User Manual

NMEA 2000 Wi-Fi Router YDNR-02N

Firmware version
1.71

2024
Package Contents
Device 1 pc.
Wi-Fi antenna 1 pc.
Screws 2 pcs.
This Manual 1 pc.
Paperclip for reset 1 pc.
NMEA 2000 Drop Cable not supplied

© 2024 Yacht Devices Ltd. Document YDNR02-003, March 8, 2024. Web: https://www.yachtd.com/

NMEA 2000® is a registered trademark of the National Marine Electronics Association. SeaTalk NG
is a registered trademark of Raymarine UK Limited. Garmin® is a registered trademark of Garmin Ltd.
Contents

Introduction   4
Warranty and Technical Support   6
I. Product Specification   7
II. Device installation and Connection to NMEA 2000 Network   9
III. Wi-Fi Settings   12
IV. Connecting with NMEA 0183 and SeaTalk Equipment   17
V. Configuration of Application Protocols   20
VI. NMEA Routing and Tunnel Settings   24
VII. Message Filters   27
VIII. LED Signals  32
IX. Settings Reset and Hardware Reset   34
X. Diagnostics Data Recording   35
XI. Firmware Updates   37
XII. NMEA Settings and Autopilot Control   39
XIII. Web Gauges of Router’s web interface 44
XIV. Data Logging and Cloud Services   47
APPENDIX А. Troubleshooting   50
APPENDIX B. NMEA 2000 Messages Supported by Device 52
APPENDIX C. Conversions Between NMEA 2000 and NMEA 0183   53
APPENDIX D. Conversions Between SeaTalk and NMEA 0183   61
APPENDIX E. Format of Messages in RAW Mode   63
Introduction
The NMEA 2000 Wi-Fi Router (hereinafter Router or Device) is a multifunctional marine data converter,
multiplexer and gateway which allows a user to:

• see data from marine digital networks on a laptop or smartphone;

• connect old NMEA 0183 and SeaTalk equipment to modern chart plotters;
• connect marine devices using different protocols or port speed;
• the Router can automatically record a vessel’s track and other data to the internal memory, where
they can be saved as GPX, XML and spreadsheet files from a built-in web site. These data can
also be automatically uploaded to the free Cloud Service, to share your position with friends
and family, and to access your tracks easily from home;
• configure and update NMEA 2000 devices, record and diagnose marine equipment using a free
software supplied with the device;
• implement a wireless extender and bridge between SeaTalk, NMEA 0183 and NMEA 2000 devices
(two Routers required).

The Router creates its own Wi-Fi network (with range of about 30 meters in open spaces) or it can be
connected to an existing Wi-Fi network. The built-in web server allows easy configuration of the Router
from any Wi-Fi enabled device (laptop or smartphone) with a web browser.

The Web Gauges page of the built-in web site allows managing of digital switching equipment and real time
viewing of vessel data using a web browser on PC, laptop, tablet or smartphone; no internet connection
or app installation is required. If you have access to your boat Wi-Fi network over the internet, Web Gauges
are a ready solution to monitor and manage your vessel.

The Router’s data servers support TCP and UDP network protocols (both can be enabled at the same time)
as well as NMEA 0183 and NMEA 2000 (RAW) data protocols. For UDP protocol, the number of clients
(physical devices or software applications) is unlimited.

The Device has a bi-directional converter between NMEA 2000, NMEA 0183 and SeaTalk protocols.
Therefore the Router is compatible with virtually all marine software except applications especially
—4—
designed for use only with specific hardware. A powerful system of data filters allows configuration
of output data for feature-limited mobile applications.

The free CAN Log Viewer software (available at www.yachtd.com) works under Microsoft Windows, Linux
and Mac OS X. It allows viewing NMEA 2000 and J1939 messages and data in real time, configuring
NMEA 2000 devices and updating firmware of products of our company.

We hope that you will like this tiny, low-power, but powerful device. Thank you for purchasing our product
and happy voyages!

—5—
Warranty and Technical Support

1. The Device warranty is valid for two years from the date of purchase. If a Device was purchased
in a retail store, the sales receipt may be requested when applying for a warranty claim.
2. The Device warranty is terminated in case of violation of the instructions in this Manual, case
integrity breach, or repair or modification of the Device without the manufacturer’s written
permission.
3. If a warranty request is accepted, the defective Device must be sent to the manufacturer.
4. The warranty liabilities include repair and/or replacement of the goods and do not include
the cost of equipment installation or configuration, neither shipping of the defective Device
to the manufacturer.
5. Responsibility of the manufacturer in case of any damage as a consequence of the Device’s operation
or installation is limited to the Device cost.
6. The manufacturer is not responsible for any errors and inaccuracies in guides and instructions
of other companies.
7. The Device requires no maintenance. The Device’s case is non-dismountable.
8. In the event of a failure, please refer to Appendix A before contacting technical support.
9. The manufacturer accepts applications under warranty and provides technical support only
via e-mail or from authorized dealers.
10. The contact details of the manufacturer and a list of the authorized dealers are published
on the website: https://www.yachtd.com/.

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I. Product Specification

Figure 1. Drawing of NMEA 2000 Wi-Fi Router YDNR-02

—7—
Device parameter Value Unit
Supply voltage (from NMEA 2000 network) 7..17 V
Max. current consumption, all NMEA 0183 ports with 100 Ohm load 60 mA
Load equivalency number 2 LEN
Number of NMEA 0183 TX/ NMEA 0183 RX / SeaTalk ports 2/2/1 —
NMEA 0183 receiver input resistance 12 kOhm
Wi-Fi module 2.4 GHz 802.11b/g/n —
Wi-Fi signal range (open space) 30 / 100 m / feet
Wi-Fi connections in Access Point mode (max.) 3 —
TCP connections from applications (max.) 9 —
UDP clients (applications or devices) Unlimited —
Device case without antenna (LxWxH) 85x45x28 mm
Total height/length with the antenna in vertical/horizontal position 93 / 192 mm
Weight 80 g
Operating temperature range -20..55 °С

Yacht Devices Ltd declares that this product is compliant with the essential requirements of EMC
directive 2014/30/EU and radio and TTE directive 1999/5/EC.
Dispose of this product in accordance with the WEEE Directive. Do not mix electronic waste with
domestic or industrial refuse.

—8—
II. Device installation and Connection to NMEA 2000 Network

The Device requires no maintenance. When deciding where to install the Device, choose a dry mounting
location. Despite the fact that the Router case is waterproof, the terminals are open and seawater can cause
a short circuit. Do not place the device where it can be flooded by water, get wet in the rain or be sprayed
with water.

Note that conductive materials (metals) weaken the Wi-Fi signal or may even completely block it. Do not
place the Device behind a metal bulkhead. Metals reflect radio signals, and you should avoid (if possible)
placing the Device in front of metal bulkheads also. Plastic or wood (and many other non-conductive
materials) did not significantly affect the signal.

The Device is well-suited for fiberglass and plastic sailing yachts as well as motor boats up to 65 feet
(20 m) in length. With good signal strength over a 30m area in open space, the Device provides good
coverage inside and outside the boat.

On metal vessels or large vessels, an external Wi-Fi router may be required. In this case, coverage depends
on the coverage of the base network, which can contain multiple Wi-Fi routers connected by Ethernet
(for example).

The Router can be fixed horizontally or vertically using the two screw holes (4 mm diameter, 72 mm
between centers) and screws supplied. When the holes of wire terminals are pointing down, they are better
protected from occasional water spray.

The Device is powered from an NMEA 2000 network and should be connected to the NMEA 2000 network
backbone with a NMEA 2000 drop cable (not supplied with the Device). For networks with proprietary
connectors (Raymarine SeaTalk NG, Smirad SimNet), a cable adapter is required:

• for SeaTalk NG, cable with Raymarine part numbers A06045 or A06075;
• for SimNet, cable with Navico part number 24006199.

—9—
Figure 2. Basic NMEA 2000 network (1- backbone, 2 – terminators, 3 – dedicated 12V power, 4 – drop
cable; 5 - Router)

— 10 —
If you have no NMEA 2000 network installed, please note that you cannot simply connect the Router
to the NMEA 2000 port of your chart plotter, you should install the NMEA 2000 network first
(see Figure 2). Please refer to this article for details:

https://www.yachtd.com/faq/#n2k

Before connecting the Device to NMEA 2000, turn off the bus power supply. Refer to the following
documents if you have any questions regarding the use of connecting cables, terminators or connectors:

• SeaTalk NG Reference Manual (81300-1) for Raymarine networks;

• Technical Reference for Garmin NMEA 2000 Products (190-00891-00) for Garmin networks.

After turning on the NMEA 2000 network power supply, all five LEDs of the Router will light up in green
once, indicating that the Router is powered and functioning, and then start flashing (see Section VIII
for details).

You can also check the NMEA 2000 connection and firmware version from a chart plotter. Please,
see Section XI for details.

— 11 —
III. Wi-Fi Settings
The Device can operate in either Access Point mode (which is the factory default) or in Client mode — when
connected to an existing Wi-Fi network.
To configure the Router, you will need a Wi-Fi enabled device such as a laptop or smartphone with a web
browser.
1. Access Point mode

In Access Point mode the Device creates a Wi-Fi network with name (SSID) «YDNR» and password
«12345678». To access the Device web interface, connect to this Wi-Fi network and enter http://192.168.4.1
in a web browser. Use login «admin» and password «admin» (without quotes) to log in to the Device web
interface. The Device's web interface includes a navigation menu on the left. In the mobile version, this
menu is accessible via the «hamburger» icon in the top left corner.

On the «Wi-Fi Access Point» page, you can change the Wi-Fi network name (SSID) and password, set the
Wi-Fi authentication algorithm, select the desired Wi-Fi channel and make the network hidden.

Note that hidden networks will not appear in the list of available Wi-Fi networks on client devices.
However, you can still connect to them by manually entering their name (SSID) and password in the Wi-Fi
connection settings on the client devices.

The Device's default Wi-Fi channel is 1. If you experience an unstable Wi-Fi connection in an area with
many deployed Wi-Fi networks, such as a marina, try changing the Wi-Fi channel. This issue may be caused
by congestion or signal interference on the channel. To resolve this, assess nearby Wi-Fi network channels
using a Wi-Fi scanner application that shows nearby Wi-Fi channel usage and signal strength and select the
most free channel. Please note that as of early 2024, all countries except the US and Canada allow channels
1-13, where only channels 1-11 are allowed for use.

We strongly recommend changing the default Wi-Fi password. A hijacker can take control
of autopilot and other important ship systems. In the air drone era, this can happen even
far from shore.

Up to three Wi-Fi connections are supported in Access Point mode. You can switch the Device to the Client
mode to bypass this limitation.
— 12 —
 2. Client mode

Figure 3. Wi-Fi details on IPhone 6

In Wi-Fi Client mode, the Device connects to an existing Wi-Fi network. To switch the Device to this mode
from the default Access Point mode, use the «Wi-Fi Client» page in the Device's web interface.

To connect to your Wi-Fi network, you can either scan for available networks or manually enter your
network name (SSID) and password. Once the scan is complete, select your Wi-Fi network from the list
using the radio button and enter its password. By default, Device will use DHCP to get IPv4 address
automatically from the Wi-Fi Router. In that case, Router will assign IP address randomly from the allowed
DHCP address range.

— 13 —
To access the Device, you will need to get its new IPv4 address. This can be done by accessing Router's Wi-
Fi clients list and checking for the Device MAC address — the one which is displayed on the «Wi-Fi Client»
page, «Wi-Fi State» section. If your router lacks this feature, you can perform Wi-Fi network IPv4 range
scan for open ports 80 (default device web-interface port) and 1456 (default Device Server #1 port) using
e.g. Zenmap NMAP GUI or similar software.

Many Routers support «Static DHCP» (or «DHCP Tethering») feature, which forces Router to always give
the Device the same fixed IPv4 address over DHCP, Device will be identified by router via its MAC address.
Note that the Router has two different MAC addresses, one for the Access Point mode and another for
Client mode. You should use the MAC address given on «Wi-Fi Client» page, «Wi-Fi State» section for
DHCP Tethering.

Of course, you can always avoid messing up with DHCP setup by simply giving the Device a static IP
address. For that, select the «Set Static IP» radio button on the «Wi-Fi Client» page, section«IP Address
Setup». Then, enter a new IP address for the Device that is not already in use by other nodes on your Wi-Fi
network, along with a subnet mask that matches your router's Wi-Fi network IPv4 CIDR subnet range. Also
enter the Network Gateway IPv4 address, which is typically the same as the Router's address.

If you do not remember your router's Wi -Fi network IP settings, you can quickly check them by connecting
a mobile device or laptop to the router's Wi -Fi in DHCP mode and then checking the obtained IP settings.
Refer to Figure 3 and note that the Router address is 192.168.4.1, and the subnet mask is 255.255.255.0
(CIDR /24 subnet). The smartphone has been assigned the IP address 192.168.4.3. To avoid conflicts, it
is recommended to assign the Device IP address from the same subnet but with a different address, such
as 192.168.4.100. Contact your router administrator or refer to your router documentation if you have
problems with the Wi-Fi setup.

The «Save» button will save the settings in the EEPROM and the settings will be applied the next time you
connect to the Wi-Fi network. The «Save & Apply» button saves settings and immediately attempts to apply
them if the Router is already in Client mode.

When all necessary settings are entered, click «Connect» button to switch Device to Wi -Fi Client mode and
connect to chosen Wi-Fi network. Check the Device's LED indication to make sure the correct Wi-Fi mode
is selected and the connection status is OK (refer Section VIII).

— 14 —
 If the Router was previously in Access Point mode, it will shut down the «YDNR» network
upon successful connection. Your client device, such as a smartphone or laptop, may continue
searching for a non-existent network, requiring you to manually change the and enter the new
IP address of Device web interface in the browser.

In our Static IP configuration example above, we have connected the Device to WiFi network «GG» with
manually set IP address 192.168.4.100. To access the Device web-interface, connect smartphone or laptop
to Wi-Fi network «GG» and enter http://192.168.1.100 in the web-browser address bar.

3. What to do if the Device is not accessible

There many possible reasons why you may not be able connect to the Router, especially after changing
settings.
Check the following:

• if Device LED flash #1 shows desired Wi-Fi operation mode (Access Point vs Client, refer VIII)?
• if Device LED flash #2 shows bad Wi-Fi connection status (refer VIII)?
• are you using DHCP or Static IP? If DHCP, have you set up «DHCP Tethering» («Static DHCP») on
the Router correctly?
• have you set correct IP address, mask and gateway (matching your Wi-Fi router settings) before
switching to Client mode?

• do your router's security settings block IP connections between Wi-Fi clients, e.g. is «Wi-Fi isolation»
enabled?

If you cannot diagnose what is wrong, you can reset the Device’s settings (see Section IX) and the Device
will be returned to Access Point mode. You can connect to «YDNR» network again and try to change
the settings one more time.

— 15 —
 4. Other important settings

If you will use the Device in Access Point mode, change the default Access Point Wi-Fi
passphrase! Do not forget to write it down in boat's Technical Documentation so you can
easily access it later!

Change the default web-interface access password on the «Administration» page! Do not
forget to write it down in boat's Technical Documentation so you can easily access it later!

In some network configurations, access to network port 80, which is the default HTTP port of the Device
web-interface, may be limited. Alternatively, you may need to use a different port, say, if you use port
forwarding on the router. You can change the Device web-interface HTTP port on the Device's «Home»
page. For instance, if you set the port to 8080 (alternative HTTP port), you will need to explicitly add that
port address to the Device's web-interface URL, e.g.: http://192.168.4.1:8080.

— 16 —
IV. Connecting with NMEA 0183 and SeaTalk Equipment

Before connecting of NMEA 0183 or SeaTalk equipment, be sure that you have access to the Router’s web
interface (see Section III). Wire terminals and the status LED location are shown in Figure 1.

1. NMEA 0183 basics

The default speed of a NMEA 0183 interface is 4800 baud. High-speed interfaces are 38400 baud and were
designed especially for AIS, but usually chart plotters and instrument displays allow any data (not only AIS)
on a high-speed port. On a chart plotter, port speed can be configured in the settings. NMEA 0183 uses
different wires for talking (transmitting, TX) and listening (receiving, RX) data.

One talker can be connected to multiple listeners, but a listener can have only one talker connected.
The Device can act as a «multiplexer» and join the output of two physical talkers to a single data stream.

Figure 4. (a) RS-232 and (b) RS-422

NMEA 0183, until version 2.0 (1992), used a «single ended» RS-232 interface with one TX line and one
RX signal line (grey at Figure 4.a) and ground line (dotted at Figure 4.a) used as reference for TX and RX
signals. Therefore, old devices have only three wires.

— 17 —
Since Version 2.0, NMEA 0183 has been based on a «differential» RS-422 interface, which has two RX
lines RX+ (can also be marked as «A») and RX- (or «B»), two TX lines TX+ (or «A», grey at Figure 4.b)
and TX-(or «B», dotted at Figure 4) and a ground (not shown at Figure 4.b). Note that on some RS-422
adapters the signal line «A» may be wrongly labeled as «−» and «B» as «+». Modern devices use five wires.

Devices of different versions can be connected, but with one cautionary note. TX- («B») is not equal to a
ground line. Voltage on the TX- line (dotted on Figure 4.b) changes from 0 to 5V, and connecting this line
to ground line can cause a short circuit.

The correct connection schemes are shown in Figure 5.

Figure 5. Connection of NMEA 0183 devices

— 18 —
 2. Connecting to NMEA 0183 equipment

The Router has two NMEA 0183 ports (Port #1 and Port #2) with configurable speed from 300 to 115200
baud. The Router is supplied with Port #1 configured for 4800 baud and Port #2 configured for 38400
baud, port speed can be changed at «NMEA Settings» page of web interface.

The ground wire of NMEA 0183 equipment (if present) should be connected to Router’s ground terminal
(GND). This terminal is common with NMEA 2000 ground.

Each NMEA 0183 port has dedicated bi-color status LED. The state of the connection can be determined
by LED signals (see the Section VIII).

3. Connecting to SeaTalk equipment

SeaTalk is a proprietary binary protocol of Raymarine company. It allows co-existence of multiple devices
on the bus, so the Router has only one SeaTalk port. A bi-directional converter between SeaTalk, NMEA
0183 and NMEA 2000 supports all known SeaTalk datagrams, including autopilot (see Appendix D
for details). This allows controlling SeaTalk autopilots from NMEA 0183 chart plotters and marine apps.

A SeaTalk bus has three wires: 12-Volt power supply (red label on equipment, red lead within a SeaTalk
cable), ground (white or grey label on equipment, bare shield within a SeaTalk cable) and data (yellow label,
yellow lead within a cable).

The data wire should be connected to the «SeaTalk» terminal of the Router, the ground wire of the SeaTalk
bus should be connected to the Router’s ground terminal (GND), and power supply wire is not connecting
and must be isolated.

The state of the connection can be determined by SeaTalk status LED signals (see the Section VIII).

— 19 —
V. Configuration of Application Protocols

Figure 6. Settings of OpenCPN application

— 20 —
Most marine applications support both TCP and UDP network protocols. TCP is a connection-oriented
protocol. This means that the receiver must confirm reception of data before it gets the next packet of data,
otherwise the sender repeats the transmission after a timeout. So, the second TCP connection doubles the
network traffic and CPU load, despite the fact that both clients receive the same data.

UDP is a connectionless protocol; any number of clients can listen to data broadcasted from a specified
port without any additional load on the server and without increasing the actual network traffic.
We recommend using UDP protocol where possible, because the resources of the Device’s CPU are limited
and UDP protocol may work 5-6 times faster than TCP.

The Router supports RAW and NMEA 0183 data protocols. The RAW protocol is supported in Expedition
10 and CAN Log Viewer. This protocol is very simple, open, and also supported by our NMEA 2000 USB
Gateway YDNU-02 and other products. We hope that this protocol becomes popular among software
developers.

NMEA 0183 data protocol is supported in virtually all marine applications. The Router contains
a bi-directional converter between NMEA 0183, NMEA 2000 and SeaTalk, and has a flexible system
of message filters (see Section VII) and messages routing (see the next Section).

On the «NMEA Server» page on the web interface you can set up to three server ports (see Figure 7). If TCP
network protocol is selected, up to three connections (from three different applications on one device, or
from three devices with one marine application running on each) are allowed at the same time. So, three
servers allow nine connections in total.

In the case of using UDP protocol, the number of devices or applications used the data port is not limited.
We recommend using UDP protocol when possible.

The server port can be configured as bi-direction, read-only (Transmit Only) or write-only (Receive
Only). We recommend configuring data ports as read-only if possible, to prevent network flooding from
incorrectly configured applications.

— 21 —
Figure 7. Data server settings

— 22 —
Server #3 also supports the «Debug» and «Memory» data protocols. The «Debug» protocol is designed
to diagnose hardware or software issues and described in Section X. The «Memory» protocol allows
export of the vessel’s data from an internal memory to GPX (tracks), CSV (spreadsheets) or XML formats;
see Section XIV for details.

With the factory settings, Router has the 1st server enabled and pre-configured to use TCP port 1456
and the NMEA 0183 data protocol. To connect your application to the Router with factory settings:

• connect your laptop or mobile device to YDNR network;

• set the IP address 192.168.4.1 in the application settings;
• specify the TCP protocol and port 1456 in the application settings.

A pair of Routers can act as a wireless extender, allowing joining of two or more physical networks
or devices. To pair Routers, you need to set up both using UDP protocol and set the same port number.

The settings on the «NMEA Settings» page are designed to control an autopilot by NMEA 0183 protocol
and tune NMEA 0183 output, see the Section XII for details.

You can also enable outgoing TCP/UDP connection to a specific IP address on this page. For that, you need
to configure Server #2 for a desired protocol and port number, check «outgoing connection» mark, and
specify IP address. Setting will be taken from Server#2 (it will not be available for the other tasks).

— 23 —
VI. NMEA Routing and Tunnel Settings

On the «NMEA Routing» page of web interface you can easily manage data flows. For NMEA 0183 physical
ports, you can route them to themselves, which allows connecting the Router «in-line» between two devices
and enriching the data flow by data from NMEA 2000, SeaTalk or other NMEA 0183 device (see Figure 8).

Figure 8. Routing of NMEA 0183 Port #2 to itself

— 24 —
Figure 9. Factory routing settings

— 25 —
When data are routed from NMEA 2000 or «RAW» data server to NMEA 0183 port or to «NMEA 0183»
data server, they are converted to NMEA 0183 (see Appendix C). When data are routed to SeaTalk port,
they are converted to NMEA 0183 and then to SeaTalk from NMEA 0183 (see Appendix D).

The SeaTalk (also known as SeaTalk 1) is a binary protocol, and an intermediate NMEA 0183 layer allows
seeing data in readable form (for example, at Debug server, see the Section X) and processing data using
NMEA 0183 filters (see Section VII).

The same conversion rules work in the opposite direction. Routing rules have some exclusions for data
Server #3 when it is configured for Debug protocol, see Section X for details.

The NMEA 2000 port and each server configured for RAW protocol has its own instance of the data
converter to process incoming and outgoing NMEA 0183 and SeaTalk data (see the Figure 10). For example,
you have a heading sensor in the NMEA 2000 network and have a RAW data server, which receives data
only from the wind sensor connected to NMEA 0183 port, but not from NMEA 2000. In this case, you will
have only apparent wind data on the RAW data server.

To obtain true wind direction, you should turn on the routing from NMEA 2000 to this RAW data server.
If you need only wind data on this RAW data server, but none of the other data from NMEA 2000, you can
filter out all other messages (see Section VII).

The «Tunnel» setting (first column of checkboxes at Figure 9) acts only for NMEA 0183 ports and data
servers configured for the NMEA 0183 protocol.

The Router ignores incorrect sentences received, including sentences with an invalid checksum.
The «Tunnel» allows routing of incorrect sentences from this server and conversion to NMEA 2000
if required. This allows connection of Navtex and rare NMEA equipment produced decades ago when
a checksum was not a mandatory part of the sentence.

— 26 —
VII. Message Filters

The Device has 20 filter lists which allow limiting the set of incoming and outgoing messages individually
for each data server or port. To modify filters, open the «NMEA Filters» page on the web interface.

Each of the three data servers has four filter lists: two for incoming («Receive») and outgoing («Transmit»)
NMEA 0183 messages, and two for incoming and outgoing NMEA 2000 messages (used for RAW protocol).
What filters are used depends on the server data protocol set on the «NMEA Servers» page for this server.

Figure 10. Simplified scheme of the Router with two ports

The NMEA 2000 port has two filters for incoming and outgoing NMEA 2000 messages. SeaTalk port
and NMEA 0183 ports has two filters each for incoming and outgoing NMEA 0183 messages.

Each filter list has a switchable type: WHITE or BLACK. A message is passed through the WHITE filter
— 27 —
if it contains a record matched with a message. And vice versa for BLACK. In the factory settings, all filter
lists are empty and are of BLACK type, so all messages are passed through the filters.

At the Figure 10 (the scheme is simplified) the Router is configured to:

• transmit all data from NMEA 2000 to NMEA 0183 Port #1 except AIS messages (VDO and VDM
sentences);
• receive only environmental data from Port #1 (dew point, water and air temperatures, atmospheric
pressure, relative humidity from MDA and MTW sentences), but transmit to NMEA 2000 only
temperature data (PGN 130312 and 130316).

Filter syntax is described below.

1. Syntax of NMEA 0183 filters

NMEA 0183 filters contain 3-char NMEA 0183 sentence formatters separated by a space character.
According to the Standard, an NMEA 0183 sentence starts with a $ or ! symbol, followed by a two-character
talker ID and a 3-char sentence formatter. These elements are followed by data fields (after the comma).
The sentence ends by a checksum after the * (asterisk) symbol.

The Router uses 3-char sentence formatters for filtering. The following sentences matches to GLL and VDM
records (sentence formatters):

$GPGLL,4146.5894,N,07029.6952,W,173412.02,A*15
!AIVDM,1,1,,B,ENk`smq71h@@@@@@@@@@@@@@@@@=MeR6<7rpP00003vf400,4*5F

Example of correct NMEA 0183 filter text:

GLL VDM DPT

In the «Tunnel» mode (see the previous Section) the Router processes invalid NMEA 0183 sentences
received, including sentences with invalid checksum. Invalid sentences are not processed by incoming
filters or outgoing filters of output server/port. Correct sentences are always processed by filters, whether
tunnelling is off or on.
— 28 —
 2. SeaTalk filter features

The Router has a bi-directional converter between SeaTalk and NMEA 0183. On the Seatalk port you
can use NMEA 0183 filters and datagram filters («Sxx», where xx is a hexadecimal datagram number,
see Appendix D).

For example, a NMEA 0183 water temperature MTW sentence is converted to Seatalk datagrams 23
and 27 (hexadecimal). To prevent sending water temperature to or from SeaTalk, you can specify
the sentence filter «MTW» (temperature will be filtered out at NMEA 0183 level) or «S23 S27» (will be
filtered at datagram level).

In case of a WHITE filter on the SeaTalk port, you should specify «MTW S23 S27» to allow water temperature
processing because you need to allow processing of SeaTalk datagrams 23 and 27 and generation
of MTW sentence.

3. Syntax of NMEA 2000 (RAW protocol) filters

You should be familiar with the NMEA 2000 Standard (can be purchased from National Marine Electronics
Association, www.nmea.org) to operate with NMEA 2000 filters.

These filters actually contain pairs of 29-bit message identifiers and a mask. The identifier is compared
by processing the NMEA 2000 message identifier and the second value (mask) defines the comparison
concerning which bits are significant. The identifier contains a PGN (Parameter Group Number, described
in NMEA 2000 Standard) and a source device address. You can use decimal and hexadecimal numbers
(which start with a 0x prefix).

To simplify defining filters, it is also allowed to set filters using PGN only. The filter string contains records
separated by comma. Records contain an identifier and mask separated by space, or a PGN number.

Example of correct filter:

0x1FD0700 0x1FFFFFF, 130310, 1 255, 130311

— 29 —
This filter matches with messages with PGN 130311 (0x1FD07) sent by the device with address 0,
PGN 130310 (sent by any device), messages sent by a device with address 1 («1 255» is another form
of the record «0x0000001 0x00000FF»), and PGN 130311 (sent by any device).

4. Configure filters

For data servers, we recommend using filters only when filtering is not available in software applications
(unfortunately, this is not rare in mobile applications).

They are also very useful for physical NMEA 0183 ports configured for low speed (4800 bps), because
such ports can be flooded, for example, by AIS messages (VDO and VDM) from an equipment connected
to the port with 38400 bps speed or to NMEA 2000 port.

Figure 11. Blocking of outgoing AIS messages at NMEA 0183 Port #1

— 30 —
To configure a filter, open the «NMEA Filters» page on the web interface and select it with «Server»,
«Data Protocol» and «Filter» combo boxes. Switch the filter type to required, enter a filter string and click
«Update» (to discard changes just switch to another filter). On update, the Device parses the string and
returns the effective settings back. Incorrect strings are ignored by the Device.

Changes take effect immediately, and if you have diagnostics data opened in another browser window
(see Section X), you can monitor the effect of changes in real time.

The button «Reset all filters» at the bottom of the page clears all filters and switches type of all filters
to BLACK.

— 31 —
VIII. LED Signals

The Device is equipped with five bi-color LEDs (see Figure 1 in Section I): Wi-Fi LED and four port LEDs
(NMEA 2000, NMEA 0183 Port #1, NMEA 0183 Port #2, SeaTalk). At powering on, all LEDs light up green
for a few seconds from right to left in the direction starting from the Wi-Fi LED, indicating that the Device
is functioning. Then LEDs start flashing in normal operation mode.

1. Signals during normal operation

During normal operation, the Device produces a series of four flashes of each LED (starting from
the Wi-Fi LED) every twelve seconds. The flashes indicate the state of the Device interfaces over the last
twelve seconds and have the following meaning:

• Wi-Fi LED, flash #1: Wi-Fi configuration. Green, if the Router is configured to use its own Wi-Fi
network, Access Point mode. Red, if the Router is configured to use the boat’s existing Wi-Fi network,
Client mode.

• Wi-Fi LED, flash #2: Wi-Fi state. Red, if the Wi-Fi link is not established yet or some error
has occurred (cannot connect to existing Wi-Fi network, wrong password, etc.). Otherwise, green.

• Wi-Fi LED, flash #3: TCP connections. Green, if some clients are connected to Router services
by TCP protocol. When the web interface is browsed, the connection exists only for a short
period when page is downloading from the web server. Red, if no TCP connections are open
(but applications can receive data by UDP protocol at the same time).

• Wi-Fi LED, flash #4: data received from network. Green, if data was received by any
of the network servers (by TCP or UDP protocols). Otherwise, red.

• Port LED, flash #1: data received. Green, if any data was received by this port in the last 12 seconds.

• Port LED, flash #2: RX errors. Green, if any data was received and all data was received without
errors. NMEA 0183 sentences contain a checksum, so any transmission error will be detected:
it usually means bad electrical contact or too long wires. SeaTalk bus allows many devices (talkers)
to be connected, and collisions between talkers are normal: red signal can mean high load of the bus.
— 32 —
 For NMEA 2000, red signal means defective device on the bus or electrical problems like improper
bus termination. This signal will also be red if flash #1 is red.

• Port LED, flash #3: data sent. Green, if data was sent to this port. NMEA 0183 and SeaTalk has
no confirmation of reception, the signal does not mean that any listener received data. Red means
that the Router has nothing to send.

• Port LED, flash #4: TX overflow. Green, if data was sent without overflow. In case of a red signal,
you should increase the port speed (for NMEA 0183 ports only) or filter out unnecessary data,
because the selected speed is not enough to send all the data. This signal will also be red if flash #3
is red.

With the factory settings, the Wi-Fi LED should flash GREEN-GREEN-RED-RED after the power on; this
means that the Router is configured for Access Point mode, successfully created the Wi-Fi network with
«YDNR» name (SSID) and has no incoming connections from mobile devices yet.

2. Signals during device reset

Hardware reset or settings reset is initiated by pressing the hidden reset button. LED signals are described
in the next Section.

3. Signals during firmware update

Firmware update can be uploaded via Device’s web-interface. LED signals are described in the Section XI.

— 33 —
IX. Settings Reset and Hardware Reset

Press the hidden reset button (see Figure 1 in Section I) with the paper clip supplied with the Router.
All LEDs of the Router will constantly shine red when the hidden button is pressed.

Wait 2-3 seconds and the LEDs lights will change from red to green. Release the button to reset the Router’s
settings. Otherwise, LEDs will become red again 2-3 seconds later. Keep the button pressed ten seconds
more, and LEDs become green. Release the button to complete a hardware reset of Device. Alternatively,
wait two seconds, and LEDs returns to red.

Note that nothing happens if you release the button when the LEDs signal is red. The settings reset occurs
if you release the button during the first green light period, and the hardware reset occurs in the second
period.

During settings reset, the Router changes all settings to factory values (returns to Access Point
Mode, network SSID to «YDNR»), and the Router will produce fast green flashes of Wi-Fi status LED
for 2-3 seconds, then reboot.

During hardware reset, the Router returns to the firmware version programmed at the factory (the Router
always keeps a copy of this version in EEPROM) and to the factory settings. LEDs signals during firmware
updates are described in Section XI.

Hardware reset is normally not required. It can be used for firmware rollback after installation of test
firmware version.

The data recorded on the internal memory will not be cleared with settings reset, and can be cleared with
a hardware reset or with the button on the «Logging» page.

— 34 —
X. Diagnostics Data Recording
Diagnostics is designed to troubleshoot data or network issues using software applications or Web Gauges.
Diagnostics data can be recorded using a web browser (both NMEA 0183 and NMEA 2000 data) or with
free CAN Log Viewer software (NMEA 2000 only).

Recording data using a web browser

Data Server #3 can be configured to «Debug» protocol, which allows investigating software or hardware
issues using a web browser or using a terminal application.
In this case, all ports and servers that have routing to data Server #3 enabled will send all outgoing traffic
to it. All ports and servers, which have routing from Server #3 enabled, will send all incoming traffic to it
(it is the exclusion from general routing rules for Debug server only).
Incoming SeaTalk traffic will be present in logs in the form of converted NMEA 0183 messages. To see
an incoming traffic at datagram level, turn on generation of $STALK sentence at «NMEA Settings» page
(see the Section XII.4).
Outgoing SeaTalk traffic will be presented in both forms, as NMEA 0183 messages and as SeaTalk datagrams
(encapsulated to $STALK sentence) despite settings at «NMEA Settings» page.
Web socket (used by Web Gauges) receives the same data, as software connected to Server #1. That is why only
incoming traffic from the web socket is displayed, to check outgoing traffic, see data sent to data Server #1.
To record diagnostics data:
1. Configure Server #3 to the «Debug» data protocol (it is TCP protocol).
2. Turn on the routing from the problem port or data server to Server #3, to record all data sent from
this port to connected device or an application.
3. Turn on the routing from Server #3 to problem port or data server to record all received data .
4. If the problem is related to data conversion, turn on the routing from source port or data server
to Server #3 too.
5. If the Router has the address 192.168.4.1 and Server #3 port has the number 1458, type
http://192.168.4.1:1458 in browser address bar (experienced users can also use terminal applications
to get data from this port).
— 35 —
 Figure 12. Chrome browser with log
Press the «Stop» button in the browser (or the Esc button in some browsers) when enough data is downloaded
and save the log to the disk. Some mobile browsers do not allow saving of files, and we recommend using
a laptop or PC to record diagnostics data. Some web browsers may try to download the web page again while
saving. In this case, you can use the clipboard (Copy All and Paste commands of operating system) and text
editor to save the data to a file.

If you need to record NMEA 2000 data only, you can use CAN Log Viewer software. For more details refer
to our FAQ: https://www.yachtd.com/faq/.

— 36 —
XI. Firmware Updates

You can check the current firmware version at login or on the home page of the web interface (see the
Section III) or in the Device information section in the list of NMEA 2000 (SeaTalk NG, SimNet, Furuno
CAN) devices or in the common list of external devices on the chart plotter (see the third line in Figure 13).

Usually access to this list is located in the «Diagnostics», «External Interfaces» or «External devices» menu
of a chart plotter.

We recommend updating the firmware from a laptop or PC. You can download the latest firmware version
from our web site: https://www.yachtd.com/downloads/.

You should open the downloaded .ZIP archive with an update and copy the PUPDATE.BIN file to the disk.
The README.TXT file inside the archive can contain important information regarding the update.

1. Log in to the web interface.

2. Open the «Firmware Update» page.
3. Click the «Choose File» button and locate the PUPDATE.BIN file.
4. Click the «Update the firmware» button.

The Firmware upload takes 20 – 40 seconds. After this period, you’ll get a message that the update
is started. The Wi-Fi status LED will be lit green for 40 – 60 seconds, then the Router will be rebooted when
the update procedure is finished.

The firmware update cannot damage the Router and all settings will remain intact (unless otherwise stated
in the README.TXT file provided with the update). For example, if the update procedure is interrupted
due to power failure, it will be re-started at the next power on.

You can roll back all firmware updates and return to the factory firmware with hardware reset
(see the Section IX).

— 37 —
Figure 13. Raymarine c125 MFD devices list with the Device (YDNR-02)

— 38 —
XII. NMEA Settings and Autopilot Control

This section describes how to control NMEA 2000 (SeaTalk NG) autopilot from the application using
NMEA 0183 protocol and the settings available on the «NMEA Settings» page (please, open it before
reading) of the web interface.

1. NMEA 0183 ports speed

In this section, you can set the speed of physical NMEA 0183 Port #1 and Port #2. These settings
allow choosing a speed in the range from 300 to 115200 bps, but standard NMEA 0183 equipment
uses 4800 bps speed and high-speed equipment (like AIS receivers) uses 38400 bps speed. Please, see
the Section IV for details.

2. True wind calculation

The wind sensor always measures apparent wind; true wind angle (TWA) is calculated using SOG
or STW data and true wind direction (TWD) requires COG or heading. A chart plotter can join all these data
and send calculated values to NMEA 2000, but usually TWD, TWA and TWS are not available.

Historically, STW/HDG are used to calculate true wind. However, this is not correct in places with strong
current, and the «true» value of true wind can be obtained using the SOG/HDG pair. Therefore, the Router
offers four options: SOG/HDG (if you love truth), SOG/COG (if you have GPS only), STW/HDG (if tradition
is most important), or you can disable calculations. In the last case the Router reports true wind data only
if they are calculated by another device available on the network.

The default setting «Any» means that the Router will detect what data are available on the network
and will calculate true wind data using the best possible option. Please note that true wind is calculated only
during conversion from NMEA 2000 to NMEA 0183.

3. Talker ID

You can configure the talker ID (two next characters after $ or ! sign) for NMEA 0183 sentences generated
by the Router. The default setting for the talker ID is «YD» and Router’s sentences look like this:
— 39 —
 $YDWPL,5441.1350,N,02014.8640,E,005*7A
$YDRTE,1,1,c,My Funny Route,001,002,003,004,005*07

4. SeaTalk settings

The Router has a bi-directional converter between SeaTalk and NMEA 0183 (when data from SeaTalk port
are routed to NMEA 2000 or data server configured to RAW protocol, they are initially converted to NMEA
0183 and then to NMEA 2000; the same for the opposite direction).

Here you can turn on the generation of $STALK sentences with raw SeaTalk data. This can be used for
debug and diagnostics purposes, and to setup the wireless SeaTalk bridge between two physical SeaTalk
networks (two Routers are required).

With the factory settings, the Router does not send datagrams to SeaTalk if they are already present
on the bus (except autopilot control and waypoint transfer datagrams). In this section, you can change
this behavior.

5. Autopilot control

Modern autopilots have the following modes:

• Standby. In this mode, autopilot is not engaged to the vessel control.
• Auto. The autopilot has a fixed course to steer.
• Wind. The autopilot steers the boat at a specified angle to the wind.
• Waypoint. The autopilot steers the boat to the specified waypoint.
• Route or Track. The autopilot steers the boat by a specified route.

The difference in the last two modes is that autopilot not only maintains the right direction to the waypoint,
but also tries to follow the line from the previous to the next waypoint.

Note that the data server of the Router must be configured to work in both directions (it is configured
as «Transmit Only» in factory settings) to allow control of autopilot from the application. When

— 40 —
NMEA 2000 autopilot is controlled from an NMEA 0183 application, it must receive:

• position of the destination waypoint (from RMB sentence);

• course from the position to the destination waypoint (APB and/or RMB);
• cross track error, means the distance and direction from the current position to the route
(APB and/or RMB and/or XTE).

Depending on the implementation, the NMEA 2000 autopilot can also use the following data
(and not only):

• vessel heading (HDG sentence), but in most systems the heading sensor is connected directly
to the autopilot;
• rate of turn (ROT sentence);
• position, course and speed over ground (RMC sentence).

To control the autopilot, the Router should receive APB and RMB sentences from the application.
The Router also needs to have magnetic variation data, which can be obtained from HDG or RMC sentences
or from the NMEA 2000 messages (must be turned on in the Router settings).

If your NMEA 2000 network has GPS data, it can use data already available on NMEA 2000, meaning
that sending of the ROT, HDG and RMC sentences from the application may not be required. It is better to
send minimal data from a PC to the NMEA 2000 network if possible.

Depending on the autopilot sensitivity settings, autopilot can control your vessel smoothly or aggressively.
The application only provides the situation (where is the waypoint and how far we are from the route),
but the course to steer and the rudder angle are defined by the autopilot logic.

Switching waypoints is performed by the application. If the arrival radius is set to 1 NM, the application
can switch to the next waypoint when the current point is still a mile away. If your route is circular
or approximately so, the application can unexpectedly switch from the first point to the last. You should be
familiar with your application settings and test how the system works on the open water.

— 41 —
The autopilot can warn you or ask for your confirmation when the application changes the waypoint.
It depends on autopilot settings. When the application terminates the navigation, it usually stops sending
APB and RMB sentences. Autopilot usually switches to Auto mode and signals about that.

To control Raymarine autopilot via application:

• Router server port must be configured to use the NMEA 0183 data protocol and to send the data
in both directions (by default it is configured to «Transmit Only»);
• Raymarine autopilot support must be turned on in the settings on this page (1st setting
in this section), because it is turned off by default;
• Raymarine autopilot must be initially set to the Auto mode to be controlled from the application;
• the application must provide APB, RMB and RMC sentences;
• the application should provide an HDG or RMC sentences or use of 3rd setting.

When the route or waypoint is activated in the application, autopilot switches to the Track mode from Auto
mode. If automatic confirmations are off (default settings, 2nd setting in this section), the chart plotter
and pilot head will ask for the confirmation when the waypoint is changing. When the application
terminates the navigation, Raymarine autopilot returns to the Auto mode.

It is impossible to switch from Track mode to Auto when the application controls the autopilot, because
it will return it to the Track mode after a 5-second delay. To take control in an emergency, switch
the autopilot to Standby mode.

In addition to navigation applications, you can use your Yacht Devices or Raymarine autopilot directly via
Web Gauges in the same way as a pilot head (refer to Figure 16).

6. XDR Settings

In this section you can set identifiers (transducer IDs) for incoming and outgoing XDR sentences.

The XDR sentence is used to transfer data from sensors, tanks, engines, etc. This sentence contains the
sensor’s text identifier (name), which was not defined by NMEA Standard until the end of 2018. This lateness

— 42 —
led to the invention of names by every company on the market. For example, B&G uses «AIRTEMP» to send
air temperature data, OpenCPN software uses «TempAir», Maretron uses «ENV_OUTSIDE_T», and the
NMEA 0183 Standard 4.11 defines «Air».

Figure 14. XDR settings

For more details about XDR refer to our FAQ: https://www.yachtd.com/faq/.

— 43 —
XIII. Web Gauges of Router’s web interface

Figure 15. Built-in web gauges (Apple IPhone 8)

The Web Gauges page (WG) allows vessel data real-time monitoring using a web browser on PC, laptop,
tablet or smartphone and can replace instrument displays. You can open the WG using the link on the logon
page of the Router’s web interface (no authorization required) or, if you are logged in, using the «Web
Gauges» menu item. No internet connection or app installation is required.

WG offers five customizable data pages. On mobile devices you can slide pages, or you can use the numeric
buttons on the menu (at the bottom of the screen) to choose the active page. Data pages are pre-configured.
The first page contains circular gauges for course/speed and AWA/AWS (apparent wind angle and speed),
and text data bars with STW, heading, TWS and TWA data. The second page (see Figure 15) is configured to
view twin engine data and contains circular tachometers and text data bars with engine temperature, fuel
rate and other data. The third page contains data bars with position, time, log, sea and air temperature,
barometric pressure and depth surface graph with current depth value. The fourth page is not configured
— 44 —
and contains no gauges or data bars. The fifth page is preconfigured for autopilot control (see Figure 16).
You can change any page’s layout and its sets of data bars.

On an IPhone, IPad and Android devices, the address bar and/or menu bar of a web browser can reduce
the visible area and overlap the WG menu in horizontal or vertical screen orientation. In this case, add WG
to the Home Screen (see browser menu) and open it using the WG icon on the Home Screen. The page
will then open in full screen mode without browser menus or address bars.

The actual WG guide is available on web interface (the next link after Web Gauges link at the logon page or
in the web interface menu) and online at: https://www.yachtd.com/products/web_gauges.html.

Most autopilots need a manufacturer proprietary message to activate TRACK mode, and may need to receive
some proprietary commands during navigation. This locks the autopilot into the same manufacturer's MFD
and pilot head. However, since firmware version 1.70, the Router allows to control Yacht Devices autopilot
YDAP-04 and Raymarine SeaTalk NG autopilots using Web Gauges (refer to Figure 16).

Figure 16. Web Gauges Autopilot control page

— 45 —
To enable Raymarine SeaTalk 1/SeaTalk NG autopilot support in Web Gauges:

1. Server #1 should be configured for bidirectional exchange and NMEA 0183 protocol.

2. Bidirectional routing between Server #1 and NMEA 2000 should be enabled. In case of SeaTalk1
autopilots – between Server#1 and SeaTalk1 port.

3. On NMEA Settings page you need to enable «Control of Yacht Devices autopilots from NMEA 0183
and Web Gauges». For SeaTalk NG autopilots «Control of Raymarine autopilots from NMEA 0183»
also should be enabled.

4. On Web Gauges Autopilot Control page, the «CONTROL/BANK» setting should be set for all buttons
as:

- «5» for Yacht Devices autopilots;

- «Third Party» for Raymarine autopilots.

5. For Raymarine autopilots, in Web-gauges OVERALL SETTINGS set «Third Party Autopilot» as
«Raymarine SeaTalk 1» or «Raymarine SeaTalk NG» depending on your connection type.

For more details refer to Application Note on Web Gauges page:

https://www.yachtd.com/products/web_gauges.html

— 46 —
XIV. Data Logging and Cloud Services

The Router is able to record a vessel’s data to the internal memory. Recorded data can be downloaded from
the web interface (no internet connection required) in GPX (tracks), CSV (spreadsheets) or XML formats,
or uploaded to Cloud Services if the Router has an internet connection. Cloud Services allow easy access to
your tracks from home and lets you share your position with family and friends. To learn more about Cloud
Services, visit: https://cloud.yachtd.com/.

1. Logging setup

Open the «Logging» page from in the web interface menu. The page has 3 sections: «Logging», «Download»
and «Upload». In the «Logging» section, you can configure the interval between points (from 15 seconds to
1 hour) or turn the logging off, set the data sources priority (with factory settings, the Router uses data from
the NMEA 2000 network only) and configure the data set.

With factory settings, data logging is ON with a 5-minute interval between points and the «Basic» data
set is used. This data set includes GPS position, date/time, GOG, SOG, AWA, AWS, TWA, TWS, TWD,
heading, STW and depth. All other available data sets include all data from «Basic»; choose the data set
on the «Logging» page to see what additional data are included in the selected data set. Switching the data
set does not affect on previously recorded data.

The setting «Do not save points closer than 5 meters apart» reduces the track size by filtering out points
when the vessel stays in a marina or at anchor. Turn off this setting if you are using Cloud Services
for remote live monitoring of environment conditions in marina and/or the boat’s systems.

When the memory is full, new points will overwrite old points. Use the button «Clear all data» before selling
the Router. Recorded data can also be cleared by a hardware reset of the Router, but a settings reset does
not clear it (see Section IX).

2. Data download

To download recorded data from the Router, you need to set Server #3 to the «Memory» protocol (see
Section V) and open this server in a web browser. If the Router has the address 192.168.4.1 and Server
#3 has port address 1458, open the page http://192.168.4.1:1458/ in your browser. Data will be loaded
— 47 —
to the browser, and the data export page will be shown. On this page you can choose the desired format,
set the options (XML schema for GPX file, column separator for CSV file, preferred units and so on) and
download the file with data.

Most chart plotters allow import of GPX tracks, and data recording is very useful as a backup if you have
forgotten to start track recording on MFD.

Note that export may not work properly on IPads and iPhones with an iOS version prior to v13, with other
devices or operating systems no any issues noted.

Data downloading is not very fast, and in the «Download» section of the «Logging» page you can limit the
range of downloaded data, for example to the last 30 days. This section does not affect data recording or
uploading data to the Cloud Services; you can change this setting at any time.

3. Upload to Cloud Services

The Cloud Service is free, has no limits for age and size of uploaded data, and it is a great backup for your
sailing tracks. It also allows sharing your position and tracks to registered users or to everyone via
a «secret» link. To use this service, the Router must be configured as a Wi-Fi client (see Section III.2)
and your Wi-Fi network must have an internet connection (from time to time at least).

To start, you need to register at https://cloud.yachtd.com/ and get a «Boat key» using the serial number of
your Router. Once the boat key is entered to the settings in the «Upload» section of the «Logging» page, the
Router will upload data to the Cloud Services every 15 minutes if it has more than one non-uploaded point
and an internet connection is available.

Please note that you must have GPS position and time/date data available (check «Data Source (priority)»
setting at the Logging page), as they are used as a waypoint identifier. Otherwise, you will have message
«no waypoints to upload».

Turn on the setting «Do not save points closer than 5 meters apart» in the «Logging» section if you do
not want to produce data traffic while the boat is in a marina. A single point using the «Basic Set» takes
32 bytes, and a point from other sets takes 64 bytes to transfer. The upload session requires transferring
about 400 bytes in addition to the data size. Therefore, using Cloud Services is not expensive even with a
satellite uplink.
— 48 —
The time and status of the last session can be viewed in the «Uploads» section of «Logging» page
or in Cloud Services. If you are using a static IP address, take care to configure the right network gateway
and DNS addresses in the «IP Address Settings» section of «Wi-Fi Client» page (see Section III.2).
To diagnose problems, use the «Memory» protocol to detect that you actually have recorded points
in the Router’s memory and the «Debug» protocol (see Section X). In the debug output, search for rows
starting with «YD CLOUD» (they should appear every 15 minutes if you have non-uploaded data). Example
of the output (mixed with NMEA data from other ports):
$MXPGN,01F200,2800,00300B1C007FFFFF*6D
YD CLOUD: Connecting (DNS: 192.168.4.102, 192.168.4.98)...
YD CLOUD: Connecting to 45.33.127.28 server...
SRV[2] TX:
06:28:22.142 R 1DEFFF02 45 00 00 00 00 00 00 00
The rows above mean, that an Internet connection exists (the address of the cloud server was successfully
resolved to its IP address). The next lines show the first lines of server’s response and connection result:
06:17:24.150 R 19FA0402 D5 F0
YD CLOUD: Response:
HTTP/1.1 201 Created
Content-Type: text/html; charset=UTF-8
Server: Microsoft-IIS/7.5
X-Powered-By: PHP/5.6.38
X-Powered-By: ASP.NET
Date: Mon, 07...
YD CLOUD: 2019-10-07 19:40:11 Data uploaded (last point GMT 2016-10-27 08:16:45)
SRV[2] TX:
06:17:24.151 R 19FA0302 FF DA 78 00 A1 00 71 00
If you have connectivity problems, please supply our technical support with a diagnostic recording which
contains the «YD CLOUD» strings. If your recording has no such strings, check that you have recorded data
using the «Memory» protocol.
To turn off data uploading, remove the boat’s key from the Device’s settings.

— 49 —
APPENDIX А. Troubleshooting
Table 1 Troubleshooting
Situation Possible cause and correction
LEDs do not signal when 1. No power supply on the bus. Check if the bus power is supplied
NMEA 2000 is turned on (NMEA 2000 network requires a separate power connection and cannot
be powered by a plotter or another Device connected to the network).
2. Loose connection in the power supply circuit. Treat
the NMEA 2000 connector with a spray for cleaning electrical contacts.
Plug the Router into another connector.

Cannot login to Wi-Fi Wrong password or authorization settings. Reset Router’s settings
network or web interface (see the Section IX).

Cannot connect Wi-Fi device Exceeded the number of allowed connections (3) in Access Point
to the Router mode. Reboot the Router to drop all Wi-Fi connections. Switch the Router
to «Client Mode» (see the Section III) and connect it to chart plotter’s
Wi-Fi network or boat’s Wi-Fi network to avoid the limitation.
Cannot open TCP server port 1. Exceeded the number of TCP connections (3) to server.
of Router in application Configure application to use another server port or UDP protocol.
2. IP address of Router changed. Static IP address is not configured.
Get sure that you can open the web interface with web browser, reset
Router settings in case of failure.

Overflow on physical NMEA Too much data routed to the port. Turn off routing from unnecessary
0183 Port (4th flash is red) data sources (see the Section VI). If connected equipment does not need
AIS data, filter out VDO and VDM sentences (see Section VII.4). Increase
the port speed if connected equipment allows it (see Section XII.1).

— 50 —
 Table 1 continued
Situation Possible cause and correction
Cannot receive data from 1. Check the physical connection, see connection schemes
connected NMEA 0183 at Section IV.1.
equipment 2. Check the port speed, it should be the same on both devices, see
the Section XII.1.
3. Turn on the tunnel mode for equipment manufactured before 2000,
see the Section VI.
Cannot receive data from 1. Check the port speed, it should be 9600 bps, see the Section XII.1
connected Navtex equipment 2. Turn on the tunnel mode, because Navtex uses its own protocol,
see the Section VI.
Software application does 1. Check routing and filters. See Sections VI and VII.
not work as expected 2. Check diagnostics data (see the Section X) and send it with
a software screenshot to technical support.
The Router has no waypoints Check that you have valid GPS position and date/time data available, and
to upload to the Cloud that the «Data Source Priority» is set correctly.

The Router can not connect 1. Check Internet connection.

to the Cloud 2. Check that you specified valid Router’s serial number in Cloud Boat
details
3. Check that you specified valid Boat key in Router’s settings.

— 51 —
APPENDIX B. NMEA 2000 Messages Supported by Device

The Router can pass any message from NMEA 2000 to a PC application or in the opposite direction. «No»
in the table 2 below means that the Router will not process these messages during service communication
with other devices on the network. Note that service communications are not affected by the filter settings
of the Router (see the Section VII).

Appendix C contains the list of messages processed during conversion from NMEA 2000 to NMEA 0183
and from NMEA 0183 to NMEA 2000.

Table 2. Messages supported by Device

Message Receive Transmit

ISO Acknowledgment, PGN 59392 (0xE800) Yes Yes
ISO Address Claim, PGN 60928 (0xEE00) Yes Yes
ISO Request, PGN 59904 (0xEA00) Yes No
GNSS Position Data, PGN 129029 (0x1F805) Yes No
Local Time Offset, PGN 129033 (0x1F809) Yes No
PGN List Group Function, PGN 126464 (0x1EE00) No Yes
Product Information, PGN 126996 (0x1F014) Yes Yes
System Time, PGN 126992 (0x1F010) Yes No

— 52 —
APPENDIX C. Conversions Between NMEA 2000 and NMEA 0183

Table 3. Conversions from NMEA 2000 to NMEA 0183

NMEA 2000 PGN NMEA 0183 Comment

Sentence
65311 Magnetic Variation (Raymarine — See note (4)
Proprietary)
126992 System Time ZDA, GLL See also PGN 129033
127233 Man Overboard Notification (MOB) MOB
127237 Heading/Track Control APB, HSC, HTD Use PGN 129284, 129283 if
possible
127245 Rudder RSA Two rudders supported
127250 Vessel Heading HDG, HDM, HDT See note (4)
127251 Rate of Turn ROT
127258 Magnetic Variation — See note (4)
127488 Engine Parameters, Rapid Update RPM, XDR, DIN, See note (6)
PGN
127489 Engine Parameters, Dynamic XDR, DIN See note (6)
127493 Transmission Parameters, Dynamic DIN, PGN See note (6)
127501 Binary Status Report DIN See note (6)
127505 Fluid Level DIN, PGN See note (6)
127508 Battery Status DIN, PGN See note (6)
128259 Speed, Water referenced VHW Also may be used in RMC, VTG
128267 Water Depth DBT, DBS, DPT

— 53 —
 Table 3 continued
NMEA 2000 PGN NMEA 0183 Comment
Sentence
128275 Distance Log VLW
129025 Position, Rapid Update GLL Also use PGN 126992 or 129029
129026 COG & SOG, Rapid Update VTG Also used in RMC
129029 GNSS Position Data GGA, GLL, RMC, See also PGN 129033
ZDA
129033 Local Time Offset — Time offset is used in ZDA
129044 Datum DTM
129283 Cross Track Error XTE
129284 Navigation Data RMB, HSC, BWR, Use 129283, 129029 if possible
BOD
129285 Navigation — Route/WP information — Waypoint names from this
message are used in RMB and
APB sentences
129291 Set & Drift, Rapid Update VDR
129539 GNSS DOPs GSA PGN 129540 is also required
129540 GNSS Sats in View GSV, GRS PGN 129539, 129029 required
129547 GNSS Pseudorange Error Statistics GST
129808 DSC Call Information DCS, DSE
130066 Route and WP Service — RTE Use waypoints from 130067
Route/WP — List Attributes
130067 Route and WP Service — WPL
Route — WP Name & Position

— 54 —
 Table 3 continued
NMEA 2000 PGN NMEA 0183 Comment
Sentence
130074 Route and WP Service — WPL
WP List — WP Name & Position
130306 Wind Data MWD, MWV, See note (3). Also used in MDA.
VWR, VWT
130310 Environmental Parameters XDR, MTW, MDA See note (1), (5)
130311 Environmental Parameters XDR, MTW, MDA See notes (1), (2), (5)
130312 Temperature XDR, MTW, MDA See notes (1), (2), (5)
130313 Humidity XDR, MDA See notes (1), (2), (5)
130314 Actual Pressure XDR, MDA See notes (1), (2), (5)
130316 Temperature, Extended Range XDR, MTW, MDA See notes (1), (2), (5)
130578 Vessel Speed Components VBW
130816 Proprietary: History Data BHD
129038 AIS Class A Position Report VDM, VDO AIS VHF messages 1, 2 and 3
129039 AIS Class B Position Report VDM, VDO AIS VHF message 18
129040 AIS Class B Extended Position Report VDM, VDO AIS VHF message 19
129041 AIS Aids to Navigation (AtoN) Report VDM, VDO AIS VHF message 21
129793 AIS UTC and Date Report VDM, VDO AIS VHF messages 4 and 11
129794 AIS Class A Static and Voyage Related VDM, VDO AIS VHF message 5
Data
129798 AIS SAR Aircraft Position Report VDM, VDO AIS VHF message 9
129802 AIS Safety Related Broadcast Message VDO, VDM AIS VHF Message 14

— 55 —
 Table 3 continued

NMEA 2000 PGN NMEA 0183 Comment

Sentence
129809 AIS Class B «CS» Static Data VDM, VDO AIS VHF message 24
Report,Part A
129810 AIS Class B «CS» Static Data VDM, VDO AIS VHF message 24
Report, Part B

Note (1): Air, dew point, inside (saloon), water and exhaust gas temperature, inside and outside
humidity, barometric pressure are supported.
Note (2): Only messages with data instance 0 are converted.

Note (3): Device with factory settings perform conversion from true to apparent wind and vice
versa. MWV sentence is sending twice (one for relative wind and one for true). See X.1
for details.
Note (4): Magnetic variation is used in RMC, HDT, HDG, VDR, VHW, VTG. Priority of variation
PGNs: 127250, 127258, 65311.
Note (5): MDA is sent only when air, dew point or water temperature, or barometric pressure
or outside humidity are available. Also contains wind speed and direction.
Note (6): DIN and PGN are wrap NMEA 2000 messages according SeaSmart (v1.6.0) and MiniPlex
(v2.0) specifications. Engine revolutions, boost pressure, coolant temperature, hours, fuel
rate, alternator voltage are also transmitted in XDR sentence.

— 56 —
 Table 4. Conversions from NMEA 0183 to NMEA 2000

NMEA 0183 NMEA 2000 PGN Comment

Sentence
AAM 129284 Navigation Data RMB is required
APB 129283 Cross Track Error Also used in PGN 129284
BOD 129284 Navigation Data RMB is required
BHR 61184 Proprietary: History Request
BWR 129284 Navigation Data RMB is required
DIN 59904 ISO Request According SeaSmart.Net
127488 Engine Parameters, Rapid Update protocol specification v1.6.0
127489 Engine Parameters, Dynamic
127493 Transmission Parameters, Dynamic
127502 Switch Bank Control
127505 Fluid Level
127508 Battery Status
DBK 128267 Water Depth When DPT sentence is not
available
DBS 128267 Water Depth When DPT sentence is not
available
DBT 128267 Water Depth When DPT sentence is not
available
DPT 128267 Water Depth
DSC 129808 DSC Call Information
DSE 129808 DSC Call Information DSC is required
DTM 129044 Datum
GGA 129029 GNSS Position Data ZDA or RMC are required
GLL 129025 Position, Rapid Update See note (7)

— 57 —
 Table 4 continued

NMEA 0183 NMEA 2000 PGN Comment

Sentence
GNS 129025 Position, Rapid Update
GRS 129540 GNSS Sats in View
GSA 129539 GNSS DOPs
GST 129547 GNSS Pseudorange Error Statistics
GSV 129540 GNSS Sats in View Use data from GRS and GSA
HDG 127250 Vessel Heading
HDM, HDT 127250 Vessel Heading Use variation and deviation
from HDG
MDA 130311 Environmental Parameters Relative air humidity, air
130314 Actual Pressure and water temperature,
130306 Wind Data atmospheric pressure, wind
data
MOB 127233 Man Overboard Notification (MOB)
MTW 130311 Environmental Parameters
MWD 130306 Wind Data
MWV 130306 Wind Data Theoretical wind sent as
calculated using Heading/
Speed through Water
RMB 129283 Cross Track Error Use data from APB; PGN
129284 Navigation Data 129284 sent twice with true
129285 Navigation — Route/WP information and magnetic bearings
RMC 126992 System Time See note (7)
127258 Magnetic Variation
129025 Position, Rapid Update
129026 COG & SOG, Rapid Update

— 58 —
 Table 4 continued

NMEA 0183 NMEA 2000 PGN Comment

Sentence
ROT 127251 Rate of Turn
RPM 127488 Engine Parameters, Rapid Update
RSA 127245 Rudder
RTE 130066 Route and WP Service — Route/WP-List Use data from WPL
Attributes
130067 Route and WP Service — Route —
WP Name & Position
VBW 130578 Vessel Speed Components
VDR 129291 Set & Drift, Rapid Update
VHW 128259 Speed, Water referenced
VLW 128275 Distance Log
VTG 129026 COG & SOG, Rapid Update
VWR, VWT 130306 Wind Data
WPL 130074 Route and WP Service — WP List — Only waypoints not included
WP Name & Position to the route (the RTE should
be received during 3 seconds
after WPL).
XDR 127505 Fluid Level Depends on configuration in
127508 Battery Status «XDR Settings» section
130310 Environmental Parameters
130311 Environmental Parameters
130314 Actual Pressure
130316 Temperature, Extended Range
XTE 129283 Cross Track Error

— 59 —
 Table 4 continued
NMEA 0183 NMEA 2000 PGN Comment
Sentence
ZDA 126992 System Time
129033 Local Time Offset
VDO, VDM 129038 AIS Class A Position Report AIS VHF messages 1, 2 and 3
129039 AIS Class B Position Report AIS VHF message 18
129040 AIS Class B Extended Position Report AIS VHF message 19
129041 AIS Aids to Navigation (AtoN) Report AIS VHF message 21
129793 AIS UTC and Date Report AIS VHF messages 4 and 11
129794 AIS Class A Static and Voyage Related Data AIS VHF message 5
129798 AIS SAR Aircraft Position Report AIS VHF message 9
129802 AIS Safety Related Broadcast Message AIS VHF Message 14
129809 AIS Class B «CS» Static (AtoN) Report, Part A AIS VHF message 24
129810 AIS Class B «CS» Static Data Report, Part B AIS VHF message 24

Note (7): The Device provides 50 milliseconds intervals between outgoing NMEA 2000 messages
that are generated by more than one NMEA 0183 sentence. For example, a message with
PGN 129025 is generated only once if RMC and GLL are received within a 50 millisecond
interval, and twice if the time between GLL and RMC is more than 50 milliseconds.
Note (8): Sentences with no significant data (or data marked as invalid) may not be translated
to NMEA 2000 messages. NMEA 0183 sentences with invalid checksum are ignored.

— 60 —
APPENDIX D. Conversions Between SeaTalk and NMEA 0183
Table 5 Conversions Between SeaTalk and NMEA 0183
From SeaTalk NMEA 0183 To SeaTalk Comment
Datagrams Sentence Datagrams
Any ALK Any Raw SeaTalk data ($STALK sentence)
85 A2 APB 82 85 9E A1 A2 Heading/Track Controller Sentence «B»
(Autopilot)
82 85 A1 BWC 82 85 9E A1 Bearing & Distance to Waypoint – Great Circle
— BWR 82 85 9E A1 Bearing & Distance to Waypoint – Rhumb
Line
00 DBT 00 Water Depth
00 DPT 00 Water Depth
50 51 58 GLL 50 51 58 Geographic Position – Latitude/ Longitude
89 (99) HDG 89 99 Heading and Variation
89 HDM 89 Heading, Magnetic
89 (99) HDT 89 Heading, True
23 27 MTW 23 27 Water Temperature
10 11 MWV 10 11 Wind Speed and Angle
85 A2 RMB 82 85 9E A1 A2 Recommended Minimum Navigation
Information (Autopilot)
50 51 58 RMC 50 51 58 52 53 Recommended Minimum Specific GNSS Data
54 56 99
05 RPM 05 Engine Revolutions (three engines supported)
84 9C RSA 9C Rudder Sensor Angle

— 61 —
 Table 5 continued
20 26 84 89 9C (99) VHW 20 26 89 9C 99 Water Speed (STW) and Heading
21 22 25 VLW 21 22 25 Trip and Total Distance
(52) 53 VTG 52 53 99 Course Over Ground & Ground Speed
9E A1 WPL 9E A1 Waypoint Location
85 XTE 85 Cross-Track Error (Autopilot)
54 56 ZDA 54 56 Time & Date

Note : (XX) means that the datagram does not cause sending of an NMEA sentence, but data
from this datagram are used or required.

— 62 —
APPENDIX E. Format of Messages in RAW Mode

In RAW mode, network messages are converted to plain text format. We recommend software developers
to support this format in their applications, as it is the easiest option. In the terminal window, NMEA 2000
messages look like a log in a chart plotter.

Messages sent from Device to PC have the following form:

hh:mm:ss.ddd D msgid b0 b1 b2 b3 b4 b5 b6 b7<CR><LF>

where:

• hh:mm:sss.ddd — time of message transmission or reception, ddd are milliseconds;

• D — direction of the message («R» — from NMEA 2000 to application, «T» — from application
to NMEA 2000);
• msgid — 29-bit message identifier in hexadecimal format (contains NMEA 2000 PGN and other
fields);
• b0..b7 — message data bytes (from 1 to 8) in hexadecimal format;
• <CR><LF> — end of line symbols (carriage return and line feed, decimal 13 and 10).

Example:

17:33:21.107 R 19F51323 01 2F 30 70 00 2F 30 70
17:33:21.108 R 19F51323 02 00
17:33:21.141 R 09F80115 A0 7D E6 18 C0 05 FB D5
17:33:21.179 R 09FD0205 64 1E 01 C8 F1 FA FF FF
17:33:21.189 R 1DEFFF00 A0 0B E5 98 F1 08 02 02
17:33:21.190 R 1DEFFF00 A1 00 DF 83 00 00
17:33:21.219 R 15FD0734 FF 02 2B 75 A9 1A FF FF

Timestamp is UTC time if the Device has received the time from the NMEA 2000 network, otherwise it is
the time from Device start.

— 63 —
The format of messages sent by application to Device is the same, but without time and direction field.
Outgoing messages must end with <CR><LF>. If the message from the application has been accepted,
filtered and sent to NMEA 2000, it is sent back to the application with «T» direction.

For example, the application sends the following sentence to the Device:
19F51323 01 02<CR><LF>
When this message is sent to the NMEA 2000 network, the Application receives an answer like:
17:33:21.108 T 19F51323 01 02<CR><LF>
The Application will get no answer if the message filtered or the message syntax is invalid.
The format of NMEA 2000 messages is available in Appendix B of NMEA 2000 Standard, which can be
purchased on the site www.nmea.org.

— 64 —
NOTES
NOTES
NOTES