NAVIPAC 4.

5
CONFIGURATION
 Contents

1 The main window ............................................................................................................ 4

1.1 Vehicles view .............................................................................................................. 6

1.2 3D visualisation .......................................................................................................... 7
1.3 Tree view .................................................................................................................... 9
1.4 Properties view ......................................................................................................... 11
1.5 Controls .................................................................................................................... 13

2 The main menu .............................................................................................................. 15

3 Instruments ................................................................................................................... 18

3.1 Edit instrument properties ........................................................................................ 18

3.2 Edit I/O settings ........................................................................................................ 21
3.3 Edit special settings.................................................................................................. 23
3.4 Remove instrument .................................................................................................. 23
3.5 Add instrument ......................................................................................................... 23
3.6 Sort instrument list .................................................................................................... 27
3.7 Dynamic positioning ................................................................................................. 27

4 Geodesy ......................................................................................................................... 29

4.1 Projection and ellipsoid ............................................................................................ 30

4.1.1 EPSG ................................................................................................................. 32
4.2 Datum shift ............................................................................................................... 33
4.2.1 Helmert 7 ........................................................................................................... 35
4.2.2 Mod. Bursa-Wolf ................................................................................................ 35
4.2.3 NADCON US ..................................................................................................... 35
4.3 ITRF.......................................................................................................................... 36
4.4 Height reduction ....................................................................................................... 38

5 Project settings ............................................................................................................. 40

5.1 NaviPac .................................................................................................................... 41

5.2 Warm start ................................................................................................................ 43
5.3 GPS .......................................................................................................................... 44

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 5.4 NaviPac filters .......................................................................................................... 46
5.5 Underwater and remote positioning ......................................................................... 48
5.6 Advanced ................................................................................................................. 49
5.7 Survey parameters ................................................................................................... 51
5.8 Rig move .................................................................................................................. 52
5.9 Telemetry setting ...................................................................................................... 53
5.10 NaviPac eventing and triggering ........................................................................... 54
5.11 NaviScan ............................................................................................................... 56

6 Navigation ...................................................................................................................... 58

7 References ..................................................................................................................... 60

8 Figures ........................................................................................................................... 61

NaviPac Configuration
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 1 The main window
The NaviPac configuration module NaviPac Configuration is the base program for setting
up an entire NaviPac operation.

Figure 1 NaviPac Configuration main window

The main window shown above opens when NaviPac Configuration is started. The program
automatically loads the setup file you were using last time.

Note: You may edit any setup file with NaviPac Configuration; name and location can be
chosen freely.

The main window can be resized to make it larger and smaller in size. The following
sections walk through the program as it is defined by default – but please note that the
operator can move and place windows as they choose.

NaviPac Configuration is divided into a series of views and controls showing various parts of
the setup, but all parts are linked. This means that selecting an item will automatically
select/show the same item in the other views.

Before using the software, there are some basic terms that need to be pointed out.

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 • Vehicle
Any object that has been positioned by NaviPac is called a vehicle – so the main
vessel, ROVs, ROTV, AUV and remote vessels are all determined as vehicles.
• POI (Point of interest)
A fixed point on a vehicle is called a POI. (POI were previously called User
offsets.) A POI can be used in data outputs or for assigning items to a location,
among other uses.
• Instrument
The term instrument covers both physical instruments (like GPS) and general data
suppliers (like AIS) and data sent out of NaviPac. Instruments will be grouped in
sections depending of the type of instrument, which types include:
• Surface Navigation
Positioning of main vessel using GPS, tracking system or similar
• Gyro
Gyro, compass and similar
• Motion Sensor
Roll, pitch and heave sensors
• Data Acquisition
Input of acquisition sensor data such as echo sounder, magnetometer,
pressure-, pipe- and cable tracker etc
• Dynamic Positioning
Positioning of remote and under water vehicles such as USBL, LBL, and
remote GPS
• Doppler Log
Speed logs used for vehicle positioning
• Data Output
Data output to external devices
• Misc
Anything that doesn’t fit the other categories, such as GPS time sync or
radar input

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 1.1 Vehicles view

Figure 2 Vehicle view illustration main vessel and ROTV

The Vehicle view gives an overview, with a section per vehicle and subsections inside each
with instruments, and can be named freely. The lowest part of the view gives attached POIs
(if any). A series of functions can be activated from this view:

• Select a vehicle
Click on the title bar in the vehicle box. The vehicle will simultaneously be selected
in Tree view, Properties view and 3D view.
• Select an instrument
Click on the desired title bar inside the vehicle box (in the figure above these titles
include SurfaceNavigation, Gyro, MotionSensor, DataAcquisition, and
DynamicPositioning). The instrument will simultaneously be selected in Tree view,
Properties view and 3D view.
• Select POI
Click the POI in the bottom bar of the vehicle box. The POI will simultaneously be
selected in the Tree view, Properties view and 3D view
• Add instrument (instrument will be selected after addition)
• Click the + icon at the vehicle title bar
• Right-click inside vehicle box
• Right-click inside instrument group box (selection is filtered to same type)
• Add POI (POI will be selected after addition)
Click the + icon at the bottom bar
• Remove instrument
Right-click on the instrument box and select remove
• Remove POI
Right-click at the POI in the bottom bar and select remove

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 • Remove vehicle
Click the X button at the upper right part of the vehicle bar
• Move instrument from one vehicle to another
Drag-and-drop instrument box (click and move)
• Copy instrument (both at same vehicle and to another)
Drag-and-drop instrument box (Ctrl + click and move)
• Copy vehicle
Drag-and-drop vehicle box (Ctrl + click and move)

Instrument boxes will be coloured by Input mode (Simulated/On/Off) and will show linked
information (eg between vessel USBL system and ROV transponder).

1.2 3D visualisation

Figure 3 3D visualisation of vehicle and offsets

The 3D Visualisation view shows the selected vehicle in a 3D environment in three views –
they can be zoomed into and out from individually by using the mouse wheel. The views are
as follows, from left to right in the above figure:

• Free 3D
Rotate by clicking and holding down right mouse button
• Top view
• Side view

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 To use the 3D Visualisation view optimally, you need to assign a 3D drawing to the
vehicle. This is done by selecting the vehicle and defining the drawing in the Properties
view:

Figure 4 Define vehicle drawing and scale

The drawing must be in the data type 3DS (defined by, among others, Autodesk 3ds Max)
as we also use this in Helmsman’s Display and NaviModel. The files used in the
configuration will work best if they are drawn in semi-transparent mode.

All instruments and POIs will be drawn in the images so you easy can evaluate the locations
because they are represented by boxes, keyed as follows:

• Red box
All instruments are represented by a small red box
• Yellow box
The selected instrument is represented by a yellow box
• Blue box
All POIs are represented by blue boxes

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 1.3 Tree view
The left pane of the main window consists of the Tree view (a listing and control tool) for the
entire project, as seen in the image below

Figure 5 NaviPac Project tree

Selecting an item will automatically select the corresponding item in the Properties view
(for definition) and in the other views for display and control

• Project
Contains general project-related information
• Geodesy
Definition of projection, ellipsoid, ITRF and height reference. See chapter
on geodesy later in this manual for further details.
• Project Settings
Definition of project-specific items (formerly known as Global Parameters)
See chapter on project settings later in this manual for further details.

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 • Vehicles
List of all vehicles in the configuration. The Vehicles view is linked to the vehicle
box and the 3D Visualisation view. You may add instruments to a vehicle by right-
clicking the vehicle or the instrument item:
• Surface navigation
Any instrument used for surface navigation such as GPS or tracking
systems
• Gyro
Gyro and compass for vessel and dynamic objects
• Motion sensor
Roll/pitch heave sensors for vessel and dynamic objects
• Doppler log
Doppler velocity log for positioning improvement
• Dynamic positioning
Positioning of remote or underwater vehicles such as USBL, LBL, remote
GPS, tracking systems, telemetry, etc
• Misc
Dedicated drivers for time, waypoints, targets, etc
• Data output
Output to external systems and instruments
• Data acquisition
Echo sounders, magnetometers, etc
• Instrument
Edit a specific instrument by clicking on it; remove an instrument by right-clicking on
the instrument.

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 1.4 Properties view
If an item is selected in the Tree view, properties for the selected item will open in the
Properties view on the right side of the main window, allowing you to edit the item’s
properties (as shown for a gyro in the image below):

Figure 6 Instrument properties for a gyro

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 The various properties are described in more detail in the following section. Editing is based
on a few basic controls.

• Editable fields
Change texts, integers or floating-point values. Click on the field to edit the
value. Changes are accepted once you click on a different field.

Figure 7 Editing a number or text in a field

• File selection
Display the actual file. Click the … button to the right and a window will open
which allows you select a file.

Figure 8 Selecting a file via browser function

• Offsets
Special selection tool for offsets and POI selection. Click the … button to the
right to select.

Figure 9 Offset selection

• Lists
Select an item from a drop-down list. Click on the downward arrow button on
the right side, and a drop-down list will appear with a checkmark shown to the
left of the currently selected item. Changes are accepted as soon as a new
selection is made.

Figure 10 Selection from a list

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 • Check boxes
Enabling or disabling of certain features. Click once inside the check box to
select or clear the check box. Changes are accepted as soon as a new
selection is made.

Figure 11 Using check boxes

• I/O selection
Lists the actual I/O setting and allows changing via the built-in COM port tester,
which is activated by clicking the button on the right side. I/O selection requires
that NaviPac online navigation is stopped.

Figure 12 I/O selection

Depending on the configuration, some properties are read-only (that is, not editable). These
property fields are greyed out.

1.5 Controls
NaviPac contains three important items for controlling the navigation process:

Figure 13 NaviPac control buttons

• Restart
Perform a fast warm start of the navigation process. Unsaved changes in
configuration (if any) will not be included.
• Start
This is the general start (and stop) process. Perform a warm start if possible, or a
manual start if a warm start is not possible. The colour of the icon tells if navigation
is running or not.
• Reset
Reset navigation status to ensure that a manual start is performed next time.

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 1.6 Toolbar
A small toolbar is available with the most commonly used tools, which are, from left to right:

Figure 14 NaviPac toolbar

• Create a new configuration
• Open configuration
• Save configuration
• Create a new vehicle
• Delete selected item
• Display all instruments ordered by port (the dialogue box seen in the figure
below will appear when this is used)

Figure 15 Select instrument by port

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 2 The main menu
The main menu gives access to a few general commands

• File > New

Create a new empty configuration file.
• File > Open
Open a pre-existing configuration file.
• File > Recent
Open configuration from list of recent used files.
• File > Save
Save the current configuration file.
• File > Save as
Save the current setup file under a configuration name.
• Options > Simulate all
Set sensors to simulated I/O Mode
• Options > Confirm on Stop
Always prompt user before stopping navigation
• Options-> Remoting
Enable Remote Supervision or take control of remote setup
• Tools > GEOCalc
Open a small utility module for testing of the EIVA geodesy library etc.
• Tools > Graphics Editor
Open a small utility module for graphical file import/export.
• Tools > Project Manager
Opens the Project Manager backup and restore projects
• Tools > Rig/Barge Setup
For Rigmove and tug management – define barge layout, fairleads and anchor
spread
• Help > Introduction
Small Help file with basic guidance to NaviPac Configuration
• Help > Manual
Open this Help file (NaviPac Configuration).
• Help > Data Formats
Open Help file with short listing of all supported instruments (NaviPac Sensor
Interfacing).
• Help > Geodesy
Open Help file with detailed information about EIVA geodesy (NaviPac Geodetic
Control).
• Help > Instrument Setup
Open Help file with special hints for instrument setup (NaviPac Instrument
Parameters).
• Help > User Defined Output Setup
Open Help file for User Defined Output setup.

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 • Help > Trace Settings
Open a dialogue box for editing of a series of NaviPac Trace Settings

Figure 16 Trace Settings view

• Help > Release Notes

Open Help file with latest release notes.

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 • Help > License Activator
Automatic or manual activation of software license – common to all EIVA modules.

Figure 17 NaviSuite License activator

• Help > About

Show current program version and dongle information.

Figure 18 About EIVA NaviPac 4

NaviPac Configuration
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 3 Instruments
In NaviPac Configuration, the user may edit various properties for an instrument, edit I/O
settings, edit special settings, remove instruments, add new instruments and edit the
instrument order.

3.1 Edit instrument properties

To edit instrument general properties, you simply have to select the instrument from the
Tree view or in the Vehicles view. The available properties will then appear in the
Properties view.

Figure 19 Edit instrument properties for a gyro

The Properties view will then consist of a series of general properties (common for the
majority of all instruments) and perhaps some instrument group-specific properties. A list of
instrument group-specific properties and properties unique to individual instrument types is
available in the NaviPac Instrument Parameters Help file, which can be accessed under
Help > Instrument Setup.

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 General properties

• Id
Read-only. Displays unique NaviPac instrument type number.
• Setup Id
Read-only. Displays NaviPac runtime ID.
• Name
Allows for entering a user-defined name for the instrument.
• System Name
Read-only. Displays NaviPac-defined instrument type name.
• Info
Information about instrument data format.
• Offset
Specify the location of the instrument. Defined from CRP to instrument:
• Offsets X: Across vessel – positive to starboard
• Offsets Y: Along vessel – positive to bow
• Offsets Z: Height – positive up
• I/O Mode
Select the input mode of the instrument:
• On: Real interfaced instrument. (Not available in demo mode.)
• Off: Temporarily disabled instrument.
• Simulated: Instrument simulated by SIMDATA. (Useful for demonstrations
and training.)
• Calculated: Calculation based on vessel movements. (Only valid for gyro
and Doppler log instruments.)
• I/O
Edit I/O settings. Can also be accessed by right-clicking on the specific instrument
in the tree view and selecting Edit settings.
• String Details
For data input instruments (though not special input instruments), you may view and
edit various properties for the specific driver. Please note that values specified for
the following properties will be applied to all instruments of the same type (same ID
number):
• String Prefix: If the instrument outputs multiple telegrams of which NaviPac
only uses one, this field allows you to define the string prefix. NaviPac will
hereafter only use the telegrams that start with the defined string prefix (eg
$HEHDT for NMEA gyro).
• Number of bytes: NaviPac allocates a number of bytes (characters) for
each incoming telegram. If this number is, for some reason, less than the
actual instrument output (especially seen for user-defined input
instruments), NaviPac truncates the telegram. You can enter a new, higher
value here in order to see the actual instrument output with all characters
included.

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 • Telegrams per cycle: NaviPac allocates space for a maximum number
of packets per cycle. If this number is set too low, NaviPac will start
discarding packets. You can enter a new, higher value here in order to
allocate enough space for a higher number of packets.
• Driver type: NaviPac supports different input types, which each offer a
unique way of recognising a complete telegram:
• CRLF: The input is considered ASCII, and each string is
terminated with two special characters (eg <CR><LF>).
NaviPac uses the last character (<LF>) to detect that a packet
is completed.
• CR: Same as CRLF – except only with one special end
character (eg <CR>).
• NMEA: Same as CRLF – but NaviPac also uses a configurable
string prefix (see above) to select between multiple telegrams.
• LENGTH: NaviPac reads a chunk of data with fixed length –
typically binary input. This may be combined with either a
defined start character or end character.
• STX/ETX: Packets with one special character at the start and
one special character at the end. (These were mainly used
many years ago with binary code <STX> and <ETX>.)
• XXXX: Special telegrams that have been hardcoded by
instrument number (eg RDI Workhorse Navigator DVL PD0
format and Raytheon Radar).
• Termination char: Read-only. If the driver expects a specific character
at the end of the telegram, they can define it in this field. This field
displays the ASCII code (eg ‘10’ for <LF>) and is optional.
• Start char: Read-only. If the driver expects a specific character at the
start of the string, they can define it in this field. This field displays the
ASCII code (eg 68 for ‘D’) and is optional.
• Fixed length: Read-only. If the driver expects chunks of data with a
fixed length, they can define it here. This field displays the fixed length
of the chunks in bytes and is optional. Details on individual instruments
can be found under Help > Instrument Setup.

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 3.2 Edit I/O settings
To edit or view the instrument interfacing, select the instrument in the Properties view and
then click the … button to the right side of I/O. The following dialogue box will open.

Figure 20 Instrument I/O dialogue box

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 Some properties are copied over from the properties pane in the main window, but some
I/O-specific properties are only accessible here:

• I/O Type
Select how to interface the instrument
• Serial: Ordinary COM port.
• UDP/IP: Network via UDP/IP datagram.
• ASCII File: (For data output instruments only) Generate ASCII file on
\eiva\navipac\data.
• ATTU: Network interfacing via ATTU/TimeBox.
• TCP/IP: Network via server connection (NaviPac acts as client).
• I/O Setup
Properties related to specific I/O type
• Serial: Port, Baudrate, Parity, Stopbits and Databits.
• UDP/IP and TCP/IP: Port and IP address. For incoming data, the IP
address must be on the sending computer or just 0.0.0.0.
• File: ASCII file name
• ATTU: Port and IP address.
• Connect
For serial and network input only – open port and display raw data

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 3.3 Edit special settings
Some instrument types require a very detailed setup. These special setup properties can be
accessed by right-clicking on the specific instrument in the Tree view. In the pop-up menu
that opens, select Edit special settings, and a dialogue box will open. Special properties
apply to the following instrument types, including (among others):

• User-defined output
• Digicourse
• DOF SubSea pipe inspection

A list of individual instrument types that allow for special properties editing is available in the
NaviPac Instrument Parameters Help file, which can be accessed under Help > Instrument
Setup.

3.4 Remove instrument

To remove an instrument, right-click on the specific instrument in the Tree view or the
instrument box in the Vehicles view. In the pop-up menu that will open, select Remove
instrument.

3.5 Add instrument

Adding an instrument can be performed in multiple ways

• Right-click on the Vessel top level item in the Tree view or Vehicles view and in the
pop-up menu that will open, select Add instrument.

Figure 21 Adding new instrument from top level

• Right-click on the instrument group (eg Motion sensor) in the Tree view and in the
pop-up menu that will open, select Add new item.

Figure 22 Adding new instrument from instrument group level

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 If you have started the process from the top level, selecting Add new item will open a
selection dialogue box including all instruments:

Figure 23 Selection of instrument group

Here, in the New Instrument dialogue box, you may expand the group you want to use, or
search across groups.

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 Expanding a group gives same result as just selecting to add an instrument of the specific
type:

Figure 24 Selection of the specific instrument type

The list of instruments shows the names as defined by the operator, and the expected data
format. You can search in the list by typing key words in the search field, as seen in the
figure below.

Figure 25 Use of the search field

You must then select an instrument and accept by clicking OK.

Next, the ordinary Instrument I/O dialogue box opens, as described in this manual in
section 3.2 ‘Edit I/O settings’. Click OK when you are done editing to apply changes made.

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 Lastly, the new instrument will now appear in the Tree view, and can be selected in order to
finalise the editing of its properties in the Properties view, as described in this manual in
section 3.1 ‘Edit instrument’.

Figure 26 Finalising the instrument by editing its properties

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 3.6 Sort instrument list
NaviPac automatically sorts the instrument list within each instrument group in the Tree
view based on the following criteria:

• Instruments set to I/O Mode: Off are kept at the bottom of each list.
• For instruments that are assigned to objects (gyro, motion sensor, Doppler log and
data acquisition instruments only) sorting is thereafter done based on the object
selected under Location. For example, if the ordering of objects in the tree view is
Vessel, ROV1, Towfish, a gyro instrument set to I/O Mode: On (which under
Location is assigned to Vessel) will be displayed higher in the gyro instrument
group list than a gyro instrument set to I/O Mode: On (which under Location is
assigned to ROV1).

If the I/O Mode or Location is changed for one or more instruments in an instrument group,
the list order can be updated either by saving the current setup file or by right-clicking on the
instrument group (eg Motion sensor) in the Tree view and, in the pop-up menu that opens,
selecting Sort list. The current setup file must be saved in order for the list order to be
saved and applied the next time you open NaviPac Configuration.

However, the user must specify which instrument is the primary instrument (eg the best
gyro, best motion sensor, etc) in each instrument group. This can be performed by moving
the instrument by the mouse in the vehicle view, as seen in the below figure.

Figure 27 Moving GPS2 in front of GPS1

3.7 Dynamic positioning

Some dynamic positioning systems (like USBL or LBL) support multiple tracking objects.
These instruments will be defined in multi-step operations:

• Select the main vessel

• Click the + icon at the upper right corner in the Vessel window
• Expand Dynamic Positioning
• Select the sensor (eg HPR 410/HiPAP) you want to add
• Accept by clicking OK

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 • Select the correct interfacing setup
• The instrument is added to the list and selected (sensor details are shown at the
right of the Properties window)
• If desired, enter a more reasonable name for the instruments to help identify the
right sensor at a later stage
• Enter the offsets from CRP to transducer reference point (X across vessel +
starboard, Y along vessel + front, Z + up)
• Enter USBL hold time (default: 5 seconds) to define data timeout
• Enter correct settings for USBL hold time (5 seconds or more) and USBL mountings
• Note: Please consider carefully how time tagging of the sensor is performed (eg
refer to the NaviPac manual on timing principles)
• Point to 0 under Dynamic Positioning, which will turn into a +
• Move the mouse to the box and point to the 0, which becomes a +

Figure 28 Positioning a ROV via USBL

• Click on +
• Select the name of the ROV in the list
• A USBL entry is now added to the ROV instrument list and linked to the vessel
USBL
• Select the ROV USBL item
• Enter a transponder code corresponding to the settings in the USBL system
• Enter other USBL-specific parameters if needed

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 4 Geodesy
The currently selected geodesy can be viewed and controlled from the Tree view Geodesy
item:

Figure 29 Display of current Geodesy setup

The geodesy consists of 5 items which can be configured individually via the … button at
the right and which includes

• Ellipsoid
• Projection
• Datum Shift
• ITRF
• Height Reduction

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 4.1 Projection and ellipsoid
Ellipsoid and projection is both edited in the same environment:

Figure 30 Selection of ellipsoid and projection type

This Ellipsoid and Projection dialogue box is able to read the geodetic settings from the
setup file and then display it in fields here. The available choices of predefined Ellipsoid
and Projection are read from the setup file and inserted into two drop-down lists, as shown
above.

When the user selects an ellipsoid/projection, the relevant information for the selection is
displayed in fields below the selection. Some fields will be read-only, and some projections

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 will have more fields than others, etc. Selections and changed values will be applied upon
clicking the OK button.

In the above example, the projection UTM (north) and the WGS84 ellipsoid have been
selected. Changes made in this dialogue box will be saved in the setup file.

Selecting a different projection than the current one will change the rest of the fields in the
dialogue box, as the properties depend on the selected projection.

Ellipsoid: Drop-down list with all available ellipsoids. The values in the three fields listed
below will be set automatically on the basis of this selection:

• Semi Major Axis: Displays the semi major axis of the ellipsoid in metres (eg ED50
is 6378388.0000 metres).
• Inverse Flattening: Displays the inverse flattening of the ellipsoid. Flattening is
calculated as:
1
(eg ED50 is 297.0000000000 metres)
InverseFlattening
• Eccentricity: Displays the eccentricity of the ellipsoid. Eccentricity is another way of
defining the flattening of the ellipsoid, as eccentricity equals:
Flattening (2 − Flattening ) (eg ED50 is 0.081991889979 metres)

Projection: Drop-down list with all available projections. The selection of available
properties listed below will depend on the specific projection in use (similar properties with
different names may be available instead, depending on the system). Some fields are read-
only and some are editable:

• Scale factor at CM: The point scale factor at origin of projection (central meridian)
• Central meridian: The longitude at origin of projection
• Origin latitude: The latitude at origin of projection
• False easting: The False easting applied to calculations
• False northing: The False northing applied to calculations
• UTM zone: The UTM zone number

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 4.1.1 EPSG

NaviPac includes the most recent EPSG database, and you can use that as a lookup table
via the From EPSG button:

Figure 31 Searching in EPSG database

The EPSG base is currently only supporting transverse-Mercator-based methods.

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 4.2 Datum shift
Datum shift will act differently depending on whether or not you are using EPSG as the
basis for the projection and ellipsoid or not. When using EPSG for the projection selections,
you may also use it in the datum shift selection

Figure 32 Defining datum shift without EPSG

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 Figure 33 Defining datum shift when using EPSG

The dialogue box that opens allows for specification of datum shift data (7-parameter
transformation from WGS84 to user datum or US NADCON).

Note: Datum shift must be enabled manually for each individual GPS instrument under the
Apply datum shift property in the general instrument setup.

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 The seven parameters are read from the setup file and displayed in the fields in this
dialogue box. For all predefined shifts, the seven parameters will display predefined values;
however, if the user selects User Defined Datum Shift from the Name drop-down list, all
seven parameters must be manually defined, using up to 12 significant digits per parameter:

• TX (default in metres)
• TY (default in metres)
• TZ (default in metres)
• RX (default in seconds
• RY (default in seconds)
• RZ (default in seconds)
• Scale (parts per million)

The parameters will be used in one of the following calculations:

4.2.1 Helmert 7

 X   Tx   PPM − Rz Ry   X 0   X 0 
         
 Y  =  Ty  +  Rz PPM − Rx    Y 0  +  Y 0 
 Z   Tz   − Ry PPM   Z 0   Z 0 
     Rx

4.2.2 Mod. Bursa-Wolf

 X   Tx   1 − Rz Ry   X 0 
       
 Y  =  Ty  + (1 /(1 − PPM ) )   Rz 1 − Rx    Y 0 
 Z   Tz   − Ry Rx 1   Z 0 
    

4.2.3 NADCON US

Between NAD83 and NAD27, where NAD83 is to be seen as WGS84. The NaviPac
implementation of NADCON (North American Datum Conversion Utility) is based on ASCII
files for the American zones, and is an empirical solution rather than a mathematical
solution. The NADCON files define a grid in latitude/longitude with transformation constants
for each grid point. NaviPac uses this as a lookup table and interpolates between the four
closest points to get actual shift correction. See
http://www.ngs.noaa.gov/PC_PROD/pc_prod.shtml#NADCON for further details and
http://www.cs.arizona.edu/icon/ftp/data/nadcon for a list of available grid files.

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 4.3 ITRF
With ITRF, you may define whether NaviPac should include time-based datum shift
parameters to account for situations where the datum shift is changing over time. If you
choose to enable ITRF, the basic NaviPac datum shift parameters will be adjusted daily
using the Speed of change parameters, based on the reference date.

This type of datum shift can, for example, be relevant in North America, where the use of
ITRF to NAD83 is widely used, and in Europe to shift from ITRF to EUREF89.

As the ITRF parameters are adjusted ‘on-the-fly’, please use with care.

Please note that there is a dedicated datum shift toggle for each GPS instrument in use (the
Apply datum shift property in the instrument’s general setup), and you should disable this
if you have already compensated for this shift in the GPS instrument.

ITRF parameters are entirely defined in the properties pane after selecting ITRF from the
Tree view:

Figure 34 Definition of ITRF Reference Shift and Speed of change parameters

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 ITRF consists of the following parameters:

• Reference Shift: Specify a traditional 7-parameter shift together with a valid date.
Figure 34 above defines the ITRF2008 to NAD83 that was valid on 1 January 2014.
(New reference sets may be defined.)
• Speed of change: Specify the changes of the defined seven parameters per year.

Transformations are measured in metres, rotations in milliarcseconds and scale in parts per
billion.

If you select the Is Active check box at the top of the view, then you need to go in and
enable this on the individual GPS receivers when required.

Figure 35 Apply ITRF Shift for an individual GPS instrument

Note: Please use ITRF with care, and make sure that you test against a reference
point.

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 4.4 Height reduction
Height reduction defines a correction for the used GPS height similar to what datum shift
does for the 2D position. In the short term, this determines how the operator gets from WGS
ellipsoid to the local reference system.

Figure 36 Height reduction

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 Height reduction can either be a manual offset or a method-based solution (ie VORF or
USGEOID09) or a combination.

Details can be found in the dedicated geodetic reference manual, which can be found in the
Help menu.

Note: Please use with care, and make sure that you test against a reference point.

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 5 Project settings
The project settings are a collection of global parameters in the project, and they can be
accessed and addressed by clicking Project in the Tree view

Figure 37 Activating project setting

The setting consists of a series of panels as discussed in this chapter.

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 5.1 NaviPac

Figure 38 Parameters for NaviPac kernel

Navigation cycle
Define which cycle mode NaviPac should operate in

• Time: Asynchronous cycle based on time period

• Input: Trigger by input
• Absolute time: Semi-asynchronous cycle based on time period

Timeout
(For Input cycle mode only) Define the maximum allowable timeout length in cases of
missing input.

Trigger instrument
(For Input cycle mode only) Select the instrument that will trigger the cycle.

Cycle period
Define how often NaviPac should calculate a reference position. The default value is 1 s.

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 Max. Std. Deviation
During runtime, NaviPac calculates a standard deviation of the position (in case of
redundancy in position). This calculation gives a value for how correct the position is. To
monitor the correctness, NaviPac generates an alarm when the standard deviation exceeds
the defined maximum limit. Reasonable limits could be:

• Highest/Fixed RTK < 0.5 m

• Differential < 2 m
• All (Autonomous) < 15 m

Missing dataacq critical

Select whether you want NaviPac to go into red state (by selecting this check box) if no data
is received from a data acquisition instrument (eg an echo sounder), or whether you just
want alarms to be generated (by clearing this check box / leaving this check box blank).

Use hard weighting

Select whether you want NaviPac to perform a soft (ordinary) or hard (rejects sample
completely if more than 2 sigma away) weighting of navigation data when operated with a
single GPS. Hard weighting will provide better error rejection, but will also increase the risk
of NaviPac going into red state.

Apply GPS height to offsets

If the GPS is in Highest/Fixed RTK mode, select (by selecting this check box) whether all
offsets must be calculated relative to the resulting GPS height (orthometric height/local
datum) or relative to local vessel 0 (by leaving this check box blank / clearing this check
box).

Units
NaviPac operates as default in metric mode – but here you can select to us eg US survey
feet or international feet

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 5.2 Warm start
One important setting (especially in simpler configurations) is the selection of modules the
user wants to see during online navigation startup. When NaviPac starts the navigation
cycle, the user can specify which modules should open automatically. This can be
controlled from Warm start:

Figure 39 Selection of modules to include in Warm start

You may add your own modules by editing the Custom program field (each program must
be written by a full path).

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 5.3 GPS

Figure 40 Global GPS definitions

GPS position
The GPS can output position in various quality levels (fix status, etc). In NaviPac, this is
mapped on three levels:

• All (Autonomous)
• Differential
• Highest/Fixed RTK

For this parameter, you can select the level(s) of GPS quality that you will accept.

Note: Please check that your GPS data is interpreted correctly before using this filter.

Flag if not highest quality

If you want to use GPS even without the highest quality, but need to make it clear that the

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 quality is lower, you can choose to let NaviPac flag the data as yellow state (use this
function with caution) by selecting this check box.

Note: Please check that your GPS data is interpreted correctly before using this filter.

Discard height if not highest quality

If you only want to use GPS height with the highest quality, you can select that only
Highest/Fixed RTK data will be used in height (Z) calculations by selecting this check box.

Note: Please check that your GPS data is interpreted correctly before using this filter.

HDOP limit
For this parameter, you can define a maximum allowed GPS horizontal dilution of precision
(HDOP). If the value becomes higher than the defined limit, an alarm is generated, and the
GPS position is weighted down.

Leap time
This parameter allows the user to specify the difference between the GPS clock and UTC
time (ie time to be subtracted from the GPS time to get the UTC time). As of 30 June 2015,
the leap time was 17 seconds.

GPS time (Global Positioning System time) is the atomic time scale implemented by the
atomic clocks in the GPS ground control stations and the GPS satellites themselves. GPS
time was zero at 12 am on 6 January 1980, and since it is not perturbed by leap seconds,
GPS time is, as of 30 June 2015, ahead of UTC time by 17 seconds.

Preserve antenna positions

Use this check box to select whether you want NaviPac to treat the raw GPS antenna
position (without any corrections, skewing, etc) as a separate object (ie making it visible on
the display, in logging, etc).

Calculate GPS tide

Select whether to use GPS height to calculate GPS tide. The primary GPS height will be
compensated for antenna offset, roll, pitch and heave (thus representing normal height of
the vessel CRP).

Averaging interval
To get rid of noise, the calculation uses an averaging interval (eg 30 cycles). NaviPac
calculates a GPS tide value at each cycle and puts it into a list. The corresponding values
will hereafter be the average of this list. The timestamp will be the average time of the data
in the list.

Store GPS tide to file

NaviPac creates a tide file in the same folder as the ordinary recording. The files will be
named ddmmyy.NPT, and NaviPac maintains one file per day. The data format will be:

$NPTide,<Date>,<Time>,<Tide>,<GPS H><cr><lf>

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 Tide is positive above datum.

Store continuously
Define whether NaviPac should store one measurement per cycle or reduce to the selected
averaging interval. A typically scenario would use a 30-second averaging interval, so it is a
matter of whether you want to have one value saved in the file per second or one value
saved in the file per 30 seconds.

Waterline
Offset between vessel CRP and waterline.

Use live draught data

Draught sensor
Draught channel
Identify the draught sensor and channel if the GPS tide are to be used with dynamic
draught. Please note that draught must be read as displacement in db.

5.4 NaviPac filters

Figure 41 Defining general filters

Deskew position
Select whether you want surface navigation data from the position sources to be deskewed
to the correct time or not. This check box must be selected in order to be able to combine
and compare multiple surface navigation systems. See this guide dedicated to deskewing

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 questions for further details:
https://eiva.freshdesk.com/support/solutions/articles/43000568159-deskew-position-data.

Note: For most survey operations we recommend that Deskew position is not checked.

Deskew filter
NaviPac uses a skewing technique to adjust measurements to the same time – in other
wordsif you have two independent GPS systems, you must correct for age and delays in
order to compare the two. To do that, NaviPac uses an exponential filter to calculate filtered
value ValF.

First, NaviPac calculates a smooth rate of change (or speed) of the sensor by an
exponential filter:

ValF(T) = (1-G)*Val(T) + G*ValF(T-1)

Filter value:

G = exp(-CycleFrq/Filter)

Then, NaviPac calculates the predicted value:

VT= VTgps+ Vfilt*Age

Using ValF, NaviPac can calculate smooth speed and acceleration of each position source
in use and thereby correct for any delays and age. The value should be set based on the
size of the vessel (ie how fast it can change course or speed. See the NaviPac Online
manual for further details).

CMG/SMG filter 1–5

For each of the (up to five) priority groups (primary position, secondary position, etc),
NaviPac calculates the speed and course based on the selected navigation position
sources. To do this, an exponential filter is used, as for deskewing. The same filter value is
used to calculate filtered position. The filter calculates raw heading (comparing the two last
positions) and filtered heading by:

F_H(T) = (1-G)*H(T) + G*F_H(T-1)

Where G = exp(Cycle Frequency/Filter), F_H = filtered heading (ie CMG), and H = raw
calculated heading.

The same principle is used for SMG.

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 5.5 Underwater and remote positioning

Figure 42 Global setting of remote positioning

Use stacked surface nav.

Select whether or not NaviPac should use interpolated surface position (stacked as set) or
just the latest update for reference of the calculated underwater positioning.

Preserve transponder positions

Select whether or not NaviPac should create a second object for a new transponder
position. This is only relevant for transponders where offsets are defined in the instrument
setup. It will be ignored for those that have not been changed from the default value of 0 m.
This parameter is similar to the Preserve antenna positions parameter.

Free object hold time

Define how long NaviPac should keep free (unassigned) underwater objects active in the
navigation measurements.

IMCA Id
IMCA ID (two characters giving company IMCA ID, eg Stolt Offshore = ST).

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 5.6 Advanced

Figure 43 Collection of miscellaneous settings

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 Under this tab, you can edit a series of advanced parameters. Some of these may have
significant influence on the behaviour of the software, so please handle with care. The
parameters have been divided into categories in NaviPac to provide a better overview:

• I/O: Auto switch Gyro, Auto switch Motion

• Events: Ignore SOL/EOL, Use time for nav
• Recording: Auto Stop/Start, Special raw logging

Auto switch Gyro

Select whether you want NaviPac to automatically switch over to the secondary vessel gyro
if connection or communications to the primary vessel gyro have been lost (by selecting the
check box).

Note: NaviPac will not switch back to the primary gyro until you have restarted the
navigation.

Auto switch Motion

Select whether you want NaviPac to automatically switch over to the secondary vessel
motion sensor if connection or communications to the primary vessel motion sensor have
been lost (by selecting the check box).

Note: NaviPac will not switch back to the primary vessel motion sensor until you have
restarted the navigation.

Ignore SOL/EOL
NaviPac generates manual events (special case) at start and stop points of recording (or
from the start line/stop line in the Helmsman’s Display). This can be ignored in certain
scenarios such as distance shooting. Select this check box to ignore these events.

Use time for nav

NaviPac will normally perform navigation cycles at a fixed interval (defined under Cycle
period). In certain operations, it is preferable to force a navigation update at the time of an
event (eg in distance shooting). Select this check box to force this option.

Auto Stop/Start
Select whether or not you want NaviPac to automatically switch to a new log file if changes
have been made in the online setup (shift priority, weighting, corrections, etc). It is
recommended to enable this option (by selecting this check box), as it ensures that log file
headers and data are consistent.

Special raw logging

Select whether you want NaviPac to enable special raw data logging for playback. To learn
more, see https://eiva.freshdesk.com/support/solutions/articles/43000567825-navipac-raw-
recording-and-replay.

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 Note: this function requires substantial disc space and must be started from the Online >
Options > NaviPac Raw Log menu item or included in the warm start.

Auto start raw log module

If you have enabled special raw data logging for playback under Special raw logging,
select whether or not NaviPac should start the NaviPac Raw Log module as part of
navigation start.

Auto start raw logging

If you have enabled special raw data logging for playback under Special raw logging,
select whether or not NaviPac should start the raw logging immediately and perform 24/7
black box recording.

5.7 Survey parameters

Figure 44 Defining survey parameters

For data logging identification and various outputs, the operator can specify the
following parameters:
• Vessel (taken from main vessel object)
• Job/project name
• Client name

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 • Area identification
• IMCA Id (2 characters giving company IMCA Id e.g. Stolt Offshore = ST)

All parameters can be represented as 32 characters ASCII information, and will be

presented in any general logging format files.
A few special outputs include the information.

5.8 Rig move

Figure 45 Special setting for Rig move

In this section you can enable NaviPac to use the Rig move and tug management setup.
Please note that this section requires special NaviPac license

You can also mark that this NaviPac is used for tug boat handling

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 5.9 Telemetry setting
NaviPac can operate up to three telemetry radio modems to exchange information between
vessels. The special multiplexer enable you to share incoming and outgoing data – and
merge it into one serial data stream

Figure 46 Multiplexer configuration

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 You must first of all identify the serial port (COM port) and communication parameters –
please ensure they are set correct according to the radio modem

The second part identified how data is mapped from NaviPac (using UDP/IP packages on
127.0.0.1) for both incoming and outgoing data

Figure 47 Sharing information between barge and tug(s)

To minimise the risc for collisions you might use data polling, where the bare (master)
defines time slots for each vessels to send in

Please refer to dedicated documentation on data exchange and rig move operations

5.10 NaviPac eventing and triggering

NaviPac supports a series of events at kernel level – that is not to be compared with visual
eventing from the Helmsman’s Display

An event is defined by NaviPac generating an internal trigger, and calculating the position to
that specific point of time. This can then result in special data outputs (eg message to
NaviSuite trigger box, to air gun,), special data recording and listing on the Helmsman’s
Display

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 Figure 48 NaviPac event setting

• General setting
Definition for event recording and global definitions
• Time events
Time events, that is performing event with regular time interval. Requires active
runline
• Distance events
Events based on traveled distance – along line (KP) or just accumulated. Especially
use oi n 2D seismic operations
• External events
Input into NaviPac (serial port) creating the event

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 • Event trigger
Output to port for triggering external device – typically used with trigger box

5.11 NaviScan

Figure 49 Sharing information with NaviScan utility

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 Enable port sharing
Define whether NaviPac should export data from data inputs to NaviScan and thus enable
port sharing between the two programs without losing time-tagging accuracy. This is only
applicable for serial (COM) inputs from:

• GPS
• Gyro
• Motion sensor
• Doppler log
• Bathymetry
• Pipe tracker

Sharing can be used on the same computer or on remote computer(s).

Destination
Define the destination TCP/IP address of the receiver computer. For example:

• 10.10.1.33 For specific computer receiving the data

• 10.10.1.255 For broadcast to multiple receivers on same subnet
• 127.0.0.1 For local computer only

Port ID
The data will be sent out as UDP/IP messages using the TimeBox/ATTU format. Each
serial port will be output on its own UDP port, defined by the original port number plus this
add-on. If you, for example, enter 10000, then COM1 will be sent on UDP 10001.

Object limited to
Select whether or not you want NaviPac to broadcast all inputs (NONE) or only for a
selected object (eg ROV1). The changes in setup will not be available until the next restart
of navigation.

Local Loop Back

Enable you to send NaviScan data to both local IP and remote computer(s).

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 6 Navigation
The primary goal of NaviPac and NaviPac Configuration is to go online and collect data.

Figure 50 Navigation control toolbar

(See section 1.5 ‘Controls’ of this manual for further details.)

When online navigation starts, NaviPac checks whether the setup file is compatible with the
selections made in the online navigation. If so, NaviPac performs a warm start based on
exactly the same online settings as the previous session. This is the preferable solution, as
no special settings must be considered.

If the files are not compatible, perhaps due to addition or removal of instruments, NaviPac
has to perform a cold (manual) start instead. This will result in two dialogue boxes opening.

Figure 51 Online navigation manual start: Start by selecting instruments

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 Here, you must select at least one surface navigation input (eg the GPS1 shown in Figure
51). The selection can always be changed later on in NaviPac Online.

Figure 52 Online navigation manual start: Enter initial position for filter estimation

If you are using GPS, in the dialogue box shown in Figure 52, just click OK. If you use
range/range or similar settings, you have to enter an approximate position to make the
navigation operational.

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 7 References
You can find a total list of manual and documents on the EIVA documentation and FAQ site
https://eiva.freshdesk.com/support/home (support.eiva.com)

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 8 Figures
Figure 1 NaviPac Configuration main window ................................................................... 4

Figure 2 Vehicle view illustration main vessel and ROTV ................................................ 6

Figure 3 3D visualisation of vehicle and offsets ................................................................ 7

Figure 4 Define vehicle drawing and scale ......................................................................... 8

Figure 5 NaviPac Project tree .............................................................................................. 9

Figure 6 Instrument properties for a gyro ........................................................................ 11

Figure 7 Editing a number or text in a field ...................................................................... 12

Figure 8 Selecting a file via browser function .................................................................. 12

Figure 9 Offset selection .................................................................................................... 12

Figure 10 Selection from a list ........................................................................................... 12

Figure 11 Using check boxes ............................................................................................. 13

Figure 12 I/O selection ........................................................................................................ 13

Figure 13 NaviPac control buttons .................................................................................... 13

Figure 14 NaviPac toolbar .................................................................................................. 14

Figure 15 Select instrument by port .................................................................................. 14

Figure 16 Trace Settings view ............................................................................................ 16

Figure 17 NaviSuite License activator .............................................................................. 17

Figure 18 About EIVA NaviPac 4 ....................................................................................... 17

Figure 19 Edit instrument properties for a gyro .............................................................. 18

Figure 20 Instrument I/O dialogue box .............................................................................. 21

Figure 21 Adding new instrument from top level ............................................................ 23

Figure 22 Adding new instrument from instrument group level .................................... 23

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 Figure 23 Selection of instrument group .......................................................................... 24

Figure 24 Selection of the specific instrument type ........................................................ 25

Figure 25 Use of the search field ....................................................................................... 25

Figure 26 Finalising the instrument by editing its properties ........................................ 26

Figure 27 Moving GPS2 in front of GPS1 .......................................................................... 27

Figure 28 Positioning a ROV via USBL ............................................................................. 28

Figure 29 Display of current Geodesy setup .................................................................... 29

Figure 30 Selection of ellipsoid and projection type ....................................................... 30

Figure 31 Searching in EPSG database ............................................................................ 32

Figure 32 Defining datum shift without EPSG.................................................................. 33

Figure 33 Defining datum shift when using EPSG .......................................................... 34

Figure 34 Definition of ITRF Reference Shift and Speed of change parameters .......... 36

Figure 35 Apply ITRF Shift for an individual GPS instrument ........................................ 37

Figure 36 Height reduction ................................................................................................. 38

Figure 37 Activating project setting .................................................................................. 40

Figure 38 Parameters for NaviPac kernel ......................................................................... 41

Figure 39 Selection of modules to include in Warm start ............................................... 43

Figure 40 Global GPS definitions ...................................................................................... 44

Figure 41 Defining general filters ...................................................................................... 46

Figure 42 Global setting of remote positioning ............................................................... 48

Figure 43 Collection of miscellaneous settings ............................................................... 49

Figure 44 Defining survey parameters .............................................................................. 51

Figure 45 Special setting for Rig move ............................................................................. 52

Figure 46 Multiplexer configuration .................................................................................. 53

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 Figure 47 Sharing information between barge and tug(s) .............................................. 54

Figure 48 NaviPac event setting ........................................................................................ 55

Figure 49 Sharing information with NaviScan utility ....................................................... 56

Figure 50 Navigation control toolbar ................................................................................ 58

Figure 51 Online navigation manual start: Start by selecting instruments .................. 58

Figure 52 Online navigation manual start: Enter initial position for filter estimation .. 59

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