according to the requirements.
The different states are indicated with colours (green, yellow and red) on the vertical
bar in the view.
Part of the view is also an error ellipse that describes the position quality and the
geometry of the position solution. The position accuracy level is configurable from the
setup file (the value is displayed as the outer circle on the axis). Default value is 10 m.
The system integrity value is often referred to as the horizontal external reliability. It
gives an indication of how large a horizontal position error might be, at the condition of
an arbitrary undetected satellite failure.
Safe (green) indicates that the system accuracy is below the selected accuracy level and
that a single satellite failure cannot make the actual horizontal position error exceed the
selected integrity limit (95 % confidence level).
Caution (yellow) indicates that the system accuracy is below the selected position
accuracy level but a single satellite failure might not be detected. If such a satellite failure
is detected, the actual horizontal position error might exceed the selected integrity limit
(95 % confidence level). With only four satellites (three when height aiding is chosen),
there is no way to detect a satellite failure, and the system will always be in the state
Caution or Unsafe. The expected accuracy and HDOP might still be reasonably low.
Unsafe (red) indicates that the system accuracy is above the selected accuracy level
(95 % confidence level)

42 M300-50/4.0
 Operating instructions

Figure 26 Integrity view

4.6 Compass view

The Compass view shows the vessel heading, COG and SOG.

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Kongsberg Seapath® 300

Figure 27 Compass view

4.7 Motion data view

The main function of the Motion Data view is to give information about the speed
and heading of the vessel.
Longitudinal and transversal speed (SL and ST) are presented together with arrows
indicating forward/aft and port/starboard directions. The arrows and the vessel's course
over ground (COG) are not displayed if the speed over ground (SOG) is less than 0.1 m/s.
Also the vessel roll, pitch, heave and rate of turn (ROT) are shown in this view.
Note
The displayed speed values apply to the NRP only even if the position is displayed for
other measurement points.

44 M300-50/4.0
 Operating instructions

Figure 28 Motion Data view

4.8 Time series view

This view plots roll, pitch, heave and heading as time series. The user may zoom in
parts of each plot. The colour of the time series indicates the data quality. A red colour
indicates invalid data, yellow colour indicates reduced accuracy and green indicates
normal performance. In the heave time series both real-time heave and delayed heave
are presented in the same time series. Therefore the heave time series is always 2
minutes delayed in time in order to be able to present both measurements in the same
curve and for the same sample.

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Kongsberg Seapath® 300

Figure 29 Times Series view showing data for roll, pitch, heave and heading

4.9 View menu

The View menu is a part of the Application menu located to the far right on the Top bar
and holds the Display mode, View, Display format and Bars features.

46 M300-50/4.0
 Operating instructions

4.9.1 Display mode

The Display mode controls the selection of colours Figure 30 View menu
used by the HMI. Click a menu item to select the
desired mode.

Day bright
Will give the brightest colour combination.

Day white
This is the recommended colour combination for
daylight use.

Day black
This colour combination uses bright colours, but has
a dark background

Dusk
This colour combination is intended for use during
dusk or dawn.

Night
This is a special palette with very low contrast on black
background, intended to be used during night without
weakening the night sight of the system operators.
Press F8 to enter Night mode.
Press F7 to browse through the non-night colour
palettes. If clicked when in Night mode, Dusk will be selected.

Figure 31 Dusk (left) and day black (right) mode

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Kongsberg Seapath® 300

4.9.2 View

Maximise main view

Click to let View 1 cover the whole screen. This has the same effect as pressing the F5 key.

Browse top views

Click to browse to the next available view in View 2. This has the same effect as pressing
the F2 key.

Browse bottom view

Click to browse to the next available view in View 3. This has the same effect as pressing
Shift + F2 key.

Toggle top view

Click to switch the contents of View 1 and View 2. This has the same effect as pressing
the F3 key.

Toggle bottom views

Click to switch the contents of View 1 and View 3. This has the same effect as pressing
Shift + F3 key.
Note
Browsing or switching views using F2 and F3 is not stored. The only way to ensure that
the selected contents is displayed every time the software starts, is to make the selection
as described in View under Operator software configuration.

Related topics
• Operator software configuration on page 64

Figure 32 Browse views with F2 key

48 M300-50/4.0
 Operating instructions

Figure 33 Switch views with F3 key

Related topics
• Operator software configuration on page 64

4.9.3 Display format

The display format group provides alternatives for modifying the presentation of various
data types. When clicking a view menu item in this group, or hovering the mouse
cursor over it, a sub-menu will appear to the left, containing radio items for selecting
the wanted format.

Date format
Select between various date formats. The selected format is used in displayed fields
presenting date information, e.g. the date part of the Top bar.

Time format
Select between AM/PM and 24-hour display of time values. Influences all displayed
fields presenting time information, e.g. current date and time and event fields of the
Top bar.

Position format
Select between decimal seconds (e.g. N 63°26'31.92''), decimal minutes (e.g. N
63°26.5320') and UTM. All positions displayed in the various views and dialogues
will follow this selection.

Datum
Select datum in which positions are presented. See the Installation Manual for available
selections.

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Kongsberg Seapath® 300

Unit system
Select the length and speed units used in the various views. Two types of unit system
selections are available: Fixed units and Auto-scaling units. Each alternative indicates
the distance unit, then the speed unit. Auto-scaling units will change from short range
unit to long range unit (indicated in parenthesis) when the number of digits in the
displayed value exceeds a certain limit.
Available fixed units:
• NM, knots
• m, m/s
• ft, ft/s
Available auto-scaling units:
• M (km), km/h
• m (NM), knots
• ft (NM), knots

4.9.4 Bars
DGNSS links
Displays the Link status bar at the bottom of View 1 when selected.

Position data
Displays the vessel position and datum at the top of View 1 when selected.

4.10 Alarm menu

The Alarm menu appears when the Alarm button Figure 34 Alarm menu
is clicked on the Application menu.

Acknowledge alarm
Selecting this item or pressing F10 will acknowledge
the topmost event viewed in the Top bar. Has the
same effect as clicking the Event check box in the
Top bar.
The option is disabled if no alarms are available in
the Top bar. Acknowledged alarms are still available
in the alarm log, but removed from the Top bar view.

Ackn. all alarms

Selecting this item or pressing Ctrl+F10 will acknowledge all events viewed in the Top
bar. The option is disabled if no alarms are available in the Top bar.

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 Operating instructions

Acknowledged alarms are still available in the alarm log, but removed from the Top
bar view.

Alarm history... Figure 35 Export alarm log

Selecting this item opens a dialogue for
investigating the alarm history.

Export alarm log

This item is disabled as long as the Alarm history
is empty. When clicking this item, the Export
alarm log dialogue appears. Select the wanted
destination directory. The available space on
the target drive is displayed. Make sure there is
sufficient available space before clicking the OK
button.

Related topics
• Alarm history view on page 51

4.10.1 Alarm history view

In the Alarm history view there are two tabs, Status and History. The Status tab displays
the active alarms, while the History tab displays all alarm history within a selected period
or a maximum number which is set in the Operator software configuration dialogue. All
alarm changes are inserted as a new entry in the History tab.

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Figure 36 Alarm history view – Status tab

The option buttons at the top of the dialogue provide some simple message filtering: if
Alarms only is selected, only events with the Alarm severity level are displayed, if Alarm
and warnings is selected, events with Alarm or Warning severity level are displayed and
if Alarm, warnings and information is selected, all events are displayed.
From the Status tab it is possible to acknowledge alarms. Pressing Ack. selected
acknowledge the selected alarms, while Ack. all will acknowledge all alarms in the view.
When an alarm is acknowledged and active, the alarm message text will be grey. The
alarm message will only be removed from the Status tab when it becomes inactive.
It is also possible to export alarms from the Alarm history view. Pressing Export enables
the Export alarm log dialogue, see the figure Export alarm log on page 51.

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Figure 37 Alarm log view – History tab

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4.11 Tools menu

The Tools menu shows a configurable list of tools Figure 38 Tools menu
serving various diagnostic purposes.
This section describes a typical set of tools
defined for this system, and is subject to change
without notice.

4.11.1 Utilities

Satellite Prediction
A tool which displays number of satellites and
satellite geometry for a defined position and
period.

Copy Configuration
A tool that copies all relevant configuration into
a zip archive.

Restore Configuration
A tool that restores all relevant configurations
from a zip archive.
Note
A configuration archive may only be restored from the same type of unit (Remote HMI
or Processing Unit) on which it was created.

4.11.1.1 Satellite prediction

During some periods the satellite coverage over some areas is rather poor and in addition,
operations close to large equipment will often result in shadowed satellites and decrease
the number of satellites available. This is a major risk for safety operations.
The Satellite Prediction application is a helpful tool to plan an operation where good
accuracy throughout the operation is necessary and it will help the operator to plan when
a safety operation could take place and to identify periods of poor satellite geometry.
The satellite prediction is based on the satellite's almanac data received from the GNSS
receiver.

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Figure 39 Satellite Prediction

When opening the Satellite Prediction application, the current date, time and position is
set as start values. In addition, shadow sectors are drawn as inserted in the Operator
software configuration dialogue, Sky view tab, while the elevation mask is drawn as set in
the NAV Engine configuration. The default duration of the prediction is set to 24 hours
but may be changed to 1, 2, 4, 8 and 12 hours. To change start values, insert new values
and press the Recalculate button to update the graphs and sky view.

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The vessel heading is displayed in the satellite Figure 40 Adding sector into the
prediction application identical to the heading Satellite Prediction Sky view
input to the system. However, it is possible to
drag the heading indicator to any heading and
see how this affects the graphs.
It is possible to add shadow sectors. Right-click
on the mouse over the Sky view area, press Add
sector and a new sector is enabled. The new
sector is edited by dragging and placing it in the
correct place. Also the default sectors may be
edited. After adding and editing sectors, press the
Recalculate button to update the graphs. Press the
Reset sectors button to delete the added sectors.
Only the sectors drawn in the Operator software
configuration dialogue, Sky view tab, will remain.

To remove a sector, right-click on the mouse over Figure 41 Track plot

the current sector and select Remove sector. In
the Satellite Prediction application it is possible
to disable satellites. In the Sky view, right-click
on the mouse over a satellite and select Disable.
The satellite will turn grey and the graphs will
display the number of satellites and HDOP where
this satellite is omitted. To enable the satellite,
right-click on the mouse over a satellite and
select Enable.
By dragging the Time indicator with the mouse,
the satellite constellation will change according
to the time shown by the Time indicator and the
Time selection. PageUp and PageDown or the
left and right arrow keys on the keyboard also
operate the Time indicator.
When using the PageUp and PageDown keys, the Time indicator will jump in greater
intervals than if using the arrow keys. To set the satellite constellation to a specific time,
input time in the Time selection box and press Update.
If the Track plot option is enabled, the satellites' orbit will be plotted when dragging the
time indicator. The track plot assists in determining if a satellite is rising or falling in
elevation. The length of the track plot is the same as in the Sky view and is set in the Sky
view tab in the Operator software dialogue.

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The colours used in the Number of satellites (# Sat) graph, Figure 42 Close
indicate the status of the satellite constellation. up of satellite
prediction graphs
Green: ≥ 5 satellites visible.
Yellow: 4 satellites visible.
Red: ≤ 3 satellites visible.

The colours of the HDOP graph indicate the satellite geometry

(default values):

Green: HDOP < 2.5.

Yellow: 2.5 < HDOP < 4.
Red: HDOP > 4.

The colours of the satellites in the Sky view indicate the following:
GPS satellite.

The satellite is under the elevation mask or hidden by a shadow sector.

The satellite is rejected by the position calculation algorithms or is

reported unhealthy from the almanac. Red satellites are not included in
the calculations.

Related topics
• Sky view on page 70

4.11.2 Diagnostics
A tool which shows information about available reference stations.

DGNSS Monitor
An application showing information about available reference stations.

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Data Viewer
An application for providing raw data views to ease system verification and diagnostics.

Port Monitor
An application which displays the data traffic on all serial and net ports.

PU access
Opens a terminal window for PU system access.

Explorer
Opens the Windows Explorer view to view the file system of the HMI unit.

Windows shell
Opens a Windows command shell.

4.11.2.1 DGNSS Monitor

The DGNSS Monitor shows information about available reference stations. The dialogue
presents four tabs, one per supported correction type.
By default, the reference station list is sorted in ascending order based on the distance
from the vessel to the reference station. Click a column header to change sort criteria.
Only ascending order is provided.
The column headers of the DGNSS Monitor show the following:

ID
The reference station's identification number.

Link Name
The name of the correction link that receives data from the reference station.

Type
The type of corrections received from the reference station.

#SV
The number of satellites tracked by the reference station.

Dist [km]
The distance between the vessel and the reference station in kilometres.

Age [s]
This column shows the age of the correction data.

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Health code
This column shows the reference station health status.
Health code = 0: the reference station is working OK.
Health code = 6: the reference station transmission is not monitored.
Health code = 7: the reference station is not working.

Used
This column shows if the reference station data are used in the position computation
(Yes, No, Timed out).

Name
The name of the reference station.

Figure 43 DGNSS Monitor, RTCM stations

The upper field of the RTCM tab presents the number of RTCM stations available and the
number of RTCM stations used by the system. In addition, the Age limit and Range limit
set in the NAV Engine configuration are displayed. A reference station further away than
the range limit, will not be used in the position calculations. If the age of the data received
from a reference station exceeds the Age limit, the data from the station will not be used.

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Figure 44 DGNSS Monitor, SBAS

The SBAS tab shows SBAS satellites as correction links and the status of corrections
received from the satellites via the GNSS receiver. The upper field of the tab presents the
number of SBAS satellites tracked by the GNSS receiver and how many of the satellites
are used in the position solution. Tracking mode indicates how many SBAS satellites
that are enabled in the NAV Engine configuration.
Tracking mode parameters:

Manual – Single
One specific SBAS satellite is enabled in the NAV Engine configuration.

Manual – Dual
Two specific SBAS satellites are enabled in the NAV Engine configuration.

Disabled
SBAS disabled in the NAV Engine configuration.

Automatic
No specific SBAS satellite is selected and the system will select and use data from the
best of the available satellites.

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Precision mode parameters:

NPA
Non Precision Approach Mode.

PA
Precision Approach Mode.
This system does not support the high precision services SeaSTAR HP, SeaSTAR XP
and SeaSTAR G2 offered by Fugro Seastar.

Figure 45 DGNSS Monitor, RTK

The RTK tab shows information about RTK corrections availability.

4.11.2.2 Data Viewer

The Data Viewer shows raw data information about satellites tracked by
The Data Viewer shows raw data information about satellites tracked by the receiver,
position fix information, SBAS information and HWP status. The application is a helpful
tool for system verification and diagnostics.

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Figure 46 Data Viewer application

4.11.3 Log
NAV Engine log
Opens the Windows Explorer in the root folder for the NAV Engine log data.
If the NAV Engine software is not running on the same unit as the operator software,
an FTP session is opened on the Processing Unit to which the operator software is
connected rather than a session on the local file system, as illustrated.

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Figure 47 NAV Engine log from HMI Unit

Screen dump
The screen dump tool creates screen dumps of the main window. Click the Make screen
dump button to store a screen image on the local disk.
By selecting the Enabled check box in the Timer control box, regular screen dumps are
created at the specified interval. The default interval is 10 minutes 0 seconds.
In order to export screen dumps to a removable media, insert e.g. a USB flash drive to
the USB port and click the Export to USB disk button. All stored screen dumps will be
copied to the root folder of the inserted drive.

Figure 48 Screen dump control

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4.12 System menu

From the System menu the operator can configure the Figure 49 System menu
system, find information about own vessel as well as
how to restart and shutdown the system in a controlled
way.
The items of the System menu are described in the
following sections.
Some menu items may be disabled due to the system
mode selection. Disabled menu items appear with
light grey text. Change system mode to Configuration
or Engineering to enable the disabled menu items.

4.12.1 Configuration

The Configuration section contains two Figure 50 NAV Engine Configuration

items, NAV Engine and Operator SW. menu
Selecting NAV Engine enables a sub-menu
were Standard or Advanced configuration
may be selected.
NAV Engine configuration is described in the Installation Manual, see References on
page 95.

4.12.2 Operator software configuration

The Operator software configuration dialogue appears when clicking the System menu
and then select Operator SW. Click Apply to save the configuration changes. Click OK to
save the changes and close the dialogue. Click Cancel to revert to the previous settings.
The settings are grouped in several tab pages, and each of these is described in the
following sections.

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4.12.2.1 View

Figure 51 Operator software configuration - View

The View page specifies the contents of each view to be used when the HMI application
starts up. The drop-down list controls indicate the contents, and the user may select from
the available list in View 1 and View 2. For this unit, the content of View 3 is fixed.
The layout of the dialogue reflects the basic layout of the system HMI.
Two views cannot have the same contents. Hence, if Sky view is selected as contents in
View 1, other contents will automatically be selected for View 2.
Click OK to apply the selection.

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4.12.2.2 Alarms

Figure 52 Operator software configuration - Alarms

The Alarms page is divided into three sections.

The first section controls the minimum severity for alarms displayed in the Top bar.

Alarm
Only messages with alarm severity are displayed.

Warning
Messages with alarm and warning severity are displayed.

Information
All messages are displayed.

The second section controls the Alarm history length in the Alarm history view.

Period
Sets the period for the inactive alarms to be displayed in the History tab in the Alarm
history view. If a period of 12 hours is selected, the last 12 hours inactive alarms will
be displayed. [h].

Number of messages
Sets a maximum numbers of inactive alarms which shall be displayed in the History tab in
the Alarm history view. If 500 are selected, the last 500 inactive alarms will be displayed.

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Note
If the Operator SW is stopped, restarted or shutdown, most of the alarm history will be
deleted. Only the active alarms generated from NAV Engine will be available

The third section, Connection settings, defines how to receive alarm messages from
NAV Engine.

UDP Broadcast
Select this option if the NAV Engine transmits alarms to all network units.

UDP Multicast
If the HMI Unit on which operator software configuration is performed, is not in the same
network as the Processing Unit, IP multicast is required. To enable multicast, select UDP
Multicast and enter the multicast address to use for receiving alarms from NAV Engine.

Figure 53 Connection settings — multicast

Note
UDP Broadcast is the default (and recommended) setting. Defining a multicast address
for alarm message distribution requires advanced NAV Engine configuration skills.

Related topics
• Alarm menu on page 50

4.12.2.3 Data source

The system HMI does not need to run on the same CPU as the NAV Engine service. By
entering the multicast group and port used by the wanted NAV Engine instance in the
Data Source page, remote data becomes available.

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Figure 54 Operator software configuration - Data source

Network interface
The available physical network interfaces are listed in this drop-down list. Select the
interface representing the connection to the wanted Processing Unit. Click the List
servers button to present the list of available Processing Units through this interface.

Address
The address on which the Operator software receives data.

Port
The port on which the Operator software receives data.
Note
If the Operator software should receive data from NAV Engine, the Address and Port
must match the UDP address and UDP port entered in the NAV Engine configuration,
see the Installation Manual in References on page 95.

4.12.2.4 Compass
In the Compass page the following can be adjusted:

Max speed
The maximum vessel speed to be shown.

Number of speed ticks

The resolution of graphical presentation of the speed in the compass (number of circles).

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Speed limit
Set the lower limit for when COG and SOG data shall be shown in the Compass view
(filter out noise in the presentation of data).
It is also possible to select whether heading shall be presented as true heading or COG.

Figure 55 Operator software configuration - Compass

4.12.2.5 Position integrity

In this view the following can be adjusted:

Max ellipse EPE

The maximum EPE of the ellipse.

Resolution
The resolution of graphical presentation.

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Figure 56 Operator software configuration – Position Integrity

4.12.2.6 Sky view

The Sky view page defines the appearance of the Sky view. It is possible to select the
following options: Display correction satellites, Signal strength, Shadow sectors and
Satellites track plot length.

Figure 57 Operator software configuration - Sky view

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The Display correction satellites option visualises Figure 58 Selection of correction

correction satellites like Inmarsat and Spotbeam. satellites to display
The satellite positions are predefined. To select
which correction satellites to display, click the
Individual… button and select the satellites to
use. The enabled satellites will appear in the Sky
view as brown triangles. Spotbeam satellites are
marked with an S while Inmarsat satellites are
marked with an I.
When the mouse cursor hovers over a correction
satellite, a tooltip with satellite name, azimuth,
elevation and position will appear.
When enabling the Signal strength option, a
signal bar is displayed under the satellites in the
Sky view. The signal bar indicates the signal-to-noise ratio for the satellite, and the longer
the bar, the stronger the signal. It is possible to select signal strength for both L1 and L2.
When selecting for both L1 and L2, two signal bars are displayed.
Note
Signal strength L2 only available on dual frequency systems.

To add a shadow sector, place the mouse over the sky view area, Figure
right-click on the mouse and select Add sector. By dragging the 59 Correction
edges of the sector, the sector becomes larger or smaller. To move satellite tooltip
the sector, select the sector and drag it to the wanted position. To
delete a sector, select a sector, right-click on the mouse and select
Remove sector. The shadow sector refers to the vessel centre and
will follow the vessel heading.
Azimuth start describes the starting angle of the sector in degrees
(0 to 360) related to North. Azimuth sweep describes the size in
degrees. Elevation start describes the starting angle of the sector in degrees (0 to 90)
where 0 degrees is the horizon and 90 degrees is straight above the antenna.
Satellite track plot assists in determining if a satellite is rising or falling in elevation.
The Satellite track plot length defines how long the length of the track plot should be.
When Satellite track plot is enabled, the track plot starts to increase. Maximum length
of the track plot is 720 minutes.
If the Display elevation mask check box is selected, the configured elevation mask is
indicated in the lower left corner of the Sky view.

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Figure 60 Sky view with correction satellites, signal strength bar, track plots and
shadow sector

4.12.2.7 UTM options

The UTM Options page controls how UTM positions are treated by the application.
When selecting False Northing, positions south of the equator will always be presented as
positive in the TMV. A fixed offset of 10 000 000 m is added to the northing value to
avoid negative coordinates in the southern hemisphere. When selecting False Easting, a
fixed offset of 500 000 m is added to the true easting value to avoid negative coordinates.
The UTM standard uses false northing and false easting, i.e. the co-ordinates are never
negative. In case negative northing or easting is wanted, deselect the check box.
Note
It is not possible to deselect False Easting

The UTM zone is automatically calculated by default. The Auto extended zone option is
only applicable between 56 degrees to 64 degrees north and 3 degrees to 6 degrees east.
The 32V zone is extended west to 3 degrees east, so when selecting the Auto extended
zone in this area, zone 32V is used. When outside the current area and Auto extended
zone is selected, the used zone is equal to the zone used when selecting Auto zone.
When selecting Auto zone, the system zone is automatically calculated in accordance
with the inserted co-ordinates.

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Selecting Manual zone makes it possible to define which Zone and Zone offset to use.
The Zone offset option allows a fixed offset to be applied to the longitudinal degrees. The
UTM zone can be offset up to ±3 degrees. The zone offset is typically used where the
maps used have an offset. The zone range is from 1 to 60.
Note
The position properties selected in the Operator software configuration dialogue are
only for display purposes. For position properties output on a port, see the Installation
Manual in References on page 95.

Figure 61 Operator software configuration - UTM options

4.12.3 Information
The Information section contains the Help and About dialogues.

Help
Displays a Quick Help dialogue presenting some basic help information.

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Figure 62 Quick Help dialogue

About
Presents the About dialogue which contains various information about the system such
as contact, software version and equipment information.

Figure 63 Application information dialogue

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4.12.4 System control

The System control part contains the Change system mode selection, the Restart, Stop and
Shutdown options.

4.12.4.1 Change system mode

Via the Change system mode menu, the operator can Figure 64 Change system
change the system's operating mode. Switching to mode options
Configuration mode or Engineering mode requires a
password. This password is always "STX" and is not
possible to change.
The password is not case sensitive. The system will
return to Operation mode after 30 minutes of user
inactivity. Access to Configuration mode may also be
gained by pressing Ctrl+E simultaneously. This opens
the password dialogue directly.

4.12.4.2 Restart

When restarting the Processing Unit and/or Figure 65 Restart options

the HMI Unit, the system will be restarted
automatically and will resume operation within
2 minutes.
When restarting the Operator SW, the application
will terminate, and then automatically restart.
Caution
Restarting NAV Engine, Processing Unit or System will stop all processing,
calculation and output from the system for about 2 minutes.

Note
When restarting the Operator SW or the HMI Unit, the system will still calculate and
output data.

4.12.4.3 Stop

From the Stop menu it is possible to end the NAV Figure 66 Stop options
Engine and the Operator SW.
Caution
Stopping NAV Engine stops all processing,
calculation and output from the system.

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Note
When stopping the Operator SW, the system will still calculate and output data.

When stopping the Operator SW, the Figure 67 Start Operator SW

application will be terminated and the
display will turn black.
To restart the Operator SW, press
Ctrl+Alt+Delete and the Windows Security
dialogue appears. Select Log Off.... The
standard Windows background and log in
display will appear. Enter the password
‘stx’, then press Enter, and the Operator
SW restarts.

4.12.4.4 Shutdown

From the Shutdown menu it is possible to Figure 68 Shutdown options

shutdown the Processing Unit, the HMI unit or
the system. Turn off the power on the Processing
Unit or the HMI Unit when the message "It is
now safe to turn off your computer", appears.
Caution
Shutting down the Processing Unit stops
all processing, calculation and output from
the system.

Note
When shutting down the HMI Unit, the system will still calculate and output data.

Note
Do not turn off power during the Windows XP shutdown sequence.

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5 Maintenance

Seapath consists of both software and hardware. The software part can be reinstalled
or upgraded to the latest version in the field. Service of the Seapath hardware in the
field can consist of:
• Exchange of damaged MRU and antenna cables.
• Exchange of failed GNSS antennas.
• Exchange of failed Processing Unit.
• Exchange of failed HMI Unit.
• Exchange of failed MRU
• Checking fuse in the MRU junction box or exchanging the whole junction box.
• Checking fuse within the power connector on the Processing and HMI Units.
The Processing Unit, HMI Unit and the MRU 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 Kongsberg Seatex AS in
the original transportation box for service.

5.1 Periodic maintenance

Some activities should be carried out on a regular basis to maintain the condition or
operational status of the equipment.

5.1.1 Cleaning of air inlet

The air inlet at the rear of the Processing Unit and HMI Unit needs to be cleaned
regularly to avoid overheating of the units. The period between each cleaning is
dependent on the air quality at the installation site. However, we recommend that the
filter should be cleaned at least every six months.

5.1.1.1 Processing Unit

For the Processing Unit, remove the plastic cover and replace the filter or clean the filter
either by washing with mild detergent or vacuuming.

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Figure 69 Air inlet

With filter cover Filter cover removed

Filter cover and filter

5.1.1.2 HMI Unit

For the HMI Unit, remove the metal cover and replace the filter or clean the filter either
by washing with mild detergent or vacuuming.

Cover and filter removed

Filter cover in place

5.1.1.3 UHF Receiver Module

The air inlet at the rear of the unit needs to be cleaned regularly to avoid overheating
of the unit. The period between each cleaning is dependent on the air quality at the
installation site. However, we recommend that the filter should be cleaned at least
every six months.
Remove the metal cover and replace the filter or clean the filter either by washing with
mild detergent or vacuuming.

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Cover and filter removed

Filter cover in place

5.1.2 GNSS antenna care

The AT575–75 antenna is designed to withstand the elements, including rain, snow and
dust. However, to ensure your antenna performs optimally, keep the radome (top surface
of the antenna) clean and brush off any ice and snow. In addition, ensure the N-type
connector remains clean and dry and replace the dust cap when a cable is not connected.

5.1.3 UHF antenna care

The UHF antenna is designed to withstand the elements, including rain, snow and dust.
However, to ensure the antenna performs optimally, keep the surface of the antenna clean
and brush off any ice and snow. In addition, ensure the N-type connector remains clean
and dry and replace the dust cap when a cable is not connected.

5.1.4 Recalibration of the antenna bracket

The direction of the GNSS 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
have to be followed for recalibration of the heading and antenna baseline.

5.1.5 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. An indication of required
recalibration is oscillations in the roll, pitch and yaw measurements that cannot be
related to the vehicle motions. The MRU has to be returned to Kongsberg Seatex AS for
recalibration.
Note
When returning the MRU for recalibration, do not remove the mounting bracket from the
site, only the cylindric sensor is to be removed and returned.

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5.1.6 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 Kongsberg Seatex AS 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 Processing Unit.

5.2 Software upgrades

Kongsberg Seatex AS will regularly offer software upgrades for the system with
improvements and new functionality. It is up to the user to decide whether he will
upgrade his unit to the latest version.
Upgrades are distributed on USB memory sticks or as zip archives to be copied to a
memory stick.

5.2.1 Software upgrade procedure

How to upgrade the system software

1 Perform a system configuration backup by selecting Copy configuration from the
System menu. It is recommended to run this program twice; once with a memory
stick as the target and once with a folder on the system hard disk as the target.
2 If you have received a system upgrade memory stick from Kongsberg Seatex AS,
please continue from step 4.
3 Extract the contents of the zip file received from Kongsberg Seatex AS to the root
folder of a USB memory stick. Verify that the memory stick contains a folder named
Seapath in the root directory after extraction.
4 Insert the upgrade USB memory stick to a USB port.
5 The following message will appear in the upper left corner of the screen:

Figure 70 Software upgrade dialogue

6 Click Yes to run the software upgrade.

7 The following message is displayed:

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Figure 71 Information message

Caution
If the memory stick is removed before prompted by the system, the
upgrade will fail and leave the system in an indeterminate state!

8 The upgrade system will now inform about the versions involved.

Figure 72 Version information

9 Click Install to start the upgrade.

10 The Operator SW and NAV Engine will be stopped when clicking Install. This will
also stop all output to external systems, such as the DP.
11 If the required .NET framework installer is not available on the memory stick,
the installation will stop and a dialogue will appear indicating this (see Upgrade
troubleshooting on page 82). The system will resume normal operation, as no
changes have been made at this point.
12 A dialogue indicating that the .NET framework is being installed, will appear. The
installation will require around 10 minutes.
13 As soon as the correct .NET framework is available, the installation continues.
14 Software installation will now start, and progress information will be updated in
the dialogue throughout the process. The Operator SW is upgraded first. Upon
successful upgrade of the Operator SW, the NAV Engine upgrade starts.
15 The NAV Engine software and configuration will now be upgraded. NAV Engine
upgrade status is indicated.

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Figure 73 NAV Engine upgrade status

The four LEDs on the Processing Unit’s front panel start flashing during NAV
Engine upgrade.
Caution
If the GNSS receiver firmware is upgraded, the waiting time for
NavEngine upgrade might be up to 25 minutes. Do not under any
circumstance interrupt the upgrade. This may damage the GNSS
receiver.

Note
All relevant configuration from the old system is maintained. There should be no
need to re-enter configuration parameters after upgrade.

16 When the software upgrade has been successfully installed, a message is presented.
Click OK to close the dialogue.

Figure 74 Successful installation

17 Remove the memory stick.

18 The system software is automatically started and output to external systems will
resume.

5.2.2 Upgrade troubleshooting

5.2.2.1 NAV Engine upgrade failed
There might be a variety of reasons for a failed NAV Engine upgrade. In order to
determine the cause of this situation, a log file is created during installation. If NAV
Engine upgrade fails, a dialogue is presented.

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Figure 75 NAV Engine upgrade failed

Click Yes to view the installation log. It is recommended to send the log file to Kongsberg
Seatex AS customer support as a tool for further assistance.

5.2.2.2 Software upgrade failed

In case an upgrade step (Operator SW, NAV Engine or receiver firmware upgrade) fails,
a message is indicated. If this message is presented, please contact Kongsberg Seatex AS
customer support for assistance.

Figure 76 Failed installation

5.3 Repairs and modifications

Repair of the system can consist of:
• Exchanging damaged GNSS antenna cables
• Exchanging the GNSS antennas
• Exchanging the Processing Unit
• Exchanging the HMI Unit
• Exchanging the MRU Unit
• Exchanging the MRU junction box
• Exchanging the reference station
• Exchanging the UHF transmitter
• Exchanging the UHF Transceiver Module
• Exchanging damaged GNSS antennas and/or cables
• Exchanging damaged UHF antennas and/or cables
These repairs can be carried out by a skilled electrician.

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5.3.1 Exchange of GNSS antenna

How to change GNSS antenna
Caution
If the antenna cable is attached to the unit, do not attach the antenna cable
to the GNSS antenna with the Processing Unit powered on. If the antenna
cable is short-circuited with power on, the GNSS receiver within the unit
will be damaged.

1 Follow the Shut down procedure for the Processing Unit.

2 Dismount the failed GNSS antenna.
3 Mount the new antenna on the mounting rod or similar.
4 Connect the antenna cable to the antenna.
5 The connection between the GNSS antenna and the cable should be sealed against
water penetration, preferably by using waterproof self-vulcanizing tape.
6 Connect the antenna cable to the Processing Unit.
7 Power on the Processing Unit.

Related topics
• Shutdown on page 76

5.3.2 Exchange of GNSS antenna cable

How to change GNSS antenna cable
Caution
If the antenna cable is attached to the unit, do not attach the antenna cable
to the GNSS antenna with the Processing Unit powered on. If the antenna
cable is short-circuited with power on, the GNSS receiver within the unit
will be damaged.

1 Follow the Shut down procedure for the Processing Unit.

2 Dismount the damaged antenna cable. The new antenna cable must be as straight as
possible. Do not crush or crimp the cable as this will affect the electrical properties
of the cable.
3 Connect the antenna cable to the GNSS antenna.
4 The connection between the GNSS antenna and the antenna cable should be sealed
against water penetration, preferably using waterproof self-vulcanizing tape.
5 Connect the antenna cable to the Processing Unit.
6 Power on the Processing Unit.

Related topics
• Shutdown on page 76

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5.3.3 Repair of Processing and HMI Units

The Processing Unit and HMI Unit are not designed for customer maintenance. All
repairs and modifications of these units, except:
• changing the fuse in the power inlet
• installation of new software versions
• setup of the system
should be carried out by qualified personnel. A failed unit should be shipped back to
Kongsberg Seatex AS or other agreed service point for repair.

5.3.4 Installation of spare Processing Unit

If a spare unit is rented while your unit is in for repair, use the following procedure to
exchange the unit:

How to install a spare Processing Unit

1 Enter Configuration or Engineering mode.
2 Insert a USB memory stick into the USB port in the front of the HMI Unit.
3 Select Copy Configuration from the Tools menu.
4 Select all check boxes in the Information to copy/restore box.
5 Verify that correct vessel name and serial number are entered in the Copy tab of
the Configuration Copier.
6 If wanted, change the name of the archive and target folder.
7 Follow the Shut down procedure.
8 Disconnect the Processing Unit to be repaired from its cables and the rack, and
replace it with the spare unit.
9 Connect all cables as they were on the original unit.
10 Power up the unit.
11 Insert the USB stick into the spare unit and start the Copy Configuration tool from
the Tools menu.
12 Select the Restore tab and browse to the archive created above.
13 Click the Restore button to restore the configuration from the original unit.
14 Select System →Restart→ System to restart the Processing Unit.
If the hard disk on the Processing Unit has failed, it is not possible to access its setup
file. The spare unit has to be configured as described in the Installation Manual, see
References on page 95.

Related topics
• Shutdown on page 76
• Installation Manual in References on page 95

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5.3.5 Installation of spare HMI Unit

The SRRD USB stick delivered with your system contains a full image of the installed
HMI Unit. The easiest way to install a working system on a spare HMI Unit is to restore
the system from the SRRD.

How to install a spare HMI Unit

1 Shut down the system.
2 Replace the failed HMI Unit with the spare unit.
3 Plug in the SRRD.
4 Switch on the HMI Unit or press the Ctrl+Alt+Delete keys simultaneously to boot
the system.
5 When the boot menu appears, press the down arrow key within 3 seconds to select
Seatex Rescue and Restore. Press the Enter key.
6 Enter stx as password.
7 Wait while the system boots.
8 Select Install System from Rescue and Restore Disk, press the Enter key.
9 If there is already such a system installed on the disk you are about to install to, the
program will automatically try to save the configuration files on this disk, and inform
about the result of the operation. Note that the registry settings will not be saved.
10 If the new disk is not completely blank, you will be asked for permission to
overwrite it. Confirm by pressing the left arrow key to select Yes, and then pressing
the Enter key.
11 Wait until the installation completes.
12 Select Shut down from the menu, press Enter.
13 When the message “System halted” appears, you may turn off the system or press
the Ctrl+Alt+Delete keys simultaneously if you wish to start the system as normal.

Related topics
• Shutdown on page 76

5.3.6 Repair of the MRU

All repairs and modifications of the MRU, except for installation of new software
versions and user configuration, have to be carried out by Kongsberg Seatex AS.
Caution
Opening the MRU housing will result in permanent damage and the user
should under no circumstances make any attempt to do so.

5.3.7 Installation of spare MRU

If a spare unit is rented while your unit is in for repair, use the following procedure to
exchange the unit:

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How to install a spare MRU

1 Follow the Shut down procedure.
2 Dismount the MRU cable and unscrew the unit from the mounting bracket.
3 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 and power on the Processing Unit.
4 Place the failed MRU in the MRU transportation container and ship it to Kongsberg
Seatex AS for repair.

Related topics
• Shutdown on page 76

5.3.8 Repair of the MRU junction box

How to repair the MRU junction box

1 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 5 x 20 mm.
2 Check if any of the cable wires have loosened from the terminals.
3 Check the LEDs in the unit:
a LED1 light diode should shine green indicating that the MRU receives power.
b A yellow light in LED2 indicates that digital data are sent from the MRU on
TX+.
c The LED3 for analog signals from the MRU should not shine, since analog
signals are not sent out of the MRU when used in this system.
4 If the LED light diodes indicate that the junction box is still not working, the box
has to be returned to Kongsberg Seatex AS for repair.

5.3.9 Installation of spare UHF Receiver Module

If a spare unit is rented while your unit is in for repair, use the following procedure to
exchange the unit:

How to install a spare radio unit

1 Turn off the power on the unit.
2 Disconnect the unit to be repaired from its cables and the rack, and replace it with
the spare unit.
3 Connect all cables as they were on the original unit.
4 Power up the unit.

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5.4 Troubleshooting
This part of the document is written for personnel with operator experience when a
situation arises where assistance from service personnel may be required. The aim of
this section is to identify the problem so that the appropriate action can be taken.

5.4.1 System status

The error conditions in the system are usually observed by looking at the system status
field in the Top bar or the four LED indicators located on the front panel.
For a description of the LED indicators on the Processing and HMI Units, see the
Installation Manual.
The quality status information output on serial lines or Ethernet is the same as data
quality status indicated in the Top bar.

Related topics
• System status on page 38

5.4.2 No power
When switching on the unit(s), the leftmost LED on the front will become orange before
turning green when the software is up and running. If the LED indicator is not lit when
powering the unit, do as follows:

What to check if the power LED indicator is black

1 Check the power connection to the unit(s).
2 Turn the power switch behind the lid on the front panel off and on two or three
times in case of poor connection.
3 Check the fuse within the power connector.

How to change fuse Figure 77 Fuse holder

1 Disconnect the power connector.
2 Open the fuse holder below the power inlet
gently with a screw driver.
3 Within the holder there are two fuses, one
in use and one spare. Remove the innermost
fuse and replace it with the spare fuse.
4 Close the fuse holder.
5 Connect the power connector and turn the power switch on.
WARNING
If the fuse has blown, the cause for the fuse failure must be
investigated.

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5.4.3 No mouse cursor

The mouse cursor may hide important information. For maximum visibility, the mouse
cursor is hidden after about one minute with no user activity. Simply move the mouse
again to re-display the mouse cursor.

5.4.4 External output problems

During operation situations may occur where the external equipment receives no data
from the Processing Unit.

What to check if external equipment receives no data from the Processing Unit
1 Check the serial lines, net cables and cable connectors for mechanical damage.
2 Check that the connectors are connected to the correct output ports both on the
Kongsberg Seatex AS equipment and on the external equipment. The layout of the
rear panel of the Processing Unit is shown in the Installation Manual.
3 If the cable and connectors are OK, check that the external output configuration of
the Processing Unit is set up correctly. This is described in the Installation Manual,
see References on page 95.

5.4.5 All data quality status are black

During normal operation it takes a minute from the Processing Unit is powered on until
the four data quality status indicators in the Top bar turn red. If all the indicators are still
black after three minutes from power on, do as follows:

What to check if status indications are black:

1 Check the power connection to the Processing Unit.
If the Processing Unit is supplied with 110 to 240 V AC power supply, see power
specification in the Installation Manual.
2 Turn the power switch behind the lid on the front panel off and on two or three
times in case of poor connection.
3 If the indicator lights are still not turning red, contact your nearest Kongsberg
Maritime office.

Related topics
• References on page 95

5.4.6 All data invalid "four red data quality indicators"

During normal operation it can take up to 30 minutes from the Processing Unit is
powered on until full accuracy on all data is obtained and the data quality indicators
change colour from red. If all the indicator lights are still red after 30 minutes from
power on, then do as follows:

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What to check if LED indications are still red

1 Check if the GNSS cables and the MRU cable are properly connected to the
Processing Unit.
2 If not, switch off the power and connect the cables properly and power on the unit
again.
3 Check if the cable from the Processing Unit to the MRU junction box is properly
terminated and if the cable from the junction box is connected to the MRU.
4 Check if the fuse in the junction box is blown and replace it if it is.
5 If there are still four red lights, contact your nearest Kongsberg Maritime office.

5.4.7 Invalid position/velocity indicator

The problem occurs if the Processing Unit does not receive data from any of the GNSS
receivers.

What to check when position/velocity is invalid

1 Check that both GNSS antenna cables are properly connected to the antenna ports
on the Processing Unit.
In the Tools menu, Port Monitor, data from the GNSS antenna #1 shall appear on
GNSSA1 and GNSSB1 from antenna #2.
2 Check that both the GNSS antennas are not damaged.
3 Check that the GNSS antenna cables are properly terminated in the connectors.
Replace the whole cable if necessary.
4 Check that both GNSS antennas are functioning properly by dismounting the
antennas from their Antenna Brackets and inspecting them. Replace the antenna
with a new one if necessary.
5 If it is still not working after checking all the above items, the GNSS receiver boards
within the Processing Unit are most likely damaged and the Processing Unit has to
be shipped back to Kongsberg Seatex AS for repair.

5.4.8 Reduced position/velocity indicator

Sometimes the system may experience reduced position/velocity function.

What to check if reduced position/velocity function occurs:

1 No differential corrections are input on the rear panel of the Processing Unit. If
differential corrections are input to the Processing Unit, check that the link is
properly set up in the DgnssLink, part of the Input/Output subfolder in the NavEngine
configuration.
2 The vessel 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 DGNSS Monitor under the Tools menu.

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3 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 Kongsberg
Maritime office.
4 The antenna or the MRU offset setup can be incorrect. Check the setup of the lever
arms from NRP to antenna #1 and to the MRU once again. Check particularly that
the sign for each of the vector components are correct by entering the Geometry
subfolder under Sensor→ GNSS →MRU in the NavEngine configuration.
Note
Please note that the Seapath outputs position in WGS-84 Datum. If the position from
Seapath differs from positions from other GNSS sensors onboard, check that all systems
use the same Datum.

5.4.9 Invalid heave and roll/pitch indicators

What to check when the Processing Unit receives no data from the MRU:
1 Check that data is coming in to the MRU connector on the Processing Unit by
selecting MRU on the Port Monitor in the Tools menu
2 Check that the cable from the MRU is properly connected to the MRU port on
the rear panel of the Processing Unit.
3 Check that the MRU cable is properly terminated in the junction box and that the
fuse in the box is not blown.
4 If the above is OK, see the section on troubleshooting of the MRU unit.

Related topics
• Problems with the MRU on page 93

5.4.10 Reduced heave and roll/pitch data indicators

These lights indicate that there are some problems with the MRU. The unit may for some
reason be unstable. See the section on troubleshooting of the MRU unit.

Related topics
• Problems with the MRU on page 93

5.4.11 Invalid heading indicator

What to check if a gyro compass is not connected to the Processing Unit:
1 Check that the antenna baseline setup parameters in GNSS Antenna Configuration
in the operator software are properly configured, and if needed, re-measure and
perform a new calibration of the antenna baseline.
2 The Processing Unit is receiving no data from GNSS receiver no. 1 or 2. That can be
verified by checking whether data appear on the Port Monitor in the Tools menu and
by clicking on GNSSA1 for GNSS antenna number 1 and GNSSB1 for antenna no.

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2. If no data are coming in, check that the cables from GNSS antenna no.1 and 2 are
properly connected to the GNSS 1 and GNSS 2 connector on the Processing Unit.
Check that the cables for GNSS antenna no. 1 and 2 are not damaged and that the
cables are properly terminated in the connectors. Replace both cables if necessary.
3 Check that GNSS 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 Port Monitor in the operator software, and the
communication line the gyro compass data is input on, normally Com9, works properly.
If it is still not working after checking all of the above items, then the GNSS receiver
board within the Processing Unit is most likely damaged and the Processing Unit has to
be shipped to Kongsberg Seatex AS for repair.

Related topics
• Problems with the MRU on page 93

5.4.12 Reduced heading indicator

Sometimes the system may experience reduced heading performance.

What to check if heading performance is reduced:

1 It may be a problem with the MRU. Check that by troubleshooting the MRU.
2 If the MRU is functioning OK, check that the antenna baseline setup parameters in
the GNSS Antenna Configuration in the operator software are properly configured,
and if needed, re-measure and perform a new calibration of the antenna baseline.
3 The Processing Unit receives no data from GNSS receiver #1 or #2. That can be
verified by checking whether data appear on the Port Monitor in the Tools menu and
by clicking on GNSSA1 for GNSS antenna #1 and GNSSB1 for antenna #2. If no
data are coming in, check that the cables from GNSS antenna #1 and #2 are properly
connected to the GNSS1 and GNSS2 connector on the Processing Unit. Check that
the cables for GNSS antenna #1 and# 2 are not damaged and the cables are properly
terminated in the connectors. Replace both cables if necessary.
4 Check that the two GNSS antennas are of the same type and are mounted in the
same orientation. If not, the heading could get unstable and it switches from normal
to reduced heading performance frequently.
5 Check that the GNSS antenna #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.
6 If it is still not working after checking all of the above items, then the GNSS receiver
board within the Processing Unit is most likely damaged and the Processing Unit
has to be shipped to Kongsberg Seatex AS for repair.

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Related topics
• Problems with the MRU on page 93

5.4.13 Problems with the MRU

The tool available for troubleshooting the MRU is the Data Viewer and the Port Monitor.
If the heave and roll/pitch indications show invalid "Red", then the Processing Unit most
likely does not receive any data from the MRU.

What to do if the Processing Unit does not receive any data from the MRU
1 Check that data are coming in to the MRU connector on the Processing Unit by
selecting the Tools menu →Port Monitor and selecting MRU.
2 Check that the cable from the MRU is properly connected to the MRU port on
the rear panel of the Processing Unit.
3 Check that the MRU cable is properly terminated in the junction box.
4 Check that the fuse in the junction box is not blown. Replace it if it is.
Note
If the MRU 5 connected to the Seapath has been used in other applications before it is
connected to the Seapath, it can take up to 10 minutes before communication between the
MRU and the Processing Unit is established. If the MRU 5 has the Seapath configuration
downloaded before it is connected to the Seapath, the communication is established
within a minute or two.

If the heave and roll/pitch indications show reduced "Yellow", then the data from the
MRU are most likely unstable.

What to do if data from the MRU are unstable

1 Select the PPS and time information view in the Data Viewer and check if the Status
field under the PPS information section indicates Sync. Then the Processing Unit is
probably synchronized with GPS and probably also the MRU.
2 In order to be sure, check also the Time delay information view in the Data Viewer.
The time delay shown on the parameter Raw MRU should be 0.020 seconds or
less. If the time delay is larger than 0.020, then the PPS signal from the Processing
Unit is not properly connected.
3 Check that the shield around each pair in the cable between the MRU and the
Processing Unit is individually isolated in the MRU terminal. The outer shield
is connected to pin 3 (screen) in the MRU terminal, which is an open end (not
connected to earth). In the MRU junction box (part no. MRU-E-JB1) both the shield
around each pair and the outer shield are terminated in pin 1 (chassis) on the x3 side.
4 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 Kongsberg Seatex AS for repair.

5.4.14 Reduced roll or pitch performance

Sometimes the system may experience reduced roll or pitch performance.

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What to check if roll of pitch performance is reduced

1 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.
2 It has been several years since the MRU was last calibrated. Contact Kongsberg
Seatex AS to check whether the MRU needs recalibration.
Sometimes the system may experience depth errors in the outer beams on a multi-beam
echo sounder.

What to check if depth errors occur

1 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.
2 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 Origin to the MRU is
input correctly both when it comes to the length and the sign. Check also that the
vector from Origin to GNSS antenna no. 1 is input correctly both when it comes
to the length and sign. Check specially the sign in the vertical direction, which
always shall have a negative sign. Look at the background vessel in the NAV Engine
Configuration (part of the operator software) to check whether the arms and vector
signs look correct.

5.4.15 Reduced heave performance

Sometimes the system experiences reduced performance in heave or depth errors in the
centre beam of an echo sounder.

What to check if reduced performance in heave or depth errors occur:

1 There are oscillations in the depth of the centre beams. Check that the correct Heave
filter mode and Heave period are selected in the subfolder Sensors →MRU →Heave
config in the NavEngine Configuration (part of the operator software).
Note
Be aware that the Seapath outputs heave measurements in the Navigation Reference
Point (NRP), and not in the transducer location, unless the vector from the NRP to
the transducer head (Monitoring Point, MP) is entered into the operator software and
defined on the output data string. Please note that the horizontal vector components from
the NRP to MP are defined positive forward, to starboard and down.

94 M300-50/4.0
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6 References

Reference documents
1 Seapath 300 Installation Manual, Kongsberg Seatex AS, M300–60
2 NMEA 0183 Standard for Interfacing Marine Electronic Devices, Version 3.00
3 RTCM Recommended Standards for Differential Navstar GPS/GLONASS Service,
Version 2.3
4 RTCM Standard 10403.1 Differential GNSS (Global Navigation Satellite System)
Services, version 3 with Amendments 1 and 2

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Appendix A
LCD display and keyboard

The Processing Unit includes an integrated LCD display and keypad for accessing the
internal menu system. Use the menus and screens to review system status.

Figure 78 Integrated LCD display and keypad

All available status and configuration screens are described further on in this section.

A.1 Navigation
Button Name Function
Escape The Escape button shall be used to exit pages without
changing the parameter and/or return to the previous
menu level/move up one menu level. Hold the Esc
button to return to the Home screen.
Up The arrow keys are also used for option scroll.
Left / right
Down

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Button Name Function

Enter The Enter button shall be used to start option scroll
and for data entry/selection. Accept/store changes
with Enter button.

▲►▼◄ Arrow symbols are used in the menu screens to

indicate possible navigation direction.

Figure 79 Arrow symbols indicate possible navigation direction

A.2 Hardware menu

The Hardware menu allows contrast and back-light adjustment in addition to displaying
all available hardware states.

Figure 80 Hardware menu

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A.2.1 Status
A.2.1.1 Temperature
The temperature inside the Processing Unit. Normal
temperature is +40 °C to +50 °C when the room temperature
is +25 °C.

A.2.1.1.1 Temperature alarm

If the temperature exceeds +70 °C for more than 1 hour, the left most LED will start
to blink.

A.2.1.2 Operating time

Total time in operation since first power on.

A.2.2 Display
Adjustment of the display contrast and back-light.

A.2.2.1 Contrast
Display contrast.
Five contrast levels are available. Change the value by
pressing the Enter button, then use the right and left arrow
keys to select the correct level before pressing the Enter
button again to confirm the selection.

A.2.2.2 Back-light
Display back-light.
It is possible to change the intensity of the LEDs and the
character display. Five back-light levels are available; 1 %,
3 %, 6 %, 25 % and 60 % of maximum intensity.
Change the value by pressing the Enter button, and then use the right and left arrow keys
to select the correct level before pressing the Enter button again to confirm the selection.

A.2.3 About HW
Information about hardware and current firmware versions.

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 Appendix A LCD display and keyboard

A.2.3.1 Serial number

The serial number of the Processing Unit

A.2.3.2 Hardware version

The hardware version of the Processing Unit.

A.2.3.3 Firmware version

The firmware version of the FPGA.

A.2.3.4 Soft core version

The Soft Core version of the FPGA.

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Index
A diagnostics, 57 heave — reduced
abbreviations, 10 disposal, 9 performance, 94
add sector, 70 DNV, 10 heave computation, 30
ADL Vantage User's DOP, 10 heave output, 34
Guide, 95 DP, 10 help, 74
air inlet, 77 dusk, 47 high speed data, 34
alarm, 50, 66 DWL, 10 HMI, 11
alarm history view, 51 HMI unit, 17
alarm menu, 50 HMI Unit, 85
E HP, 11, 61
antenna bracket, 19
AP, 10 ED50, 10 HW information, 98
auto extended zone, 72 EGNOS, 10, 24 HWP, 11
EMC, 10 hydrographic survey, 31
EMI, 10
B EN, 10
back-light, 98 EPE, 10 I
Backup stick, 12 error ellipse, 42 IALA, 11
bars, 50 events, 38 IEC, 11
export, 8 IMO, 11
IMU, 11
C installation manuals, 95
C-map, 62
F
integrity view, 42
CAT, 10 F10, 50 IP, 11
CEP, 10 F2, 36, 48
CF, 10 F3, 36, 48
CG, 10 F5, 36, 48 K
CL, 10 F7, 46–47 keyboard, 96
clock corrections, 22 F8, 46–47
COG, 10 false easting, 72
compass view, 43 false northing, 72 L
components, 15 FP, 10
Frame 0, 10 LCD display, 35, 96
configuration, 64
LED, 11
contrast, 98
LGND, 11
copy configuration, 54
correction satellites, 70
G link status, 50
GAGAN, 24 LOA, 11
CPU, 10
geo satellite, 25 log, 62
CRP, 10
GLONASS, 10, 39 LPP, 11
CTP, 10
Ctrl+F10, 50 GLONASS system, 20
glossary, 10 M
GNSS, 10
D GNSS antenna, 19, 84 MMSI, 11
damping, 31 GNSS antenna cable, 84 modifications, 83
data flow, 27 GNSS system, 20 motion data view, 44
data quality status, 37 GPS, 10, 39 mouse cursor, 89
data source, 67 GPS system, 20 MP, 11
data viewer, 61 guarantee, 8 MRU 5, 11
datum, 49 GUI, 10 MRU 5 unit, 18
day bright/white/black, 47 gyro recalibration, 28 MRU problems, 93
depth errors, 93 MSAS, 11, 24
DGNSS, 10
DGNSS age view, 40 H
DGNSS monitor, 58 handling, 9
N
DGNSS status view, 40 HDG, 10 NA, 11
DGNSS system, 21 HDOP, 10 NAD27, 11
DGPS, 10 heading determination, 28 NavEninge upgrade failed, 82

100 M300-50/4.0
 Index

NDS, 11 S view menu, 46

networked architecture, 19
SA, 12
night, 47
satellite colours, 57 W
night mode, 46
satellite prediction, 54
NMEA, 11 WAAS, 12, 23
SBAS, 12, 39, 60
NMEA 0183 standard, 95 WEEE, 12
SBAS system, 23
notation, 7 WGS84, 12
SBR, 12
NRP, 11
screen layout, 35
Seapath product, 14
SeaSTAR G2, 61 X
O
SeaSTAR HP, 61 XP, 61
operator software SeaSTAR XP, 61
configuration, 64 serial number, 98
operator SW, 64 Shift+F2, 48 Z
orbit corrections, 22 Shift+F3, 48
output problems, 89 shutdown, 76 zone offset, 72
signal distribution, 25
signal strength, 70
P sky view, 39, 70
PGND, 11 SL, 12
pitch - reduced SNR, 12
performance, 93 software information, 98
pitch determination, 29 software upgrade, 80
position determination, 29 SOG, 12
PPS, 11 spares, 85–86
PRN, 11, 25 SPS, 12
processing unit, 16 SPS852 Modular GPS
Processing Unit, 85 Receiver, 95
PSS, 11 ST, 12
status indicators, 88–89
stop, 75
Q SW, 12
system, 62
QA, 11 system architecture, 15, 26
system control, 75
R system menu, 62
system modes, 37
+R-axis, 93 system states, 38
RAIM, 11, 29, 42
real time data, 34
recalibration of the MRU, 79 T
reference documents, 95 time series view, 45
repair of MRU, 86 Top bar, 36
repairs, 83 track plot, 56
restart, 75
restore configuration, 54
restrictions, 8 U
RFI, 11
RMS, 12 UDP, 12
roll - reduced performance, 93 upgrade troubleshooting, 82
roll and pitch UPS, 12
determination, 29 UTC, 12
RTCM, 12, 21 UTM, 12
RTCM recommended UTM options, 72
standards, 95
RTCM Standard 10403, 95
RTCM stations, 59 V
RTK, 61 velocity determination, 29

M300-50/4.0 101
©2012 Kongsberg Seatex