NAVIPAC 4.

5
SENSOR INTERFACING

Interfaces.docx
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Last update: 23/4/2021
 Contents

1 Interfaces ......................................................................................................................... 4
2 Interface description ...................................................................................................... 4

2.1 Surface navigation...................................................................................................... 4

2.2 Gyro ............................................................................................................................ 7
2.3 Motion sensor ........................................................................................................... 10
2.4 Doppler log ............................................................................................................... 13
2.5 Dynamic positioning ................................................................................................. 13
2.6 Special input ............................................................................................................. 18
2.7 Data output ............................................................................................................... 21
2.8 Data acquisition ........................................................................................................ 31
3 Special interfaces ......................................................................................................... 38

3.1 LEM30 Height ........................................................................................................... 38

3.2 Dual HiPAP .............................................................................................................. 39
3.3 Dual Transceiver HiPAP .......................................................................................... 40
3.4 PHINS/ROVINS ........................................................................................................ 41
3.5 Nautronix NASNet .................................................................................................... 43
3.5.1 The NASNet system outputs position and data telegrams as described in
Sections 3.5.2 ‘Specification from Nautronix’ to 3.5.4 ‘Upgrade 2015 ........................... 43
3.5.2 Specification from Nautronix .............................................................................. 44
3.5.3 Sample from Nautronix ...................................................................................... 46
3.5.4 Upgrade 2015 .................................................................................................... 47
3.5.5 Use in NaviPac .................................................................................................. 48
4 Integration with NaviScan ............................................................................................ 49

4.1 Position ..................................................................................................................... 50

4.2 Recording control ..................................................................................................... 50
4.3 GPS-based height .................................................................................................... 51
4.4 Gyro correction ......................................................................................................... 51
4.4.1 Dual RTK heading correction............................................................................. 51
4.4.2 Correction for speed error .................................................................................. 51

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 4.5 Expanded setup ....................................................................................................... 52
4.6 Depth ........................................................................................................................ 55
4.7 Summary .................................................................................................................. 55
5 Sharing ports between NaviPac and NaviScan ......................................................... 56

5.1 Setup in NaviPac ...................................................................................................... 57

5.2 Setup in NaviScan .................................................................................................... 58

Interfaces.docx
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 1 Interfaces
In this document, the available instruments that NaviPac currently interfaces to, are
described. For each instrument, we give a short identification of the input string allowed for
correct interpretation. If the sensor outputs more than the desired string, a string selection
must be specified in the driver details.

The EIVA number refers to EIVA identification of the instrument and is, for example, used in
the interpretation DLL (“InstG<n>.dll”). For a detailed list of instrument numbers, please
refer to the file instype.h.

2 Interface description

2.1 Surface navigation

EIVA
Instrument Format
ID
AGA Geodimeter 38 Dedicated label protocol – NaviPac uses label 7, 8 and 9.

Artemis - driver 2 15
“A<Azimuth><CR><LF>” “D<Range>CR><LF> or “<Azimuth > < Range >
Artemis MK3 7
<Status> <CR><LF>” or “<Code><Range><Azimuth><CR><LF>”
Artemis MK4 8

Ashtech NMEA GPS: GPS, Differential or RTK.

Ashtech GPS1 42 “$..GGA, time, Latitude, N/S, Longitude, E/W, Quality, # Satellites, HDOP,
Antenna Alt., Unit, Geoidal separation, Unit, Age, Diff ID <CR><LF>“
Does also support other NMEA message for status information. To fulfil UKOOA
standards, please use GSA and GST.
Ashtech GPS2 43 DO NOT USE FOR STANDARD GPS DRIVERS AS BEHAVIOUR IS SLIGHTLY
DIFFERENT.

C-Nav GPS 1 29
C&C TRIN format or standard GGA telegram.
C-Nav GPS 2 30

Edgetech 4600
59 Position information (routed via NaviScan) in binary networked format.
(NaviScan)

Fanbeam 9 "RrrrrrBbbbbbASF<CR><LF>" (MK II Format) or

Fanbeam - driver 2 16 “nn rrrr.rr bbb.bb<CR><LF>” (Standard MDL)

Any CR/LF-ended string containing position as X and Y. Items must be delimited

Free Position input 19
by a comma, semicolon, space or equals sign or defined by fixed length.

Geco-Prakla GPS 1 48 Standard format utilised for UKOOA data monitoring.

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 EIVA
Instrument Format
ID
Geco-Prakla GPS 2 49 TRINAV:
“[0101xxvvvvvvvvvvwwww<time><age><latitude><longitude><height> <UKOOA
Geco-Prakla GPS 3 51 info>]<CR><LF>”
GECO3:
Geco-Prakla GPS 4 52
$WGPOS,vers,no,name,gps week, timestamp,age,lat,long,height,hdop,vdop,uv,
Geco-Prakla GPS 5 53 varLat,varLon,varH,ER,fix, ct,ct,#sat,#ref,sats used,ref id,]

Geodimeter ATS 3D 39 Dedicated label protocol – NaviPac uses label 7, 8 and 9.

Any NMEA-based GPS giving the following information:

GPS1 (NMEA) 44 “$..GGA, time, Latitude, N/S, Longitude, E/W, Quality, # Satellites, HDOP,
Antenna Alt., Unit, Geoidal separation, Unit, Age, Diff ID <CR><LF>“
“$..,GGK, UTC, Date, Latitude, Longitude, Quality, NoSat, DOP,
GPS2 (NMEA) 45
Height<CR><LF>”
“$..GLL … <CR><LF>”
GPS3 (NMEA) 56 ”$RTLLQ,hhmmss.s,mmddyy, Easting, m, Northing, m, Quality, NoSat, DOP,
Height<CR><LF>”
“$PSBGO,LPI,Easting, Northing, Height,,T” – only for GPS1 & 2
GPS4 (NMEA) 57 NaviPac is set up to use $GPGAA as default. If the instrument outputs another
string (eg $XXGGA), you must change a string filter defined in the instrument
details.
GPS5 (NMEA) 58
To fulfil UKOOA standards, please use GSA and GST.

“<Code1><LaneId1><LaneRange1> …
Hyperfix 27
<Code8><LaneId8><LaneRange8><CR><LF>”

Fixed station:
Kongsberg
4 “$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...
HiPAP/APOS
<cr><lf>” or binary HPR400 format. See dynamic positioning.

Fixed station:
Binary BCD data:
<head> <roll[2]> <pitch[2]> <course[2]> <tp_id> <X_R[3]> <Y_B[3]> <Z_D[3]>
Kongsberg HPR 300 2
<stat> <timeout> < TPs[3]> < TDAngle[2]> < test> <type> <specification>
<transducers> <Tdstatus> < KalmanWindow> <checksum> <eot> where <eot>
equals 40H

Fixed station:
Kongsberg HPR 300P 3
“TT X N SSS CCC.C xxx.x yyy.y zzz.z qq.q nnn tt.t aaa.a<cr><lf>”

Fixed station:
"$PSIMLBP,<time>,<tp_array>,<Type>,<state>,<coordinates>,<easting>,<northin
Kongsberg LBL 12
g>,…\r\n"
Coordinates must be ‘E’.

Laser Meter 22 “<Range> <CR><LF>”

Leica GPS1 46 Leica MC1000 system: Can also use ordinary GGA message.

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 EIVA
Instrument Format
ID
Binary format – Id equals 0x2:
Leica GPS2 47 <Sync> <Length> <Id> <GPS Cl> <source> <pos des> <Pos fail> <Datum>
<Lat> <Long> <Height> <Check>

Leica Total 1 (R/B) 40 Based on the GSI format giving slant range, horizontal angle and vertical angle.
Leica Total 2 (R/B) 41 “…. 21<hor. Angle> 22<vert. Angle> 31 <slant rang> … <cr><lf>”

“<Filter> <Event> <hhmmss> <X> <Y> <Line> <Offset> <DTG> <Code1>

Microfix 17
<Range1> … <Code8> <Range8> <CR><LF>”

“<Filter> <Event> <hhmmss> <X> <Y> <Line> <Offset> <DTG> <Code1>

Microfix II 18
<Range1> … <Code8> <Range8> <CR><LF>”

“<HH,MM,SS.S>, <Code1>, <Range1>, <Strength1>, …, <Code4>, <Range4>,

Motorola MiniRanger 11 <Strength4> <CR><LF>”

NASNetR BOAT 37 $NASPOS,<time>,BOAT,<lat>,N/S,<long>,E/W,<height><checksum>

Fixed station:
Nautronix RS9** 14 “<Date> <Time> B:<Target> X:<delta X> Y:<delta Y> D:<depth> … E:<Error
code><CR><LF>”

Fixed station:
TP-II:“<target> <time> <heading> <bearing> <range> <X> <Y> <Z> ..
ORE Trackpoint II 1
<CR><LF>”
LTX: “<target> <range> <bearing> <depression angle> …<CR><LF>”

Polartrack 13 “<Range> <Bearing><Vertical bearing> <CR>”

Position from
26 “$GPGXY,<x>,a,<y>,b,<time>*<h><CR><LF>”
EdgeTech MIDAS

POSMV Group 1 35 Position and height from POSMV – using network UDP/IP protocol Group 1.

[LVT**<utc><data><age><datum><latitude><longitude><height><ukooa
Racal UKOOA GPS 1 50
parameters><cr><lf>

Using the NaviPac remote format: <stx><id><easting><northing>…

Remote NaviPac 20 Does not support more than one string on port, as it ignores id. If used with
multiplexed, id number ‘0’ is assumed to be vessel.

“[1123mmddyyHHMMSS.S01.21N540853.17E0090000.00+0012.3111.1222.211
Sea-diff / Skyfix 28 1.1222.233344455.566.677889991122333445566677889991234567891111
1] <CR><LF>”

Any NMEA-based GPS giving the following information:

“$..GGA, time, Latitude, N/S, Longitude, E/W, Quality, # Satellites, HDOP,
Sercel NS230 36 Antenna Alt., Unit, Geoidal separation, Unit, Age, Diff ID <CR><LF> “
“$..,GGK, UTC, Date, Latitude, Longitude, Quality, NoSat, DOP,
Height<CR><LF>”

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 EIVA
Instrument Format
ID
“<Code1> … <Status1> <Partial Range1> … <Code8> … <Status8> <Partial
Syledis SB5 21
Range8> <CR> <LF>”

Syledis STR3/SR4 5 “<hhmmss> <Code1>d1 R<Range1> …. <Code8>d1 R<Range8><CR> <LF>”

Syledis XY 6 “X<easting> Y<northing><CR><LF>” or “L<Latitude> G<Longitude><CR><LF>”

Topcon GPS 1 31

Topcon GPS 2 32
Topcon NP format or standard GGA telegram.
Topcon GPS 3 33

Topcon GPS 4 34

Topcon Total Station 1 54 Q<range>m<Vertical angle><Horizontal angle>g...<cr><lf>.

Topcon Total Station 2 55 Angle in gons or degrees.

Trimble 4000 - 1 24 "ddddddd tt:tt:ttMdd:mm.mmmmmmN ddd:mm.mmmmmmE hhhhhh.hhh pp.p

....<CR><LF>”
Trimble 4000 - 2 25 Does also allow NMEA messages.

2.2 Gyro
EIVA
Instrument Format
ID
NMEA1 Gyro 104 “$..HDT, <gyro><cr><lf>” or “$..TSP, <gyro><cr><lf>” or
“$..HDM, <gyro><cr><lf>”
NMEA2 Gyro 105
You can change between different string layouts by using the string prefix
NMEA3 Gyro 106 definition in the instrument details.

Anschutz (NMEA) 153 “$..HDT, <gyro><cr><lf>” or “$..TSP, <gyro><cr><lf>”

Binary std. 20 format:

Anschutz (Std. 20) 121 <stx><gyro><chg><mc1><mc2><rot><status><compass><chk><eot>

H<gyro>P<pitch>R<roll><cr><lf>
CDL RLG 128
Supports RLG1 (decimal degree) and RLG2 (integer in 1/100 degree).

CDL Tokimec2 Gyro 135 $PTVF,pitch,roll,gyro,PR,RR,AR,Speed,yyy,Status*xx<cr><lf>

Gyro calculated by the use of two objects – as it uses direction from the base
Constructed Direction 159
object to the objects it is assigned to.

Special CTC (SCS) data format.

CTC Trencher Gyro 108
“,GGGG,...<cr><lf>”

Does also cover Trimcube format.

Digilog Gyro 103
“HggggPpppppRrrrrr,S<CR><LF>” – gggg is gyro in 1/10 degree.

Edgetech 4600
136 Heading information (routed via NaviScan) in binary networked format.
(NaviScan)

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 EM3000 HQ Gyro 134 Binary EM3000 format – accepts only highest quality (0x90 start).

Forssea NAVCAM Forssea NAVCAM gyro (yaw), applied on the ArUcoMarker and enabled
146
Gyro through NaviScan port sharing.

Gyro calculated by the use of two different located RTK GPS antennas. Should
Gyro from RTK GPS 155 only be used as secondary gyro. NaviPac automatically selects the two first
RTK-based systems.

HMR3000 Gyro 133 $PTNTHPR,<gyro>,S,<pitch>,S,<roll>,S,kk<cr><lf>

Innovator3 Gyro 123 ”$PSSI,H ggg.g,P pp.p,R rr.r,D ddd.d,A aa.a*<chksum>

Kongsberg $PSIMSSB 129 $PSIMSSB,<time>,B<id>,A,,C,H,M,-8.00,-37.95,81.56,0.20,C,<compass>,*79

“$PSIMSNS, <time>, <PosItem>, <Transceiver>, <Transducer>, <Roll>,

Kongsberg HiPAP
102 <Pitch>, <Heave>, <Heading>, ...,<cr><lf>” or binary HPR400 format. See
Gyro
dynamic positioning.

Binary BCD data:

< head> <roll[2]> <pitch[2]> <course[2]> <tp_id> <X_R[3]> <Y_B[3]> <Z_D[3]>
Kongsberg HPR300
100 <stat> <timeout> < TPs[3]> < TDAngle[2]> < test> <type> <specification>
Gyro
<transducers> <Tdstatus> < KalmanWindow> <checksum> <eot> where <eot>
equals 40H

Kongsberg HPR300P
101 “TT X N SSS CCC.C xxx.x yyy.y zzz.z qq.q nnn tt.t aaa.a<cr><lf>”
Gyro

Kongsberg LBL Gyro 112 "$PSIMLBM,hhmmss.ss,0,1,<roll>,<pitch>,<heading>,,1,2,3,4,5,6,7,8,M\r\n”

“$PSALS,0.0,7.0,<gyro>,<gyro valid ?>,<roll>,<pitch>,<R/p valid ?>*<check

Kongsberg SDP Gyro 115
sum>\r\n”

KVH Gyro Track 111 “%<pitch>,<roll>,<gyro><CR><LF>”

$ROV,TRACKS.PORT_SPEED(m/h),TRACKS.STBD_SPEED(m/h),VEHICULE
_DEPTH(m),VEHICULE.ALTITUDE,VEHICULE_FRONT_TRENCH_DEPTH(cm
),VEHICULE_TRENCH_DEPTH(cm),VEHICULE_BURIAL_DEPtH(cm),CABLE_
DETECT.FRONT,CABLE_DETECT.1,CABLE_DETECT.2,CABLE_DETECT.3,H
LD TravOcean Gyro 168 PU.INTENSITY.PH1(Amp),HP.INTENSITY.PH1((Amp),LP.INTENSITY.PH1(Am
p),HPU_AUX.INTENSITY.PH1(Amp),PRESSURE.LP(Bar),PRESSURE.HP(Bar)
,PRESSURE.FRONT_TOOL_JETTING(Bar),HPU_MOTOR_POWER(HP),HP_
MOTOR_POWER(HP),LP_MOTOR_POWER(HP),HPU_AUX_MOTOR_POWE
R(HP),GYRO.ROLL(°),GYRO.PITCH(°),GYRO.HEADING(°)

“$..HDT, <gyro><cr><lf>” or “$..TSP, <gyro><cr><lf>” or

“$..HDM, <gyro><cr><lf>”
Lemkühl: NMEA HDT 154
You can change between different string layouts by using the string prefix
definition in the instrument details.

”: aa.aa ddd.dd gggg rrrrrr pppppp<cr><lf>

MAGNUM ROV Gyro 124

Fully controllable (individually for each object) manual gyro input. Does also
Manual Gyro 122
allow motion sensor input.

H<gyro>P<pitch>R<roll><cr><lf>
MDL 127
Gyro 1/10 degree.

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 NASNetR Gyro 130 $NASCRD,<time>,CR4,H,<gyro>*5E and $PNASCRD

Nautronix RS9** Gyro 107 “….H:<gyro>….<CR><LF>”

NaviPac (Remote) 120 Calculated instrument based on input from another vessel using NaviPac.

Octans gyro (Ixsea) 117 Ordinary NMEA $HEHDT.

PHINS/ROVINS Gyro 138 $PIXSE, HSATIT (done via special PHINS IF module).

$SMD,Pitch,Roll,Heading,Tow Force,Burial Depth,Tension,Port Skid

Plough Gyro ($SMD) 131 Height,Stbd Skid Height, Share Angle, Water Depth, Cable Dist, Steer
Angle<CR><LF>

$PCVMB,<frame>,<time>,<dd>,<mm>,<yyyy>,000,<roll>,<pitch>,<gyro>,<cr><l
f> or
Posidonia 118
$PTSAZ,#NNNNN,HHMMSS.SSS,JJ,MM,AAAA,#PTSAW,R,C.CCC,R.RRR,T.T
TT,L.LLLL,L.LLLL,X.XXX,Y.YYY,Z.ZZZ,

POSMV Gyro 102/103 126 Heading from POSMV – network telegram (Group 102).

PRDID: Gyro 132 $PRDID,Pitch,Roll,Heading<cr><lf>

Binary PD0 format.

RDI DVL Compass 116

Robertson RSG-4 114 “$<gyro>,N,000,+56,00,<pitch>,<roll><CR><LF>”

Robertson SKR80 156 Binary 4-byte Robertson format.

ROV Solo Gyro 110 “ …G<Gyro>….<CR><LF>”

S.G. Brown 157 “GGGg<cr><lf>” – g is in 1/6 degree.

$SF,Fish,<gyro>,<roll>,<pitch>,<depth>,<altitude>
ScanFish III Gyro 139
Note – this is not a true value – just rough heading indicator.

Stolt Core Vehicle.

“...HE<Gyro>...<CR><LF” or
SCV ROV Gyro 109
“...G<Gyro>...<CR><LF” or
“...H: <Gyro>...<CR><LF”

Binary EM3000/1000 compatible or Seapath NMEA format:

<Head[2]><Roll[2]><Pitch[2]><Heave[2]><Heading[2]>, where Head equals
Seapath 158 90H, 90H (EM3000) or 0H, 90H (EM1000).
$PSXN,23,roll,pitch,head,heave*csum <cr><lf>
Selection of format must be performed in instrument setup.

Sonardyne Fusion 119 Calculated instrument based on input from Sonardyne Fusion LBL.

Sonardyne LNAV Gyro 140 Binary Sonardyne Sprint/Lodestar LNAV format.

Colon, timestamp, Roll/Pitch/Heading x 1000 degrees, M is space if positive or

Sonardyne SON2 minus if negative, estimated Variance, Status flag U,u, A,a, V,v, G,g
141
Gyro :<hhmmsssss><M><RRRRRR><M><PPPPPP><M><HHHHHH><M><VVV><S
><CR><LF>

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 Standard NMEA $GPHDT or Topcon-specific $PTPSR,ATT message.
Topcon RTK Gyro 125 To change between the two, please change the string prefix in the instrument
details: $PTPSR,ATT vs $GPHDT.

“$PPTIROV,<gyro>,<depth>,<altitude>,<pitch>,<roll>,<CP1>,<CP2>,<Tel>,<not
Triton XL ROV Gyro 113
e><cr><lf>”

User defined Gyro 1 197

User defined Gyro 2 198 Any ASCII string with either byte count or separators.

User defined Gyro 3 199

2.3 Motion sensor

EIVA
Instrument Format
ID
H<gyro>P<pitch>R<roll><cr><lf>
CDL RLG 228
Supports RLG1 (decimal degree) and RLG2 (integer in 1/1000 degree).

CDL Tokimec2 RP 235 $PTVF,pitch,roll,gyro,PR,RR,AR,Speed,yyy,Status*xx<cr><lf>

CTC Trencher Special CTC (SCS) format.

206
<Motion> “,gggg,pppp,rrrr,...<cr><lf>”

Does also cover the Trimcube format.

Digilog Motion 204
“HggggPpppppRrrrrr,S<CR><LF>” – ppppp is pitch and rrrr roll in 1/10 degree.

Dynabase CRU Atlas 210 <DLE><Roll><Pitch><Heave><Q><DLE>

Edgetech 4600
236 Motion information (routed via NaviScan) in binary networked format.
(NaviScan)

EM3000 HQ RPH 234 Binary EM3000 format – accepts only highest quality (0x90 start).

Forssea NAVCAM motion, applied on the ArUcoMarker and enabled through

Forssea NAVCAM RP 246
NaviScan port sharing.

Hippy Motion sensor 209 Special voltage information. Requires National Instruments A/D board.

HMR3000 R/P 233 $PTNTHPR,<gyro>,S,<pitch>,S,<roll>,S,kk<cr><lf>

Innovator3 223 ”$PSSI,H ggg.g,P pp.p,R rr.r,D ddd.d,A aa.a*<chksum>

$PHTRH,<pitch>,M/P,<roll>,B/T,<heave>,U/O\r\n
$PHTRO,<x.xx>,<a>,<y.yy>,<b>*hh<CR><LF> (roll & pitch)
":aaaaaasnhhhhqnrrrrsnpppp<cr><lf>" (TSS)
$PIXSE, ATITUDE (PHINS)
Ixsea RPH (B&A Corresponds to the IXSEA format called B&A Standard.
217
Format)
The ‘only’ difference between B&A and GYROCOMPASS is the sign convention
of Heave:
B&A: O for Up and U for Down
GYROCOMPASS2: U for Up and O for Down

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 $PHTRH,<pitch>,M/P,<roll>,B/T,<heave>,U/O\r\n
Ixsea RPH $PHTRO,<x.xx>,<a>,<y.yy>,<b>*hh<CR><LF> (roll & pitch)
216
(GYROCOMPASS2) ":aaaaaasnhhhhqnrrrrsnpppp<cr><lf>" (TSS)
Corresponds to the IXSEA format called GYROCOMPASS2.

Binary BCD data:

< head> <roll[2]> <pitch[2]> <course[2]> <tp_id> <X_R[3]> <Y_B[3]> <Z_D[3]>
Kongsberg HPR300 201 <stat> <timeout> < TPs[3]> < TDAngle[2]> < test> <type> <specification>
<transducers> <Tdstatus> < KalmanWindow> <checksum> <eot> where <eot>
equals 40H

“$PSIMSNS, <time>, <PosItem>, <Transceiver>, <Transducer>, <Roll>,

Kongsberg HPR400 202 <Pitch>, <Heave>, <Heading>, ...,<cr><lf>” or binary HPR400 format. See
dynamic positioning.

Kongsberg LBL Motion 212 "$PSIMLBM,hhmmss.ss,0,1,<roll>,<pitch>,<heading>,,1,2,3,4,5,6,7,8,M\r\n”

“$PSALS,0.0,7.0,<gyro>,<gyro valid ?>,<roll>,<pitch>,<R/p valid ?>*<check

Kongsberg SDP R/P 215
sum>\r\n”

KVH Gyro track 211 “%<pitch>,<roll>,<gyro><CR><LF>”

$ROV,TRACKS.PORT_SPEED(m/h),TRACKS.STBD_SPEED(m/h),VEHICULE
_DEPTH(m),VEHICULE.ALTITUDE,VEHICULE_FRONT_TRENCH_DEPTH(cm
),VEHICULE_TRENCH_DEPTH(cm),VEHICULE_BURIAL_DEPtH(cm),CABLE_
DETECT.FRONT,CABLE_DETECT.1,CABLE_DETECT.2,CABLE_DETECT.3,H
LD TravOcean RP 268 PU.INTENSITY.PH1(Amp),HP.INTENSITY.PH1((Amp),LP.INTENSITY.PH1(Am
p),HPU_AUX.INTENSITY.PH1(Amp),PRESSURE.LP(Bar),PRESSURE.HP(Bar)
,PRESSURE.FRONT_TOOL_JETTING(Bar),HPU_MOTOR_POWER(HP),HP_
MOTOR_POWER(HP),LP_MOTOR_POWER(HP),HPU_AUX_MOTOR_POWE
R(HP),GYRO.ROLL(°),GYRO.PITCH(°),GYRO.HEADING(°)

MAGNUM ROV R/P 224 ”: aa.aa ddd.dd gggg rrrrrr pppppp<cr><lf>

Fully controllable (individually for each object) manual motion sensor input.
Manual RP 222
Does also allow gyro input.

H<gyro>P<pitch>R<roll><cr><lf>
MDL 227 Note: roll is positive port down and pitch positive bow down.
Roll & pitch 1/100 degree.

NASNetR RP 230 $NASCRD,<time>,CR4,PR,+,<pitch>,+,<roll>*2B and $PNASCRD

Nautronix RS9**
205 “…P:<Pitch> … R:<Roll>…<CR><LF>”
<Motion>

NaviPac (remote) 220 Calculated instrument based on input from remote NaviPac.

PHINS/ROVINS RPH 238 $PIXSE, HSATIT (done via special PHINS IF module)

$SMD,Pitch,Roll,Heading,Tow Force,Burial Depth,Tension,Port Skid

Plough RP ($SMD) 231 Height,Stbd Skid Height, Share Angle, Water Depth, Cable Dist, Steer
Angle<CR><LF>

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 $PCVMB,<frame>,<time>,<dd>,<mm>,<yyyy>,000,<roll>,<pitch>,<gyro>,<0D><
0A>
Posidonia 218 or
$PTSAZ,#NNNNN,HHMMSS.SSS,JJ,MM,AAAA,#PTSAW,R,C.CCC,R.RRR,T.T
TT,L.LLLL,L.LLLL,X.XXX,Y.YYY,Z.ZZZ,

POSMV RPH 102/3 226 Motion data from POSMV – network telegram (Group 102).

PRDID: R/P 232 $PRDID,Pitch,Roll,Heading<cr><lf>

ROV Solo <Motion> 208 “ …P<Pitch>…R<Roll>….<CR><LF>”

ScanFish III RP 239 $SF,Fish,<gyro>,<roll>,<pitch>,<depth>,<altitude>

“….PI<pitch> … RO<roll>…<CR><LF” or
SCV ROV <Motion> 207 “….P:<pitch> … R:<roll>…<CR><LF” or
“….P<pitch> … R<roll>…<CR><LF”

Binary EM3000/1000 compatible or Seapath NMEA format:

<Head[2]><Roll[2]><Pitch[2]><Heave[2]><Heading[2]>, where Head equals
Seapath RPH 200 90H, 90H (EM3000) or 0H, 90H (EM1000).
$PSXN,23,roll,pitch,head,heave*csum <cr><lf>
Selection of format must be performed in instrument setup.

“q<length><type><RRRR><PPPP><HHHH>C” q is ASCII and the rest is binary

coded. RRRR and PPPP are given in radians and HHHH in metres. As default,
Seatex MRU 5/6 203 roll is read from byte number 3, pitch from number 7 and heave from number
11. If needed, this can be changed in the INI file, where MRUrollIndex defines
where to find roll, etc.

Sonardyne Fusion 219 Calculated instrument based on input from Sonardyne Fusion LBL.

Sonardyne LNAV R/P 240 Binary Sonardyne Sprint/Lodestar LNAV format.

Colon, timestamp, Roll/Pitch/Heading x 1000 degrees, M is space if positive or

minus if negative, estimated Variance, Status flag U,u, A,a, V,v, G,g
Sonardyne SON2 RP 241
:<hhmmsssss><M><RRRRRR><M><PPPPPP><M><HHHHHH><M><VVV><S
><CR><LF>

Topcon-specific $PTPSR,ATT message.

Topcon RTK pitch 225
Can also be switched over to roll sensor.

“$PPTIROV,<gyro>,<depth>,<altitude>,<pitch>,<roll>,<CP1>,<CP2>,<Tel>,<not
Triton XL ROV R/P 213
e><cr><lf>”

Triaxus RP 237 DV#xxx.xx,A1#xx.xx, PV#xx.xx, RV#00.00, CL#00.00, CS#00.00+CR + LF

TSS332 276 “<Roll>, <Pitch> <CR>”

TSS DMS05/TSS 335 278 ":aaaaaasnhhhhqnrrrrsnpppp<cr><lf>"

User defined Motion 1 297

User defined Motion 2 298 Any ASCII string with either byte count or separators.

User defined Motion 3 299

Page 12 of 59
 2.4 Doppler log

EIVA
Instrument Format
ID
"$VDVBW, <speed water x>, <speed water y>, <Valid>, <speed_x>, <speed_y>,
Consilium SAL 362 <Valid> <CR><LF>” and
"$VDDPT,<depth>,00.0<CR><LF>"

Binary PD0, PD3, PD4, PD5 or ASCII PD6 or special Schilling UHDRov of
Schilling CDL format.
To change between the formats, please select in driver details.

Teledyne RDI DVL 300

Note that the definition is saved as global setting and will be common for all RDI
DVLs.

2.5 Dynamic positioning

EIVA
Instrument Format
ID
AGA/Leica from fixed
410
point 3D Total station:
AGA/Leica from fixed Uses ASCII format item 7, 8 and 9.
419
point 2

3D Total station:
AGA/Leica from vessel 409
Uses ASCII format item 7, 8 and 9.

Interfaces.docx
Page 13 of 59
Last update: 23/4/2021
 EIVA
Instrument Format
ID
Comb. Dynamic pos 1 440

Comb. Dynamic pos 2 441 Calculated instrument, which allows multiple transponders/antennas on same
vessel.
Comb. Dynamic pos 3 481

Comb. Dynamic pos 4 483 PLEASE NOTE – NOT USED in NaviPac 4 using NAVIPAC.EXE
Comb. Dynamic pos 5 485

Digicourse 406 Binary or ASCII format – please see relevant instrument documentation.

841,
Dragged offsets 842 & Calculated as POI
843

EIVA PipeBundle 420 $NPPIPE,DATA,<LEGACY SONARDYNE STRING>

Fanbeam - remote 407 Positioning remote vessel using Fanbeam or Artemis. Selection between
various standard formats.
MDL Standard NN RRRR.RR BBB.BB
Legacy Fanbeam MKII Rrrrrr bbbbb
Kongsberg Simrad Standard BBBRRR00F (BCD)
Kongsberg Simrad Legacy /
Fanbeam - remote 2 414
Artemis KA-BCD(.001) BBBRRRF (BCD)
Cegelec Standard / Artemis ASCII-17 RRRRRR BBBBBB N
Cegelec Legacy / Artemis ASCII-16 RRRRRR BBBBB N
Nautronix Standard 00BBBBBRRRRR
Nautronix Legacy 00BBBBBRRRR

$VLOC,hhmmss.ss,mm,dd,yyyy,TP,x.xxx,y.yyy,z.zzz,R.RR,P.PP,Y.YY,I.III,J.JJJ
,K.KKK,L.LL,M.MM,N.NN<CR><LF>
Forssea NAVCAM 446
$POSIT,HHMMSS.ss,dd,mm,yyyy,TP,sxxxx.xx,syyyy.yy,zzzz.zz,rrr.rrr,ppp.pppp
,hhh.hhh<CR><LF>

Generic Cable Counter 401 A general dynamic positioning using cable length.
Supports the following formats:
Valeport pay-out indicator: “<sign><Distance>M<CR><LF>” – Set empty start
string
MacArtney MKII “L = ddd,d m <LF>” – Set “L” as start string.
Generic Cable Counter Esters PMO 2160: Binary data – Set “<10:16,1,10,0,1,240,0,16,3,4>” as start
413
2 string to enable binary data and polling.
Hengel cable counter (“CNTlll.lll<cr><lf>”) set CNT as start string.
$CCAlll.ll<cr><lf> (Capital Signal) – Set $CCA as start string.
TCOUNT format “1:<length><cr><lf> - Set 1: as start sting.
MacArtney Triaxus: The CL field – Set DV as start string

Golf III Laser 408 <code>RRRRAAAA<code>RRRRAAAA – fixed 18 characters.

Positioning of Hugin AUV via FFI proprietary NMEA strings:

Hugin FFI positioning 412 $PFFILLD (position and depth)
$PFFIAAV (heading and attitude)

Page 14 of 59
 EIVA
Instrument Format
ID
USBL on dynamic object – uses Kongsberg NMEA format:
iUSBL 487 “$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...
<cr><lf>”

Kongsberg/Simrad APOS system expanded with initial system.

“$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...
"$PSIMLBP,<time>,
Kongsberg Hain 497
,<Type>,<state>,<coordinates>,<easting>,<northing>,…\r\n"
Coordinates must be either U (UTM N/E), E (UTM E/N) or R (Lat/Long) in both
cases.

Kongsberg “$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...

496
HiPAP/APOS <cr><lf>”, $PSIMSSR (the raw telegram) or binary HPR400 format. To switch
between ASCII and binary HPR400, you must changes settings in the Options
menu. To switch between SSB and SSR remember to change string prefix.
If HiPAP is operated in dual mode, then it also reads the “$PSIMSSD,
Kongsberg hhmmss.ss, tp, Status, error, Master/slave, x, y ,depth, ... <cr><lf>”
486
HiPAP/APOS - 2. NaviPac supports only codes between 1 and 99. Codes above 100 will be
truncated (eg 134 to 34) and can thus be used that way.
Please note that data from $PSIMSSR isn’t R/P compensated and thus potential
unreliable

Binary BCD data:

Kongsberg HPR300 494 < head> <roll[2]> <pitch[2]> <course[2]> <tp_id> <X_R[3]> <Y_B[3]> <Z_D[3]>
<stat> <timeout> < TPs[3]> < TDAngle[2]> < test> <type> <specification>
Kongsberg HPR 300 - <transducers> <Tdstatus> < KalmanWindow> <checksum> <eot> where <eot>
484
2. equals 40H

Kongsberg HPR300P 495 “TT X N SSS CCC.C xxx.x yyy.y zzz.z qq.q nnn tt.t aaa.a<cr><lf>”

Up to 16 objects.
"$PSIMLBP,<time>,<tp_array>,<Type>,<state>,<coordinates>,<easting>,<north
Kongsberg LBL 402
ing>,…\r\n"
Coordinates must be ‘E’.

3D Total station:
We use parameter 21 (horizontal angle), 22 (vertical angle) and 31 (slant
Leica autotrack 1 403
range).
Can also be configured to use AGA/Leica 789 format

3D Total station:
We use parameter 21 (horizontal angle), 22 (vertical angle) and 31 (slant
Leica autotrack 2 404
range).
Can also be configured to use AGA/Leica 789 format

Leica Disto WH15/30 411 Requires word index (WI) 31 “31 06<distance> \r\n

$NASPOS,<time>,<TP: ROV1>,<lat>,N/S,<long>,E/W,<height>*4F and

NASNetR 416
$PNASPOS

Interfaces.docx
Page 15 of 59
Last update: 23/4/2021
 EIVA
Instrument Format
ID
Nautronix RS9 - 2. 482
“<Date> <Time> B:<Target> X:<delta X> Y:<delta Y> D:<depth> … E:<Error
Nautronix RS9**
492 code><CR><LF>”
<USBL>

$POREG,TP,HHMMSS.SS,0678,0000,0032,QC,00,00027.34,00.00,175.23,xxx
xxx.xx,yyyyyy.yy,zzzzz.zz,,-01.32,-00.52,013,050.3*52
ORE BATS ($POREG) 488
Please note that if used with timesync then both BATS and NaviPac must be
synchronised with same time source.

TP-II:”<target> <time> <heading> <bearing> <range> <X> <Y> <Z> ..

ORE Trackpoint II 491 <CR><LF>”
LTX: “<target> <range> <bearing> <depression angle> …<CR><LF>”

PHINS/ROVINS
444 $PIXSE, HSPOS (done via special PHINS IF module)
Position

$SMD,Pitch,Roll,Heading,Tow Force,Burial Depth,Tension,Port Skid

Plough position
417 Height,Stbd Skid Height, Share Angle, Water Depth, Cable Dist, Steer
($SMD)
Angle<CR><LF>

Up to 15 objects.
Posidonia USBL 493 $PTSAX,#NNNNN,hhmmss.sss,jj,mm,aaaa,BB,XXXXXX,YYYYYY,A,PPPP,A,C
CCC*ch<CR><LF>

844,
Relative offset 845 & Calculated as relative POI between two vehicles
866

Remote dynamic Data from external navigation system. Three formats supported:
421
objects 1 NaviPac: “<stx><Id>,<Easting>,<Northing>, <Gyro><CR><LF>”
NaviPac +: “<stx><Id>,<Easting>,<Northing>, <Gyro> …<CR><LF>”
Remote dynamic
422 WinFrog:”$<Id><Rest of GGA string>$<Id><Rest of HDT string><CR><LF>”
objects 2
Pseudo NMEA: “$<Id>GGA …<CR><LF>” and “$<Id>HDT….<CR><LF>”
Remote dynamic Stolt Offshore France: “<stx><Id> <Easting> <Northing> <Gyro>
423
objects 3 <Status><chk><CR><LF>”

Remote dynamic Exp. NaviPac: <stx><Id>,<east>,<north>,<heading> XX, <depth/height>,

424 <std.dev>,<roll>,<pitch>,<heave>,<altitude>,<age> *<checksum>
objects 4
(To be able to use gyro, motion data and data acquisition, these must be
Remote dynamic defined as separate calculated instruments (gyro from remote NaviPac, etc)).
425
objects 5 Apache:
Remote dynamic $SFPOS,<id>,hhmmss.ss,<east>,<north>,<height>,1,<heading>,T*<chksum>
426
objects 6 Tracs-TDMA:
$PRPS,POSN,sss,y,cc,hhmmss,ddmm.mmmm,N,dddmm.mmmm,E,
Remote dynamic
427 ?hhhh.h,vvv.v,bbb.b,x,m,d,aa,hh,ss,rrrr *hh <cr><lf>
objects 7
IMCA Position: $__TEL,PH, vessel, hhmmss.ss,Lat,Long,Hgt,Sd,Source,
Remote dynamic Status, heading<cr><lf>
428
objects 8 Century Subsea Spar: %0,T@AN|,$HEHDT …. $1GPGGA … <cr><lf>

Page 16 of 59
 EIVA
Instrument Format
ID
Remote dynamic IxSea GAPS: $PTSAG,NN,hhmmss.sss,jj,mm,aaaa,BBB,DDMM.MMMM,H,
429
objects 9 DDDMM.MMMM,D,A,MMMM.M,A,MMMM.M*ck

Remote dynamic
430
objects 10

Remote GPS1 498

Remote GPS 2 499

Remote GPS 3 433

Remote GPS 4 434

Remote GPS 5 435 “$..GGA, time, Latitude, N/S, Longitude, E/W, Quality, # Satellites, HDOP,
Remote GPS 6 436 Antenna Alt., Unit, Geoidal separation, Unit, Age, Diff ID <CR><LF> “

Remote GPS 7 437

Remote GPS 8 438

Remote GPS 9 439

Remote GPS 10 442

Seatrack Tail Positioning

418
rGPS <time>< Buoy ID><Range><Bearing><Altitude><#Sat><dop>….<cr><lf>
445
FUGRO RGPS Extended

FXT;time,E east, N,north,D depth,A error,H heading,T id (APS3-1 Geoconsult)

FXT;delay,TARGET SINGL TRAK,E east, N north,D depth,A error,H heading"
(APS3 OLD - Stolt Offshore 1)
FXT;ttttt.tt,m,Eeeeeee.ee,Nnnnnnnn.nn,Ddddd.dd,Axx.xx,Hhhh.h (APS3-2 Stolt
Sonardyne Fusion LBL Offshore 2)
400
(Old Pharos/APS3) FXTNP;ID,HH:MM:SS.ss,LL.LL,Eeeeeeeee.ee,Nnnnnnnnn.nn,Dddddd.dd,Saaa
.aa,Maaa.aa,Taaa.aa,Paaa.aa,Hhhh.hCRLF (Eiva)
$PSONALL,Name,Offset,HHMMSS.ss,XXXXXXXXX.xx,YYYYYYYYY.yy,DDDD
.dd,HHH.hh,CCC.cc,T,PP.PP,RR.RR,VVV.vv,AAA.A,BBB.B*hh (PSONALL)
Please note that the specific format has to be selected in the instrument setup.

Sonardyne USBL $PSONUSBL,HHMMSS.ss,TP,C,sxxxx.xx,syyyy.yy,zzzz.zz,sxx.xx,sxx.xx,xxx.xx

489
($PSONUSBL) , xx.x*hhCRLF

Sonardyne LNAV Pos 456 Binary Sonardyne Sprint/Lodestar LNAV format.

Sperre Frame based

415 $SPESSS,<delta X>,<delta y>,*hh\r\n
pos

Topcon Total station 1 454 Q<range>m<Vertical angle><Horizontal angle>g...<cr><lf>.

Topcon Total station 2 455 Measured from vessel towards target. Angle in gons or degrees.

$PTNL,PJK + $HDT – position of reference point and bucket + angle sensor

Trimble CB460 443
data

Tritech Seaking R/B 405 %M002D012200016IP+rrrrr+bbbbbIP+nnnnn+bbbbb<CR><LF>>

Interfaces.docx
Page 17 of 59
Last update: 23/4/2021
 EIVA
Instrument Format
ID
User defined Remote
431
Position
ASCII input as lat/long, east/north, range/bearing or dx/dy/dz.
User defined Remote
432
Relative Pos

2.6 Special input

Note: special inputs do not have built-in simulators.

It is not recommended that special ports are shared with other inputs. Time sync ports (ZDA
or UTC) must not be shared, and due to the PPS input, we highly recommend that the
internal COM ports are used for them.

EIVA
Instrument Format
ID
AIS tracking system based on VDM position telegrams such as:
AIS targets 514
!AIVDM,1,1,,,1P0001P01p1SUGvR1;n00@1p000,0*27

Dedicated inter-NaviPac protocol, which supports runlines, waypoints and anchor

From Remote NaviPac patterns. Please see http://download.eiva.dk/online-
507
- control training/NaviPac%20Manuals/Appendix/A12_Distributed_NaviPac.pdf for further
information.

Generic CMS data to Special ASCII anchor data string.

510
EIVA Cat Defined in NaviPac but handled in EIVA Catenary.

LEM30 Height 508 :DinXXX.XXXX<cr><lf>

Old format:
“$PRTRC,0,<name>,<number of points><CR><LF>”
“$PRWPT,<number>,<Latitude>,<Longitude>,<Turnradius>,<type>,,<CR><LF>”
Line data from New format:
513
Kongsberg RDN50 “$PRTNW,H, <name>,<number of points><CR><LF>”
“$PRTNW,W, <number>,<Latitude>,<N/S>,<Longitude>,<E/W>,<Turnradius>,
<Next leg>, <Speed in next leg>, <Speed in turn-radius>, <Speed
Unit>,<CR><LF>”

Page 18 of 59
 $RATTM,<id>,<range>,<bearing>,<T/R>,<smg>,<cmg>,<T/R>,<CPA>,<tCPA>,<
K/N/S>,<name>,<L/Q/T>,<CR><LF>
(M=Metres, N=Nautical miles, K=Kilometres and L=Lost target, Q=Target,
T=Tracked target)
Or
$PAEST,<latitude>,<N/S>,<longitude>,<E/W>,<ID>,<range>,<M//N/K>,<bearing>
NMEA targets 503
,T,<L/Q/R/T/U><cr><lf>
(M=Metres, N=Nautical miles, K=Kilometres and L=Lost target, Q=Target,
R=Radar tracking, T=Tracked target, U=Dead reckoning estimate)
Or
$PXSPT,<latitude>,<N/S>,<Longitude>,<E/W>,<CMG>,T,<SMG>,K,<state>,<na
me>,<id><cr><lf>

$..WPL,<Lat>,<N/S>,<Long>,<E/W>,ID*hh<CR>LF>
The ID must be given identical to Waypoint object number, eg 5041 = WP_1 etc.
NMEA Waypoint
504 Or EIVA format:
Location
$EIVWP,<Id>,<East>,<North>,<Name><CR><LF>” – Id corresponds to special
tug id – 201 = Tug 1 etc.

No real input.
Offset: Reson
512 This is a special setup that enables NaviPac to calculate offset position for Reson
Minewarming Sonar
reference position. Special Reson MCM setup.

Binary layout
1: Start 11101011
2-6: Estimated X LSN 0.1 M
7-11: Estimated Y LSB.1 M
Osprey DP Waypoint 501 ….
65-69: X0 Set position
70-74: Y0 set position
97: End 11911100
Data is BCD where each nibble (4 bits) represents a digit.

Raytheon Radar 506 Special binary format. Maximum of 20 targets supported.

SCV ROV 502 “HE<heading>,PI<pitch>,RO<roll>,DE<depth>,AL<altitude><CR><LF>

Sercel Nautilus 515 Special TCP/IP data from Nautilus with streamer depths. Telegram 0x6E.

Steinco data to EIVA <0x02><ASCII Data><0x17><CheckSum>

509
Cat Defined in NaviPac but handled in EIVA Catenary.

“UTC yy.mm.dd hh:mm:ss <fix> <satellites><CR><LF>”

See http://download.eiva.dk/online-
Trimble UTC time + training/NaviPac%20Manuals/16_Timing%20Principles%20in%20NaviPac.pdf for
505
PPS details on how to use UTC timing.
Note: If PPS is used, NaviPac will automatically synchronise the PC clock with
GPS time.

Interfaces.docx
Page 19 of 59
Last update: 23/4/2021
 “$..ZDA,hhmmss.ss,dd,mm,yyyy,z1,z2*hh <CR><LF>”
See http://download.eiva.dk/online-
training/NaviPac%20Manuals/16_Timing%20Principles%20in%20NaviPac.pdf
ZDA time + PPS 500
for details on how to use UTC/ZDA timing.
Note: If PPS is used, NaviPac will automatically synchronise the PC clock with
GPS time.

Page 20 of 59
 2.7 Data output
EIVA
Instrument Format
ID
On each cycle.
NMEA1 624
User can select one or more of the following formats:
$..GGA – Position
NMEA2 625 $..GLL – Position
$..GXP – Simple position (does also include $NPGSS with HDOP)
$..RMC – Position course and speed
NMEA3 626
$..TLL – Target position (for selectable object)
$..VTG – Speed
NMEA4 650 $..HDG – Heading
$..APA – Auto-pilot information (DOL, bearing and name).
$..XTE – Auto-pilot cross track error
NMEA5 651
$..ZDA – Time and date for synchronisation.

NMEA telegrams {GLL, ZDA, DBT, OSD} – specially designed for Asean Restorer
AR:CIS 681 – DBT gives depth from either echo sounder (vessel-mounted) or special plough
water depth.

On new events:
“TX <Time> <Event> __________________<CR><LF>”
Atlas Deso 20/25
630 “*<CR><LF>
Annotation
“EM0<CR><LF>
“*<CR><LF>

Autopilot (Format:
605/604 Dedicated EMRI format. Sends the strings $PESSA, $PESSD and $PESSX.
EMRI Autopilot)

Autopilot (Format:
605/607 Generic autopilot special interface made for SS7.
Condor Autotrack)

Autopilot (Format:
605/608 Waypoints to external unit – generic autopilot.
Kongsberg DP)

Autopilot (Format:
EMRI SEM200 605/609 Dedicated EMRI format. Sends the strings $PESSA, $PESSD and $PESSX.
Autopilot)

Autopilot (Format:
Sjӧfartsverket 605/606 $NPSJOV,Gyro,East,North,Mode,DOL,dE,dN,WP-E,WP-N<cr><lf>
LowSpeed)

Balder: Output to Special output from Balder system to Reson.

689
Reson "$BALDER,hhh.hh,G,ttt.tt,G,hhmmss.sss*<chksum><cr><lf>

“date time <latitude> <longitude> <event> <file> <heading> <course> <speed>

Bodenseewerk gravity 646
<velocity> <speed> <depth> <trigger> <cr><lf>”

CapJet Output 674 “<kp>,<Easting>,<Northing>,<Segment bearing (true)><cr><lf>“

Interfaces.docx
Page 21 of 59
Last update: 23/4/2021
 One every cycle:
CODA <easting> <northing> <kp> <dcc> <depth> <alt> <smg>
Coda - long format 669 <heading><runline> <fix> <SOS> <delay> <nav time>

All fields are separated by a space – the number of digits varies from type to type.

One every cycle:

<Date> <Time> <Reference position> <Offset position> < Offset SMG> <
Offset CMG> < Offset Gyro> <Event> < Offset KP> < Offset DOL> <Depth from
Coda Data 661
USBL> <roll> <pitch> <depth> <altitude><CR><LF>

All fields are separated by a space – the number of digits varies from type to type.

Date,Time,[Mainline] Name,nT port SBES Easting,nT port SBES

Northing,Magnetic Field MAG PORT [uT] Value,Port Signal Value,Port Depth
Continuous mag data 908
Value,Port Alt Value,nT starb SBES Easting,nT starb SBES Northing,Magnetic
Field MAG STBD [uT] Value,Stbd Signal Value,Stbd Depth Value,Stbd Alt Value

Send navigation (position and heading) for up to ten objects to external navigation
system – eg tug boats:
NaviPac: “<stx><Id>,<Easting>,<Northing>, <Gyro><CR><LF>”
WinFrog:”$G<Id><Rest of GGA string>$H<Id><Rest of HDT string><CR><LF>”
Pseudo NMEA: “$<Id>GGA …<CR><LF>” and “$<Id>HDT….<CR><LF>”
Exp. NaviPac: <stx><Id>,<east>,<north>,<heading> XX, <depth/height>,
<std.dev>,<roll>,<pitch>,<heave>,<altitude>,<age> *<checksum>
Apache:
Data to ext. nav. $SFPOS,<id>,hhmmss.ss,<east>,<north>,<height>,1,<heading>,T*<chksum>
643
system IMCA: $..TEL,PH,<name>,<lat>,<long>,<Hgt>,<Sd>,<source>,<Status>,<headin
g><cr><lf>
NaviPac +: Same as NaviPac but string expanded with copy of GPS status and
setup information such as geodesy and CRP location.
Sonsub $PSURP: “$PSURP,<id>,<east> , <north>,<depth>,<gyro>,<grid
heading>,<pitch>,<roll>,<status>*<chk><cr><lf>
Kongsberg PSIMSSB:
$PSIMSSB,<time>,B<code>,A,,R,N,M,<lat>,<long>,<depth>,<POS
ACC>,,,,*<chk><cr><lf>

On every cycle:
<Date> <Time> <Reference position> <Offset position> <SMG> <CMG> <Gyro>
<Event> <KP> <DOL> <Depth from USBL> <CR><LF>
Data to Triton ISIS 627
Below is the ISIS template that correspond to the above output:
DMYHISxyENVhGO{KP}{DOT}{0}
DMYHISxyENVhGO{KP}{DOT}X (if no depth from USBL available)

Distribute position data and commands to tug boats.

Supports the Stolt Offshore France PCTug format. See
Data to tug boats 653
http://download.eiva.dk/online-
training/NaviPac%20Manuals/Appendix/A11_RIG_Move.pdf for further details.

Page 22 of 59
 Annotation on new event:
Datasonics ChirpII
634 E <Date> <Time> <Event> <Position 1> <Position 2> <Gyro> <CMG> <SMG>
Data
<CR><LF>

Delph 1 Annotation: T On new events:

632
E N Ev <Time> <Easting> <Northing> <Event number><CR><LF>

DigiSHOT 693 Special ASCII output in relation to distance shooting.

DOF SubSea Pipe

692 Special ASCII output for pipeline inspection.
Inspect

Start of program:
Synchronise time: ”TIM dd:mm:yy hh:mm:ss:<CR>”
All events:
Event marker: "EVT<CR>"
SOL/EOL:
Dowty 200 Annotation 641
"TXT20 Ev: <event> <S/E>OL: <name> <CR>"
Event interval:
"TXT20 Ev: <event> Kp: <kp><CR>"
For Custom id 46, NaviPac sends the message:
"TXT20 <hh:mm:ss> <kp> <dcc><CR>"

DP Out: Artemis BCD 685 Output of range/bearing to selected waypoint in KA-BCD(.01) format.

Annotation of Edgetech 260 recorder:

Edgetech 260 686
” Form$GPEVT,M,Fix,<event>KP<kp>*<checksum><cr><lf>”

Data: Edgetch NMEA telegrams ($GPGGU, $GPZDA, $GPVTG)

Edgetetch 560 687
Annotation: Edgetech $EGEVT

Output to EdgeTech Midas on each cycle:

$GPGXY,<x>,a,<y>,b,<time>*<h><CR><LF>
$GPPEE,<a>,<b>,<d>*<h><CR><LF>
$GPVTG,,,,,<sk>,N,<sm>,K*<h><CR><LF>
$EGHDG,<Head>,<Dev>,<dS>,<Var>,<vS>*<h><CR><LF>
Edgetech Midas Data 648
For Custom id 5 and 40, it gives EGG 260 data and annotation:
On cycle (only Custom id 5):
“<STX>S<SMG><ETX>”
On event:
“<STX>EV: <Event> <Time> E=<easting> N=<northing> KP = <kp> <ETX>”

EIVA 3D Display 610 Navigation data in ASCII format to SceneServer.

Position of bucket and rectangle of cleared area. Special ASCII telegram for
EIVA Dredging 900
Online3D presentation.

EIVA NaviCat 694 Anchor handling data in ASCII format to SceneServer.

Interfaces.docx
Page 23 of 59
Last update: 23/4/2021
 ”$<S/E>, <Long File Name><cr><lf>”, where
$S : Start logging message
$E : Stop/End logging message
Long File Name : Name of actual runline (from HD)

”$PE: PT <proj.type> EN="<ellipsoid>" SMA=<semi major axis> IF=<Inverse

EIVA runline control 649
flattening> OS=<scale> OL=<original latitude> OP=<original longitude>
FE=<false easting> FN=<false northing> FP=<first parallel> SP=<second
parallel>UTM=<UTM zone>\r\n”

”$DS: ME=<method> TX=<Tx> TY=<Ty> TZ=<Tz> RX=<Rx> RY=<Ry>

RZ=<Rz> PPM=<Scale>\r\n"

”xxxxxxxxx.xxyyyyyyyyy.yyRRRzz.zccc.c55/KK/kkhh:mm:ssaaaa<cr><lf>”
xxxxxxxxx.xx East coordinate
yyyyyyyyy.yy North coordinate
RRR Reference system
zz.z Speed made good in knots
ccc.c Course made good in degrees
55 ID (Fixed)
ELAC {HDP4060} KK Heading 100 and 10ths
673
Data kk Heading degree and 1/10ths
hh Time hours
mm Time minutes
ss Time seconds
aaaa Data age in ms

Start line $S,<name><data>_<time> <CR><LF>

Stop line $E <CR><LF>

ELAC HS 4300
666 "$PELATM,<time> <event><easting>< northing> <kp>,*<chksum><cr><lf>”
Annotation

ELAC HydroStar {XSE Position data in XSE network format – see relevant L-3/ELAC product
667
Position} documentation.

Start Of Line:
”<T>EV:eeeee TI:hh:mm:ss SOL:<Runline name><LF>”
ELAC LAZ 4700 End of Line:
602
Annotation ”<T>EV:eeeee TI:hh:mm:ss EOL:<Runline name><LF>”
Event:
”<T>EV:eeeee TI:hh:mm:ss<LF>”

ELAC LAZ 4721

665 ”T<time> <event><easting>< northing> <kp> <lf>”
Annotation

EMGS TX 910 Special EMGS transceiver data recording

“$PESSX,<dol>,<l/r>,<brg><cr><lf>“
EMRI $PESSX 676
Is output with user-defined frequency – can be less than cycle time.

Page 24 of 59
 Annotation of events (user-determined frequency):
“SIZ <font> <CR><LF>” // Not always supported
EPC 1086 Annotation 637 “MES EV: <Event> <Easting> <Northing> <Standard deviation> <KP>
<CR><LF>”
"EVE <CR><LF>"

Annotation of events (user-determined frequency):

On start line: Set Event number:
Binary hex: 2A, FD, 33, <evt1>, FD, 34, <evt100>, FF where <evt1> is event
ones in hex and <evt100> is event hundreds in hex.
On Event:
If long format:
EPC4800 Annotation 636
<0x24>, <0x01>,<Event Easting northing std. dev., KP>,< 0xFF> <0x12>
else
<0x12>
For long format, the message is placed in message 1, and annotation is
performed. Note: The message is send character by character, and if you have
more outputs defined, only short format should be selected.

Annotation of events (user-determined frequency):

C<0x5><0x>Mark:
EPC9800 Annotation 633
C<Len+17><0x0>Message:1DYY2<100><0><Len><0>”<Date> <Time> <Event>
<Easting> <Northing> <Std. Deviation> <KP>”

FFI Kalman prog 644 YYYYMMDD HHMMSS.ss latitude longitude <cr><lf>

Geco TriAcq Data 664 Dedicated binary format 4 – see Geco’s product documentation.

GeoAcoustic 642 Special output (fix/cycle) to GeoAcoustic system.

Header data on each event:

Geometrics SS Data 635 <Date> <Time> <Event> <Easting> <Northing> <Std. Deviation> <KP>
<CR><LF>

Information about heading and age of this observation – especially for heading
Gyro to NaviScan
670 calculated on dual RTK.
TEST
” #NBHDT,ggg.gg,T,aaa.aaa,S\r\n"

Heave correction and “HC<heave bias>, A<age>, GPSH<raw GPS height>dZ<dynamic antenna
621
GPS height offset><cr><lf>”

Hugin 2001 Data 663 Summarise NMEA GGA and HiPAP position strings on one port.

Interfaces.docx
Page 25 of 59
Last update: 23/4/2021
 At each cycle:
”<LF>S<sp>VV.V<CR> (Speed in knots)”
At Start Of Line:
”<LF>E4Event:eeeeeeeeeeTime:<sp><sp><sp>HH.MM.SSDate:<sp><sp><sp><
sp><sp><sp>dd.mm.yyyySOL:<name><CR>”
Klein 595 Data 601 At End Of Line:
”<LF>E4Event:eeeeeeeeeeTime:<sp><sp><sp>HH.MM.SSDate:<sp><sp>sp><s
p><sp><sp>dd.mm.yyyyEOL:<name><CR>”
At Event:
”<LF>E5Event:eeeeeeeeeeTime:<sp><sp><sp>HH.MM.SSJDJJJ
kp:kkk.kkkE:eeeeeeeeeeee.eN:nnnnnnnnnnnn.n<CR>”

(Formerly known as ALBATROSS ADP200)

NMEA waypoints in the form:
$IIRTE,1,1,C,<name>,<WP-ID’s>*<check sum> {Start message}
$IIWPL,<lat>,N/S,<long>,E/W,<WP id>*<check sum> {One message per wp.}
Kongsberg DP
639 or (Custom id = 998)
Waypoints
"$PRTRC,<Track-id>,<name>,<# WP’s>\r\n" {Start message}
"$PRWPT, <Track-id>,<WP-Id>,<Easting>,<Northing>,0.0,1,,*\r\n" {One message
per wp.}
(If Custom id = 99: Binary BCD position and waypoint data to Albatross)

On every cycle:
<Date> <Time> E <Easting> N <Northing><CR><LF>
LL Video Overlay 647
KP <KP> DOL <DOL> DPT <Depth from USBL> <CR><LF>
The second line is only available for Custom id 19.

Dedicated output of OS/9 JetKnife data. Includes raw strings and navigation data.
Log OS-9 Data 659 See http://download.eiva.dk/online-
training/NaviPac%20Manuals/Various/OS9.pdf for further information.

MAGNUM ROV
678 “ <Ship Y> <Ship X> <ROV Y> <ROV X> <KP> <crosstrack><cr><lf>“
Navigation

Send the following strings at each cycle:

* $--ZDA
* $--GGA
* $--VTG
MVP Data 658 * $--DBS
* $--XTE
which all are standard NMEA telegrams and
$--MKP,<kp>,<easting>,<northing><cr><lf>
$--TXT,1,1,<start/stop>,<runline-name>

Page 26 of 59
 ”$<S/E>, <Long File Name><cr><lf>”, where
$S : Start logging message
$E : Stop/End logging message
Long File Name : Name of actual runline (from HD)

”$PE: PT <proj.type> EN="<ellipsoid>" SMA=<semi major axis> IF=<Inverse

Nav Settings to
672 flattening> OS=<scale> OL=<original latitude> OP=<original longitude>
NaviScan
FE=<false easting> FN=<false northing> FP=<first parallel> SP=<second
parallel>UTM=<UTM zone>\r\n”

”$DS: ME=<method> TX=<Tx> TY=<Ty> TZ=<Tz> RX=<Rx> RY=<Ry>

RZ=<Rz> PPM=<Scale>\r\n"
See Section 4.5 ‘Expanded setup’ in this document for details.

Navigation Data $PFFO,MLTPT,<group>,<number>,<Latitude>,<N/S>,<Longitude>,<E/W>,<Sym

683
Server bol>,A<cr><lf>

NaviPac Eventing 696 Special output to eventing module.

Dedicated EIVA format:

Each update:
”POS:<cr><lf>
E0,N0,KP0,E1,N1,E2,N2,E3,N3<cr><lf>”
Where
E0 - Reference position Easting
N0 - Reference position Northing
KP0 - Reference position kp-value
E1 - Offset position No.1 Easting
NaviPac side boats 603 N1 - Offset position No.1 Northing
E2 - Offset position No.2 Easting
N2 - Offset position No.2 Northing
E3 - Offset position No.3 Easting
N3 - Offset position No.3 Northing
Distribute runlines:
”RUN:<cr><lf>”
”<No Segments>,<Inverse><cr><lf>”
”R1,R2,R3,R4,R5,R6,R7,R8,R9,R10,R11,R12,R13,R14,R15,R16,R17,R18,R19,R
20<cr><lf>” (One for each segment)

NaviPac TGO File 695 Creates ASCII TGO file for each navigation cycle.

“0x010x06E:<event>T:<hh:mm:ss>D:<dd.mm.yy>
Odom Annotation 645
E:<easting>N:<northing>Kp:<kp>0x04

Outland Video Overlay 677 Special Outland video overlay – with special control GUI.

Position aiding as either GGA (on deck) or $PUSBA (in water). Handled via
PHINS/ROVINS Aiding 901
special PHINS driver module.

Interfaces.docx
Page 27 of 59
Last update: 23/4/2021
 TMS and anchor information.
Special TMS output to Caesar system (Stolt Offshore – LB-200).
$Identifier,R1,R2,R3,R4,R5,R6,R7<CR><LF>
Where Identifier is shown in the list below:
R1 = Null field
R2 = Easting of position
R3 = Northing of position
PLUMS : TMS &
684 R4 = Null field
Anchor info
R5 = Heading for barge telegram and Null field for Anchor and TDP telegrams
R6 = Null field
R7 = KP for barge telegram and Null field for Anchor and TDP telegrams
Identifier for Barge = 301
Identifier for TDP = 305
Identifier for Anchor 1 = 401
Identifier for Anchor 2 = 402 etc

Position (Exp.) to $EivaObject,Time,Age,Easting,Northing,ZValue,Kp,Dcc,Qc,Id\r\n where

671
NaviScan ‘EivaObject’ is the name of the selected offset.

Position to ArcScene 679 ”Vessel_ID, DATE_TIME, Easting, Northing, UTMZone, Depth, Heading<cr><lf>”

“E nnnnnn hh:mm:s.ss EEEEEEEE.EE NNNNNNNN.NN A.AAA aaaaaa.aa

ooo.oo kkkk.kkk R xxxxxxxx ccc.cc MC m.mmm<CR><LF>"
A.AAA gives the age of current position.
Position to NaviScan 622
ccc.cc gives filtered bias in primary gyro compared to RTK-based gyro or online
speed error correction.
m.mmm gives the current meridian convergence.

Position to Seatools 909 Boskalis $VesselPos

Special interactive protocol via PDPC.EXE:

From PM: “<stx><Mean truster angle>*<cs><cr><lf>”
Promaster Data 654 To PM: “<STX><Current strength>,<Current direction>,<Vel X>,<Vel Y>,<Tool
heading>,<Req. tool heading>,<tool E>,<tool N>,<vessel E>,<vessel N>,<Mean
error>,<Normal to mean error> *<cs><cr><lf>”

On each cycle:
RDI Current Profiler 631
"$PRDID,<Pitch>,<Roll>,<Heading>\r",

Dedicated inter-NaviPac protocol, which allows distribution of runlines and runline

Remote NaviPac - control. See http://download.eiva.dk/online-
656
Control training/NaviPac%20Manuals/Appendix/A12_Distributed_NaviPac.pdf for further
information.

$DNRTR,<direction>,<XTE>,<velocity along track>, <velocity across track>,

Rob track {$DNRTR} 657
<track offset>, <max turnrate>*<checksum><cr><lf>

ROTS II Data 662 Copy of data from ROTS II (Data acquisition) plus time, position and kp.

$EIVATC,<heading>,<code>,<speed>,<code>,<offtrack>,<speederr>,<regulation
ROV Steering (Sperre) 680
>*hh<cr><lf>

Page 28 of 59
 RTK Height to "@DDDD.DDD A00.00<CR><LF>"
623
NaviScan Gives difference between heave and RTK height – designed for NaviScan bathy.

Runlines to ECDIS 682 Runline as waypoints using $PFFO,MLWPL and $IIRTE

Schilling Autofollow 691 "$NAVIPAC,<dol>,<L/R>,M<Bearing>,<pos flag>”

Special Stolt Comex Seaway format. On each cycle:

<Date> <Time> <Dive number> <Heading> <Easting> <Northing> <Std.
SCS ROV Head Up 629
Deviation> <KP> +000.00 <Bathy> <Depth> <Bathy + Depth> <Pitch> <Roll>
<CP> 00.00 @<CR><LF>

Special Stolt Comex Seaway format. On each cycle:

“<date>,<time>,<easting>,<northing>,<kp>,<dol>,<heading>,<USBL-x>,<USBL-
y>,<USBL-z>,<convergence>,<std.dev>,<dive number><cr><lf>”
SCS ROV Log2 638
For Custom id 6 (Geoconsult), it gives a dedicated QA output:
“date, time, time1, E1, N1, E2, N2, dE, dN, HDOP1, HDOP2, #SAT1, #SAT2,
SMG, KP, DOL<cr><lf>”

Spectra:
$1<length><revision><status><shottime>UTC<event><line><lat><long><depth>
<source-lat><source-long><gyro><CMG><SMG>000<east><north> <dE><dN>
Seismic Navigation <brg><jd> <cr><lf>
699
Header ION:
$1<length><revision><status><shottime>UTC<event><line><lat><long><depth>
<source-lat><source-long><gyro><CMG><SMG><FFID><Shots to go><line
type> <last FFID><line seq> <brg><extra> <cr><lf>

Special serial output on each cycle:

Normal:
E=<Easting> N= <Northing> H=<Height> Ev=<Event> G=<Gyro>
Serial data out:
628 D=<Depth><CR><LF>
E,N,Z,T,Ev,G,H
Custom id 2:
E=<Easting> N= <Northing> Z=<Height> T=<Time> Ev=<Event> G=<Vessel
Gyro> H=<Offset heading> KP = <KP> D = <Depth><CR><LF>

Simrad MBE 710

688 Start and stop lines using special $NPR12 and $NPR10 messages.
SOL/EOL

Start logging: „$Syymmddhhmmss_line-name<cr><lf>“

End logging: „$E<cr><lf>“
SMK runline control 675 Cycle: „<east><north>UTM32-EUREF
<SMG><CMG><Gyro><yymmddhhmmss><latency> <cr><lf>“
Only for Custom id different from zero.

Sonardyne DEP & $PSONDEP,<depth>,,M,*<chksum><cr><lf> and $PSONSS,<depth>,<sound-

698
VEL velocity>,M, *<chksum><cr><lf>

Combination runline tracking via NMEA $NPAPB and waypoint list via NMEA
Steering info to HRP 690
$NPRTE and $NPWPL messages.

$ACGDAT,ID,PID,time,east,north,height,gyro,roll,pitch,bathy,age,quality,time-
Subsea7 $ACGDAT 697
depth,depth, timedaq1, daq1,timedaq2,daq2*<chksum><cr><lf>

Interfaces.docx
Page 29 of 59
Last update: 23/4/2021
 “Date/Time Ev: <event> E:<east> N:<north>D:<depth> “Gy:<gyro> SMG:<smg>
Syntrak 480 Rec. 655
CMG:<cmg> CVG:<convergence><cr><lf>”

In Rig Move mode – special anchor/tug output to external CMS. See

http://download.eiva.dk/online-
TMS to CMS 660
training/NaviPac%20Manuals/Appendix/A11_RIG_Move.pdf for further
information.

Trackpoint II – Depth Depth information to the USBL system to improve X/Y calculation:
668
to ”DEP <depth><CR><LF>”

User defined output 1 611

User defined output 2 612

User defined output 3 613

User defined output 4 614

User defined output 5 615 Free ASCII output. See

https://eiva.freshdesk.com/a/solutions/articles/43000614449
User defined output 6 616
for further details.
User defined output 7 617

User defined output 8 618

User defined output 9 619

User defined output 10 620

Start of program:
Synchronise time: ”TIM dd:mm:yy hh:mm:ss:<CR>”
All events:
Event marker: "EVT<CR>"
Waverly 3700 SOL/EOL:
640
Annotation "TXT20 Ev: <event> <S/E>OL: <name> <CR>"
Event interval:
"TXT20 Ev: <event> Kp: <kp><CR>"
For Custom id 46, NaviPac sends the message:
"TXT20 <hh:mm:ss> <kp> <dcc><CR>"

Distribute waypoints to external navigation systems (if waypoint attached to an

objects) – for use, see http://download.eiva.dk/online-
training/NaviPac%20Manuals/Appendix/A11_RIG_Move.pdf.
$EIVWP,<Id>,<East>,<North>,<Name><CR><LF>” – Id is generated by the
system, as it uses 200 + remote id, where remote id is the identification number
Waypoint control 652
given for an remote input.
To allow exportation of barge/rig position, it will also output a single NaviPac
string with the reference position:
“<stx>99,<Easting>,<Northing>, <Gyro><CR><LF>” – this can be used to display
rig/barge position on remote systems.

Page 30 of 59
 2.8 Data acquisition
EIVA
Instrument Format
ID
ADCP Depth(s) 746 Select up to three ranges from the binary PD0 format (four beams).

AMT Dissolved Interfaced via AD Converter to simple ASCII string. NaviPac stores raw voltage,
798
Oxygen oxygen percentage and concentration.

Interfaced via AD Converter to simple ASCII string. NaviPac stores raw voltage
AMT PH 799
and calculated PH.

AR CIN Port 755 $PABBCIN,P-spd,S-Spd,P-count,S-count,P-tension,S-tension

755: Port side data
AR CIN Stbd 756 756: Starboard side data

$PATLPLO,pitch,roll,heading,port skid,stb skid,trench dpt,burial dpt,water

AR PL: Depth 753
depth,force,tension
752: Port skid, starboard skid
AR PL: Force 754 753: Trench depth, burial depth, water depth
754: Force, tension
Note: PATLPLO and PABBCIN strings comes on the same input – but have to
AR PL: Skid 752
be split on two physical ports in NaviPac.

DA<Depth> <CR><LF> or
Atlas Deso 25 700
DB<Depth> <CR><LF>

Benthos PSA 900 729 "Ddd.dd Ttt.tt Rrr.rr\r\n"

Depth, CTD and magnetometer information from the SIS1000 telemetry output.
BenthosSIS1000 740
” Range, Depth, Altitude, SV, Mag nT, Mag Signal, Temp,
Benthos SIS1000 Conductivity<CR><LF>”.
741
(CTD) The range will be used for online coverage display on the HD.

”<gyro>,<pitch>,<roll>,<sword left>,<sword right>,<hor.

CapJet In 1 744
Dist>,<speed1>,<speed2><cr><lf>”

”<gyro>,<pitch>,<roll>,<sword left>,<sword right>,<hor.

CapJet In 2 745
Dist>,<speed1>,<speed2><cr><lf>”

Carousel data 772 XXX,Distance,m/Hr,m/s,Tension<CR><LF>

$CAPIASH,moment,tension,length,diameter,status,alarm,alarm,temp1,temp2,te
Caterpillar Data (JD) 793
mp3,temp4,ttemp1,ttemp2,speed,pressure*chk<cr><lf>

Corrocean CP 720 ”<G{gradient} R{CP} S{Stab tip} M N><cr><lf>” - or is it <lf><cr> ?

CTC Trencher
715 CTC (SCS) Trencher information.
<Depth>

CYCLOPS-7 Interfaced via AD Converter to simple ASCII string. NaviPac stores raw voltage
797
(ScanFish) and scaled data.

DGH 2611 Pulse “pppppp<cr><lf>”

730
counter Pulse corresponds to speed in nautical miles (1 NM = 20,000)

Interfaces.docx
Page 31 of 59
Last update: 23/4/2021
 Special calculated instrument based on Digicourse and Remote GPS.
Digicourse Feather Channel 1: Feather angle based on Digicourse
733
Angle Channel 2: Average streamer angle based on Digicourse
Channel 3: Feather angle based on Remote GPS

Digiquartz Barometer 778 “*ccccPPP.PPPP<CR><LF>”. The incoming pressure must be in millibar.

“*ccccPPP.PPPP<CR><LF>”
Digiquartz Depth 704 NaviPac will give both pressure and depth as two separate channels. Note: The
incoming pressure must be in PSI.

NaviPac will give both pressure and depth as two separate channels – this will
Digiquartz Depth
779 be compensated for barometer reading if present. Note: The incoming pressure
(Compensated)
must be in PSI.

Dillon EDxtreme 776 FORMAT4:llllll.l, lbf,pppppp.p, lbf<cr>

Special calculated driver for statistics on distance shooting:

1: Distance between events
Distance shoot info 763
2: Time to next event
3: Time between last two events

Eilersen Tension 788 <#>:<id1>,<tension count1>,....<cr><lf>

”$PELACSDS,<location>,<depth>,…<cr><lf>” – NaviPac supports Location S

ELAC HS4300 738
(channel 1), P (2) and B (3).

”DDDD<unit><cr><lf>”
ELAC LAZ 4700 707
Where <unit> is m, dm or cm

ELAC LAZ 4721 737 ”<lf>xDDDDDDW<cr>”, where D gives depth in centimetres.

EMGS Winch 866 Binary TCP/IP protocol

D<sign><dddd.ddd><space><rrrrr><space><sign><tt.t><CR><LF> or
FAE LS1501 Laser 875 D<sign><vvvv.vvv><space><sign><dddd.ddd><space><rrrrr><space><sign><tt
.t><CR><LF>

Fahrentholz 790 ddddd,ddddd<cr><lf>

Fixed Depth 870 Fully controllable (individually for each object) fixed depth.

Fjordkabel I/F 759 ”Cable tension, -cable length, cable speed<cr><lf>”

Reads up to 20 items from ASCII string (byte count, comma, space, colon,
Free Acquisition 855
semicolon or tab separated).

<STX>#<Scan number><ETX>
GSSI Georadar 722
The instrument is polled once each cycle by sending a ‘#’ to the unit.

$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ... <travel

HiPAP Travel Time 768
time><cr><lf>

HydroC CO2 794 Special 10-byte binary starting with ‘#’. Measures CO2.

Innovator 3 747 ”$PSSI,H ggg.g,P pp.p,R rr.r,D ddd.d,A aa.a*<chksum>

Innovatum Tracker 758 Selectable eight parameters from 64- og 80-character Innovatum string.

Page 32 of 59
 Special calculated item for iUSBL streamer integration.
a) Streamer pitch
iUSBL QC 787
b) Stream yaw
c) Streamer length

JD Angle
792 $ANGLE, count<cr>><lf>
Measurement

LDM 41/42 775 <distance><cr><lf>

$ROV,TRACKS.PORT_SPEED(m/h),TRACKS.STBD_SPEED(m/h),VEHICULE
_DEPTH(m),VEHICULE.ALTITUDE,VEHICULE_FRONT_TRENCH_DEPTH(cm
),VEHICULE_TRENCH_DEPTH(cm),VEHICULE_BURIAL_DEPtH(cm),CABLE_
DETECT.FRONT,CABLE_DETECT.1,CABLE_DETECT.2,CABLE_DETECT.3,H
LD TravOcean Depth 868 PU.INTENSITY.PH1(Amp),HP.INTENSITY.PH1((Amp),LP.INTENSITY.PH1(Am
p),HPU_AUX.INTENSITY.PH1(Amp),PRESSURE.LP(Bar),PRESSURE.HP(Bar)
,PRESSURE.FRONT_TOOL_JETTING(Bar),HPU_MOTOR_POWER(HP),HP_
MOTOR_POWER(HP),LP_MOTOR_POWER(HP),HPU_AUX_MOTOR_POWE
R(HP),GYRO.ROLL(°),GYRO.PITCH(°),GYRO.HEADING(°)

$ROV,TRACKS.PORT_SPEED(m/h),TRACKS.STBD_SPEED(m/h),VEHICULE
_DEPTH(m),VEHICULE.ALTITUDE,VEHICULE_FRONT_TRENCH_DEPTH(cm
),VEHICULE_TRENCH_DEPTH(cm),VEHICULE_BURIAL_DEPtH(cm),CABLE_
DETECT.FRONT,CABLE_DETECT.1,CABLE_DETECT.2,CABLE_DETECT.3,H
LD TravOcean Aux 869 PU.INTENSITY.PH1(Amp),HP.INTENSITY.PH1((Amp),LP.INTENSITY.PH1(Am
p),HPU_AUX.INTENSITY.PH1(Amp),PRESSURE.LP(Bar),PRESSURE.HP(Bar)
,PRESSURE.FRONT_TOOL_JETTING(Bar),HPU_MOTOR_POWER(HP),HP_
MOTOR_POWER(HP),LP_MOTOR_POWER(HP),HPU_AUX_MOTOR_POWE
R(HP),GYRO.ROLL(°),GYRO.PITCH(°),GYRO.HEADING(°)

Leg Penetration 791 $NPLEG,L1-H,L1-P, L2-H,L2-P, L3-H,L3-P, L4-H,L4-P<cr><lf>

“ $ 0 ddd hhmmss 0 nnnnnn<cr><lf>” where nnnnnn gives the raw reading.

Channel 1: Raw reading C1
MAG G-866 726
Channel 2: Processed value: C2 = C1[now] – C1[history]
Channel 3: Normalised value: C3 = (1-gain)*C1[now]+gain*C3[now-1]

“$<mag>, <AD Channel>, <Depth>, <Altitude><CR><LF>”

MAG G-880 708 For the raw instrument (708), we have Magnetometer data as channel 1, AD
Channel as channel 2 and Altitude as channel 4. Depth as channel 3 will be
stored as local bathy.
For the processed magnetometer (723), we have the Magnetometer data as
MAG G-880 channel 1, difference between actual reading and old reading (samples) as
723
Processed channel 2, and difference between actual reading and a running average
(defined via gain) as channel 3.

MAG G-882 Multi Data from multiple MAG G-882 sensors: $ 50543.021,1396,0940,8735,
865
sensor 50542.631,1182,1196,0879 08/15/16 13:14:34.225

MAGNUM ROV Data 748 ”: aa.aa ddd.dd gggg rrrrrr pppppp<cr><lf>

Mesotech scanner 721 “<L/R> <Angle>, <Range><CR><LF>” Uses a global defined sound velocity.

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 Calculated sword depth based on angle.
MiniCon 30 857
@WMNffffffffffsssaaaaaaaaaaaaaaaaaaaaaaaaqqqrrtttoooooooooovvcc*<CR>

$NASCRD,165804.84,CR4,P,-0.19*6B
$NASCRD,165804.94,CR4,D,-1.90*7E
NASNetR Daq 766
$NASCRD,165820.73,CR4,T,17.4*46
and $PNASCRD

Calculated instrument based on Remote NaviPac – expanded format. One data

NaviPac (remote) 734
acquisition channel.

NaviSound 2000 702 "*..<Q1><Depth1><Q2><Depth2><Q3><Depth3><CR><LF>

$..DBT,,<Depth>… <CR><LF> or
NMEA 183 Depth 703 $..DBS,,<Depth>… <CR><LF> or
$..DPT,<Depth>…. <CR><LF>

NMEA Speed 739 $..VTG, $..VHW and $..VBW standard NMEA format.

NMEA Wind Sensor

757
(MWV) $..MWV,<dir>,<ref>,<spd>,<uni>,<sta>,*<chk>,<cr><,lf>
NMEA Wind (MWV) 767: Processed.
767
Processed

Octans data frame 731 $..HRP, <number of turns>,<xxx>\r\n”

“PLCWNE<Time><Length><Tension> ...”
Odim Winch Control 786
Only first data set read by NaviPac.

“ <Resolution> <Depth><CR>” or
“ <Resolution> <Freq> <Depth><CR>” or
Odom EchoTrac 709 “ <Resolution> <B> <Depth1> <Depth2>”
We do not support feet – only metric.
High frequency will always be channel 1 and low frequency channel 2.

User-selectable three channels from 12 strings. See

OS-9 (remote) 735
http://download.eiva.dk/online-training/NaviPac%20Manuals/Various/OS9.pdf.

Plough as laid ($SMD) 769

$SMD,Pitch,Roll,Heading,Tow Force,Burial Depth,Tension,Port Skid
Plough data ($SMD) 771 Height,Stbd Skid Height, Share Angle, Water Depth, Cable Dist, Steer
Angle<CR><LF>
Plough variables
770
($SMD)

Bathy depth and pressure.

PS 30 856
S<Mantisse>E<Exponent>T<Temp><cr><lf>

RDI Current 728 Binary RDI PD0 format.

DA<Depth> <CR><LF>
Reson Deso Exp. 749 DB<Depth> <CR><LF> and optional
SD<sv><dr1><dr2><cr><lf>

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 Dedicated ROTS format from Geoconsult – see http://download.eiva.dk/online-
ROTS I 727
training/NaviPac%20Manuals/Various/ROTSII.pdf.

ROTS II 736 User-selectable three parameters from up to six ids (“$id<val>@”).

ROV Solo <Depth> 716 “ …D<Depth>…A<Altitude>….<CR><LF>”

SAIV204 {DSS} 762

"N<id> C<cond> T<temp> P<pres> c<sv> S<salinity><cr><,lf>"
SAIV204 {PTC} 761

SBE49 CTD 795 Uses Output Format 3 – engineering units and format 0 raw HEX:
SBE49 CTD2 796 TT.TTTT, CC.CCCC, PPPP.PP,SS.SSSS,VVVV.VVVV<cr><lf>

ScanFish II.
ScanFish Data 760
User-selectable fields in comma-separated string.

ScanFish III.
ScanFish III Data 863
$SF,Fish,<gyro>,<roll>,<pitch>,<depth>,<altitude>

“…DE<depth> AL<Altitude>…<CR><LF>” or
SCV ROV <Depth> 714 “…D:<depth> A:<Altitude>…<CR><LF>” or
“…D<depth> A<Altitude>…<CR><LF>”

#<temp>,<pressure>,<date>,<time><cr><lf> or
SeaBird Pressure 785
<LF><tab>TTT.TTTT,CC.CCCCC,PPPP.PPP,SSSS.SSSS,VVVVV.VVV<CR>

SeaMaster Trawl Data 789 $LD,<len1>,m,<len2>,m,<ten1>,k,<ten2>,k,<cr><lf>

Simrad EA200 717 “D<Depth>”

Simrad EA300P 701 “ <Depth><CR><LF>“

“D<channel>,<Time>,<Depth>,<Strength>,<Transducer>,<Slope>CR><CR><L
Simrad EA500 713
F>”

Simrad UK 90/94 705 “ …. Dddd.dd … Aaaa.aa… <CR><LF>” depth and altitude in metres.

Sonardyne Fusion 732 Calculated instrument based on APS3 input – altitude & salinity.

Sonardyne LNAV
871 Binary Sonardyne Sprint/Lodestar LNAV format.
Depth

Voltage information from A/D Converter box (ICP DAS I-7012 or similar). Polled
Special A/D Converter 742
by “#01<cr>” answer “><channel 1><channel 2>…<cr>”

Binary std. 20 format:

Standard 20 743
<stx><gyro><chg><mc1><mc2><rot><status><compass><chk><eot>

Special Steinco format.

Steinco AMS 765
"<0x02><ASCII Data><0x17><CheckSum>"

Subspection CP 719 ”CP<cp><cr><lf>”

Triaxus Data 850 DV#xxx.xx,A1#xx.xx, PV#xx.xx, RV#00.00, CL#00.00, CS#00.00+CR + LF

Tritech Altimeter 784 [B]aaa.aaa<cr><lf>

Bathymetric system reply data in continuous ASCII format: WINSON processed

Tritech SCU3 bathy 718
or raw. Please note that the two formats refer to different offsets, and you have

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 to select them carefully in combination with the offsets entered in NaviPac.
“%D<Header><Data><CR><LF>”
Tritech SCU3 STC 764
718: Altimeter, SV, Depth
764: Salinity, Temperature, Conductivity

“$PPTIROV,<gyro>,<depth>,<altitude>,<pitch>,<roll>,<CP1>,<CP2>,<Tel>,<not
Triton XL ROV D/A 725
e><cr><lf>”

TSS 340/350 750 ":TQaaaa bbb ccc ddd111111222222333333444444 XX\r\n" or

":SQsLLLL VVVV AAAAsCCCCsSSSs1111s2222s3333s4444s5555s6666
qq\r\n"
750: dX,dZ,DOB
TSS 340/350 (signal
751 751: Signal strength, S1, S2, S3. The values are in millivolts.
str)

Turner C6 -
851 Free ASCII interpreter (date time val1 ... val 6)
CYCLOPS-7

Ulvertech bathy 706 “ddddd,aaaa<CR><LF>” depth and altitude in centimetres.

User defined input 1 710

User defined input 2 711

User defined input 3 712

User defined input 4 773

User defined input 5 774

Any <CR><LF> ended string with up to three items.
User defined input 6 858

User defined input 7 859

User defined input 8 860

User defined input 9 861

User defined input 10 862

“P= 1020.9 hPa T= 6.4 'C RH=***** %RH” or

Vaisala Barometer
“1020.9”
/Weather Station 864
Surface pressure in mBar (and temperature). Pressure can used for UNESCO
Barometer
depth calculation

“<speed X><tab><speedy><cr><lf>
Valeport Current Meter 853
NaviPac supports metres per second, knots and millimetres per second.
Valeport Current Meter 853 gives raw measurements and 854 absolute measurements by combining
854
Process with vehicle data.

Valeport Proc 1 780 (Proc 1 and Proc 2)

“Date Time Conductivity Pressure Temperature Altimeter SV Measured SV
Calculated Depth Total Depth Point Density Density Profile Salinity Barometric
Valeport Proc 2 781
Pressure IPS 1 IPS 2 IPS 3 IPS 4 IPS 1 Depth IPS 2 Depth IPS 3 Depth IPS 4
Depth <CR><LF>

Valeport Midas 1 782 Sound Velocity<TAB> Depth/Pressure<TAB> Temperature<TAB>

Page 36 of 59
 Valeport Midas 2 783 Conductivity<TAB> Salinity<TAB>

Supports firmware versions 3.01 or higher.

WETLabs FLNTU 777 <data> <time> < λ1> <CHL> <λ2> <NTU> <Thermistor>
User enters scale and dark count.

Aanderaa 4330 852 Free ASCII interpreter (val1 ... val xx)

Support up to three channels based on various strings of the type “<id> <name>
<value> <unit><cr><lf>”.
Aanderaa surface Sample:
724
pressure 01 Water level 4.32 cm
02 Water temp. 11.12 Deg.C
03 Air pressure 1015.69 hPa

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 3 Special interfaces
This section describes some very special instruments handled in NaviPac.

3.1 LEM30 Height

Figure 1 NaviPac Configuration selection of LEM30 Height setup

On some vessels, the antenna(s) can be moved up and down to enable travel under
bridges, etc.

To be able to perform optimal navigation while the antenna is away from default position, we
have added an LEM30 laser distance meter.

This instrument must be placed so it measures the distance from a given point to the
antenna either on request or continuously. Initially, the user must enter the default value as
Offsets Z (could be found by installing the instrument and making a measurement).
NaviPac will then at each update find a delta height based on the entered Offsets Z value
and the measured value. This delta value is subtracted from all antenna offsets. At each
change, NaviPac generates an alarm.

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 3.2 Dual HiPAP
NaviPac versions 3.3L and onwards offer the possibility to use the Kongsberg HiPAP
(HPR400 NMEA Sentence) in both ordinary and dual mode.

The ordinary mode uses the standard $PSIMSSB strings, and the dual mode uses
$PSIMSSD strings.

To avoid changing the transponder principle in NaviPac, we have decided to assign codes
between 101 and 199 to master transponder data and 201 to 299 to slave transponder data.

The codes will not be visible to the user, as the selection displays it as:

• Normal: The combined position from SSB telegram

• Master: Master position from SSD telegram
• Slave: Slave position from SSD telegram

The entered TP Code must always be between 1 and 99.

Figure 2 HiPAP transponder setup

But in online displays, the modified codes are visible:

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 Figure 3 Online display of modified transponder codes

3.3 Dual Transceiver HiPAP

The Kongsberg system can be operated in a dual transceiver mode where each target can
be positioned via one or the other transceiver. The output from both transceivers is given on
the same interface but has to be used on two drivers in NaviPac.

First of all, make sure that the Kongsberg system outputs both PSIMSSB (the position) and
PSIMSNS (attitude, etc), as NaviPac otherwise cannot see the transceiver number.

Both HiPAP drivers have the same instrument setup – the only difference is the
Transceiver Id:

Page 40 of 59
 Figure 4 Selection of Transceiver Id

Setting up the HiPAP drivers in NaviPac Configuration from startup can be done easily by
using the clone function:

1. Define the primary driver

2. Set Transceiver Id to the first number (eg ‘1’)
3. Add the second USBL driver and set IO to same port
4. Set Transceiver Id to the second number (eg ‘2’)

In Online, you must select from the Edit > Positioning Systems menu which of the two
transceivers you are using.

3.4 PHINS/ROVINS
NaviPac versions 4.x and onwards include a special driver to the PHINS/ROVINS system.

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 Figure 5 PHINS/ROVINS data flow

The system utilises two-way communication with the PHINS/ROVINS instrument to:

• Feed aiding information into the unit

• Receive position data from the unit
• Receive attitude data from the unit
• Deliver data in time-tagged form to NaviPac and NaviScan
• Send raw position (USBL, LBL or similar) out to the IXSEA system using the IXSEA
$PUSBA format
• If the ROV is on deck (or the raw position is missing), send the vessel position to
the IXSEA system using NMEA $GPGGA
• Receive position data and attitude data from the PHINS/ROVINS in the Halliburton
SAS format ($PIXSE,HSPOS and HSATIT) and pass this on to NaviPac (and
optionally NaviScan)
• The PHINS/ROVINS system and NaviPac must be synchronised to the same time
source (GPA time)
• The interfacing between PHINS/ROVINS and EIVA must be either serial (COM port)
or UDP/IP (networked)

Page 42 of 59
 To learn more, please see the EIVA training site: http://download.eiva.com/online-
training/NaviPac%20Manuals/Appendix/PhinsOut.pdf

3.5 Nautronix NASNet

NaviPac can interface to the Nautronix underwater system NASNet (to learn more, see
http://www.nautronix.com/index.php?option=com_content&task=view&id=83&Itemid=86).

3.5.1 The NASNet system outputs position and data telegrams as described in
Sections 3.5.2 ‘Specification from Nautronix’ to 3.5.4 ‘Upgrade 2015

Nautronix have upgraded the drivers in 2015 – and put a ‘P’ into the headers and expanded
the position string

String One - $PNASPOS

This Data string will have all position data sent when each tracked object position is updated
in the $PNASPOS format, described below. When no position is computed for a tracked
object then no position telegram is output.

All separations are by means of a comma and terminated with Checksum, Cr/Lf

The structure of the data string is:

$PNASPOS,ID,Time,Latitude,N/S,Longitude,E/W,Depth,RMS,Number of Stations,GSUP

Below is an example of how the string will look:

$PNASPOS,ROV1,150536.84,5700.001111,N,00159.998616,W,-0.2,1.5,5,75*4E

$PNASPOS, this is the string header

ROV1, String identifier what Object is being tracked.

150536.84, UTC Time stamp of data string

5700.001111,N, Latitude in DDMM.MMMMMM, North or South

00159.998616,W, Longitude DDDMM.MMMMMM, East or West

-0.2, Depth of Receiver

1.5, RMS

5, Number of Stations

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 75, GSUP (Geometric Support)

*4E Checksum followed by carriage return and line feed.

String Two

All separations are by means of a comma. There are 5 readings available from each Mobile
Transceiver.

Below are examples of how the string will look:

$PNASCRD,CR4,170257.53,T,17.4*4A
$PNASCRD,CR4,170302.12,PR,+1.10,+2.00*2A
$PNASCRD,CR4,170303.63,H,330.50*52
$PNASCRD,CR4,170235.80,D,-1.78*71

$PNASCRD, this is the string header

CR4, Construction Receiver (MTrx) identifier

170257.53, UTC Time stamp of data string

The fourth comma separated value denotes the type of data as follows:

T = Temperature in Celsius (1 decimal place)

PR = Pitch and Roll – (+/-180 degrees, 2 decimal places, +ve Pitch = Bow Up, +ve Roll =
Stbd Down)

H = Heading (2 decimal places)

D = Depth in metres (2 decimal places)

Next value is the Data value and on the Pitch Roll string Pitch is first then Roll.

*4E Checksum followed by carriage return and line feed.

Use in NaviPac’ below.

3.5.2 Specification from Nautronix

NASNet Single String Feeds

There will be two string outputs from NASNet. One will have all the position data and the
second will have all the construction receivers’ sensor data. These strings are explained
below.

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 String one: All separations are by means of a comma. Below is an example of how the
string will look:

$NASPOS,150536.84,ROV1,5700.001111,N,00159.998616,W,-0.2*4E

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 • $NASPOS: This is the string header.
• 150536.84: Timestamp of data string in HHMMSS.SS.
• ROV1: String identifier. These differentiate as follows:
• ROV# for various ROVs being tracked
• CR# for various Construction Receivers being tracked
• BOAT for Beamformer position
• 5700.001111,N: Latitude in DDMM.MMMMMM, north or south.
• 00159.998616,W: Longitude in DDDMM.MMMMMM, east or west.
• -0.2: Depth of receiver in metres.
• *4E: Checksum followed by carriage return and line feed.

String two: All separations are by means of a comma. There are five readings available
from each construction receiver depending on what the user decides. Below are examples
of how the string will look:

$NASCRD,170257.53,CR4,T,17.4*4A
$NASCRD,170302.12,CR4,PR,+1.10,+2.00*2A
$NASCRD,170303.63,CR4,H,330.50*52
$NASCRD,170235.66,CR4,P,-0.18*6A
$NASCRD,170235.80,CR4,D,-1.78*71

• $NASCRD: This is the string header.

• 170257.53: Timestamp of data string in HHMMSS.SS.
• CR4: String identifier (from 1 up to a maximum of 31).
• T: The fourth comma-separated value denotes the type of data as follows:
• T: Temperature in degrees Celsius
• PR: Pitch and roll in degrees (pitch positive is bow up, roll positive is
starboard up)
• H: Heading in degrees
• P: Pressure in bar
• D: Depth in metres
• 17.4: The fifth value is the data value. On the pitch roll string, pitch is listed first, and
roll is listed second.
• *4A Checksum followed by carriage return and line feed.

3.5.3 Sample from Nautronix

Position
$NASPOS,150536.84,ROV1,5700.001111,N,00159.998616,W,-0.2*4E
$NASPOS,150536.97,CR5,5700.024037,N,00159.976487,W,-0.2*1A
$NASPOS,150542.29,ROV2,5659.999996,N,00159.999137,W,-0.5*49
$NASPOS,150544.55,BOAT,5700.000143,N,00159.998933,W,-0.2*2B
$NASPOS,150544.55,ROV2,5659.999977,N,00159.999152,W,-0.5*48
$NASPOS,150545.73,BOAT,5700.000213,N,00159.998954,W,-0.2*29
$NASPOS,150546.60,BOAT,5700.000167,N,00159.998895,W,-0.2*24
$NASPOS,150546.61,ROV2,5700.000494,N,00159.999525,W,-0.5*4D

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 Sensor
$NASCRD,165645.59,CR4,H,330.50*58
$NASCRD,165650.11,CR4,PR,+1.10,+2.00*2F
$NASCRD,165652.62,CR4,H,330.50*56
$NASCRD,165653.52,CR4,P,-0.18*6D
$NASCRD,165653.70,CR4,D,-1.78*7E
$NASCRD,165658.05,CR4,PR,+1.10,+2.00*22
$NASCRD,165659.59,CR4,H,330.50*55
$NASCRD,165702.07,CR4,PR,+1.10,+2.00*2E
$NASCRD,165706.16,CR4,PR,+1.10,+2.00*2A

3.5.4 Upgrade 2015

Nautronix have upgraded the drivers in 2015 – and put a ‘P’ into the headers and expanded
the position string

String One - $PNASPOS

This Data string will have all position data sent when each tracked object position is updated
in the $PNASPOS format, described below. When no position is computed for a tracked
object then no position telegram is output.

All separations are by means of a comma and terminated with Checksum, Cr/Lf

The structure of the data string is:

$PNASPOS,ID,Time,Latitude,N/S,Longitude,E/W,Depth,RMS,Number of Stations,GSUP

Below is an example of how the string will look:

$PNASPOS,ROV1,150536.84,5700.001111,N,00159.998616,W,-0.2,1.5,5,75*4E

$PNASPOS, this is the string header

ROV1, String identifier what Object is being tracked.

150536.84, UTC Time stamp of data string

5700.001111,N, Latitude in DDMM.MMMMMM, North or South

00159.998616,W, Longitude DDDMM.MMMMMM, East or West

-0.2, Depth of Receiver

1.5, RMS

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 5, Number of Stations

75, GSUP (Geometric Support)

*4E Checksum followed by carriage return and line feed.

String Two

All separations are by means of a comma. There are 5 readings available from each Mobile
Transceiver.

Below are examples of how the string will look:

$PNASCRD,CR4,170257.53,T,17.4*4A
$PNASCRD,CR4,170302.12,PR,+1.10,+2.00*2A
$PNASCRD,CR4,170303.63,H,330.50*52
$PNASCRD,CR4,170235.80,D,-1.78*71

$PNASCRD, this is the string header

CR4, Construction Receiver (MTrx) identifier

170257.53, UTC Time stamp of data string

The fourth comma separated value denotes the type of data as follows:

T = Temperature in Celsius (1 decimal place)

PR = Pitch and Roll – (+/-180 degrees, 2 decimal places, +ve Pitch = Bow Up, +ve Roll =
Stbd Down)

H = Heading (2 decimal places)

D = Depth in metres (2 decimal places)

Next value is the Data value and on the Pitch Roll string Pitch is first then Roll.

*4E Checksum followed by carriage return and line feed.

3.5.5 Use in NaviPac

In NaviPac, the NASNet system can be used for the following interface types:

• Surface navigation: the $NASPOS string with BOAT identifier

• Dynamic positioning: the $NASPOS string
• Gyro: the $NASCRD string with H

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 • Motion sensor: the $NASCRD string with PR
• Data acquisition: the $NASCRD string with P, D and T

When used, the input must be separated into a minimum of three physical interfaces (serial
or UDP/IP) due to the nature of NaviPac:

• Surface navigation
• Dynamic positioning
• Gyro/Motion sensor/Data acquisition

During setup of the dynamic positioning interface, select which identifier (eg ‘ROV1’) will be
assigned to the object in use – similar to other remote and underwater systems. NaviPac
supports numbers for ROV between 1 and 32

Gyro, Motion sensor and Data acquisition also carry an identifier (eg ‘CR4’). NaviPac will
here perform the identification automatically. If the gyro is attached to an object positioned
by NASNet, NaviPac uses the identifier for the corresponding position string to map the data
to the NaviPac object.

4 Integration with NaviScan

This section provides some guidelines as to how NaviPac and NaviScan can be interfaced.
For detailed information, please refer to the NaviScan reference manual
(http://download.eiva.dk/online-training/NaviScan%20manuals/Ns-ref.pdf) and training
material.

NaviPac and NaviScan can be run on the same PC or on two separate computers. If
running both programs on the same PC, we normally recommend that all interfacing is
performed via UDP/IP messages on local IP address 127.0.0.1.

When used on two PCs, you can use serial interfaces (if timing is critical) or UDP/IP.

The following data formats will be discussed:

• Position
• Recording control
• GPS-based height
• Gyro correction
• Expanded setup
• Depth

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 Figure 6 NaviPac and NaviScan data flow

Please note that you should never send gyro and motion sensor data from NaviPac to
NaviScan in real operations as this will introduce unknown sensor latency.

4.1 Position
NaviPac can export one or more position telegrams to NaviScan.

We recommend that you use the driver:

NaviPac: Position (Exp.) to NaviScan

NaviScan: Position (exp) from NaviPac

4.2 Recording control

You can let NaviPac (from the Helmsman’s Display) control start and stop of recording. We
recommend that you use UDP/IP for this.

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 NaviPac: EIVA runline control
NaviScan: Logging control: NaviPac

4.3 GPS-based height

When performing a vessel-mounted survey based on GPS RTK, you can use the height as
a depth reference by sending the heave-compensated height over to NaviScan (called
heave correction).

NaviPac: Heave correction and GPS height

NaviScan: NaviPac Heave Cor

4.4 Gyro correction

The output from NaviPac includes an option for sending gyro correction information on to
NaviScan. Final correction may be performed in NaviEdit, but to improve online display, you
might consider using this option.

The gyro correction value will be incorporated as a part of the Position (Exp.) to NaviScan
string.

4.4.1 Dual RTK heading correction

If you have a setup with two RTK-based GPSs, you can use the position data as a
secondary gyro. NaviPac then compares the primary gyro (high frequency) with the RTK-
based gyro, and you can then send the result to NaviScan for gyro correction.

4.4.2 Correction for speed error

Some gyros are not able to get a position and speed input and will therefore have an error
depending on the sailed direction, the speed and the actual location.

/* Formula 'Fulst: Nautische Tafeln, 24. Aufl.', heading in [deg] as acquired from gyro,
speed over ground 'sog' in [m/s] latitude in [rad] M_PI_180 is (Pi/180)*/

speedError = asin (-((sog * cos (heading * M_PI_180)) / (464.27 * cos (lat))));

The speed error might be significant, as shown below in Table 1:

Speed Heading (degrees)

(m/s) kn 0 45 90 135 180 225 270 315

0 0.0 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000

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 0.25 0.5 -0.062 -0.044 0.000 0.044 0.062 0.044 0.000 -0.044

0.5 1.0 -0.123 -0.087 0.000 0.087 0.123 0.087 0.000 -0.087

0.75 1.5 -0.185 -0.131 0.000 0.131 0.185 0.131 0.000 -0.131

1 1.9 -0.247 -0.175 0.000 0.175 0.247 0.175 0.000 -0.175

1.25 2.4 -0.309 -0.218 0.000 0.218 0.309 0.218 0.000 -0.218

1.5 2.9 -0.370 -0.262 0.000 0.262 0.370 0.262 0.000 -0.262

1.75 3.4 -0.432 -0.305 0.000 0.305 0.432 0.305 0.000 -0.305

2 3.9 -0.494 -0.349 0.000 0.349 0.494 0.349 0.000 -0.349

2.25 4.4 -0.555 -0.393 0.000 0.393 0.555 0.393 0.000 -0.393

2.5 4.9 -0.617 -0.436 0.000 0.436 0.617 0.436 0.000 -0.436

2.75 5.3 -0.679 -0.480 0.000 0.480 0.679 0.480 0.000 -0.480

3 5.8 -0.740 -0.524 0.000 0.524 0.740 0.524 0.000 -0.524

3.25 6.3 -0.802 -0.567 0.000 0.567 0.802 0.567 0.000 -0.567

3.5 6.8 -0.864 -0.611 0.000 0.611 0.864 0.611 0.000 -0.611

3.75 7.3 -0.926 -0.654 0.000 0.654 0.926 0.654 0.000 -0.654

4 7.8 -0.987 -0.698 0.000 0.698 0.987 0.698 0.000 -0.698

4.25 8.3 -1.049 -0.742 0.000 0.742 1.049 0.742 0.000 -0.742

4.5 8.7 -1.111 -0.785 0.000 0.785 1.111 0.785 0.000 -0.785

4.75 9.2 -1.172 -0.829 0.000 0.829 1.172 0.829 0.000 -0.829

5 9.7 -1.234 -0.873 0.000 0.873 1.234 0.873 0.000 -0.873

Table 1 Error in heading due to vessel speed at 60° latitude

4.5 Expanded setup

The data output Nav Settings to NaviScan:

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 Figure 7 Exporting navigation settings to NaviScan

This data output, as illustrated below, allows transmission of setting and runline information
from NaviPac to NaviScan (or similar).

$S,-----000

$PE: PT=5 EN="WGS 84" SMA=6378137.0000 IF=298.2572235630 OS=0.9996000000

OL=9.0000000000 OP=0.0000000000 FE=500000.0000 FN=0.0000 FP=33.0000000000
SP=45.0000000000 UTM=32

$DS: ME=1 TX=89.5000 TY=93.8000 TZ=123.1000 RX=0.0000000000 RY=0.0000000000

RZ=0.0000433300 PPM=-0.0000012000

$INF: 01.02.2002 11:52:02 C:\EIVA\log\NP_INS.INI

$CNF001: [QC]

$CNF002: When=01.02.2002 11:51:58

$CNF003: NumberOfSensors=16

$CNF004: VesselName=MyVessel

$CNF005: [Instrument00]

$CNF006: Type=0.42 Surface Navigation

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 $CNF007: Name=Ashtech GPS1

$CNF008: Mode=[Sim], IO Type: COM, port: 54 IO: 9600 N 8 1

$CNF009: XYZ=0.000 10.000 0.000

$CNF010: Object=000 MyVessel

$CNF011: [Instrument01]

$CNF012: Type=0.50 Surface Navigation

$CNF013: Name=Racal UKOOA GPS 1

$CNF014: Mode=[Sim], IO Type: COM, port: 20 IO: 9600 N 8 1

$CNF015: XYZ=0.000 0.000 0.000

$CNF016: Object=000 MyVessel

$CNF017: [Instrument02]

….

$CNF128: Channel3=MAG2

$CNF129: XYZ3=0.300 0.000 0.000

$CNF130: InUse3=1

$CNF131:

$END: 01.02.2002 11:52:02 C:\EIVA\log\NP_INS.INI

‘CNF’ represents an INI-like copy of the NaviPac setup, including one section per
instrument.

Due to the amount of data, we suggest that you use UDP/IP for this.

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 4.6 Depth
NaviScan is configured to send out the observed centre depth (depth below keel) on a
UDP/IP port. This can be read in NaviPac using a standard NMEA input:

Figure 8 Importing centre depth into NaviPac

The UDP/IP port must always be ‘5999’, and the IP address must be the local address.

4.7 Summary
NaviPac NaviScan
Pos from NaviPac
Position to NaviScan
Logging control: NaviPac old

Position (Exp.) to NaviScan Position (exp) from NaviPac

Gyro and age to NaviScan NaviPacCalcGyro

RTK height to NaviScan Bathy: Simrad

Heave correction and GPS height NaviPac Heave Cor

EIVA runline control Logging control: NaviPac

Nav Settings to NaviScan Logging control: NaviPac (passive)

Table 2 Summary of all possible integrations with NaviScan

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 5 Sharing ports between NaviPac and
NaviScan
NaviPac offers a feature to share COM ports with NaviScan (or other external receivers).
This is done by sending the time-tagged data (registered by NaviPac) out on the UDP/IP
network using the TimeBox/ATTU data format:

{
char Ident[4]; // Packet starter: always ‘EIVA’
INT32 Length; // Length of packet – remaining of entire packet
INT32 VersAndDomain; // First 16 bit version number (1)
// Last 16 bit domain id – unique time box number
INT32 InsId; // Id of instrument – version 1 COM port number
TIMEVAL time_stamp; // Timestamp of reception of telegram (first bit)
}
char data [length-16];
// The raw telegram – not really a part of
// structure – but follows right after the header

Data is kept in four-byte structures to avoid any discussions on special alignments.

Where TIMEVAL is found in the general sys/time.h header file.

In Windows it is defined as:

struct timeval {
long tv_sec; /* seconds */
long tv_usec; /* and microseconds */
};

And in UNIX/Linux:

struct timeval {
time_t tv_sec // seconds
suseconds_t tv_usec // microseconds
};

The reasons for selecting this protocol are:

• The data is delivered with time-tag as per NaviPac – thus delivered in a consistent
way
• Several programs use the ATTU (TimeBox) protocol and can use this directly

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 5.1 Setup in NaviPac
You must enable the port sharing functionality in NaviPac Configuration via Project
Settings > NaviScan > Enable port sharing.

Figure 9 Exporting shared setup from NaviPac

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
• Bathy

Port sharing can be used on same PC or on remote PC(s).

Destination
Enter the destination address of the receiver computer, eg:

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 • 10.10.1.33 For specific PC receiving the data
• 10.10.1.255 For broadcast to multiple receivers on same subnet
• 127.0.0.1 For local PC only

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

Data selector
Select whether you want NaviPac to broadcast all inputs (‘All’) or only for a selected object
(eg ‘ROV1’). The changes in setup will not be available until the next restart of navigation.

5.2 Setup in NaviScan

The drivers that have been enabled for port sharing in NaviPac can be imported into
NaviScan by using the ATTU (TimeBox) interface:

Figure 10 Imported shared setup

The key is to know the mapping between the NaviPac drivers and the NaviScan drivers, so
you select the correct driver in both programs.

The mapping can be automated in NaviScan via an import function that guides you through
this mapping.

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 Figure 11 Importing the setup

Please note that the NaviScan PC must be time-synchronised with the NaviPac PC when
using two different locations. This can either be done via interfacing of ZDA/PPS or by using
the network time server.

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