NAVIPAC

SENSOR INTERFACING

Author: Ole Kristensen

Last update: 11/08/2014
Version: 3.9
 Contents

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

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

2.2 Gyro ............................................................................................................................ 7
2.3 Motion sensor ............................................................................................................. 9
2.4 Doppler log ............................................................................................................... 12
2.5 Dynamic positioning ................................................................................................. 12
2.6 Special input ............................................................................................................. 16
2.7 Data output ............................................................................................................... 19
2.8 Data acquisition ........................................................................................................ 29
3 Special interfaces ......................................................................................................... 35

3.1 LEM30 Height ........................................................................................................... 35

3.2 Dual HiPAP .............................................................................................................. 36
3.3 Dual Transceiver HiPAP .......................................................................................... 37
3.4 PHINS/ROVINS ........................................................................................................ 38
3.5 Nautronix NASNet .................................................................................................... 39
3.5.1 Specification from Nautronix .............................................................................. 39
3.5.2 Sample from Nautronix ...................................................................................... 40
3.5.3 Use in NaviPac .................................................................................................. 41
4 Integration with NaviScan ............................................................................................ 41

4.1 Position ..................................................................................................................... 43

4.2 Recording control ..................................................................................................... 43
4.3 GPS-based height .................................................................................................... 43
4.4 Gyro correction ......................................................................................................... 43
4.4.1 Dual RTK heading correction............................................................................. 43
4.4.2 Correction for speed error.................................................................................. 44
4.5 Expanded setup ....................................................................................................... 45
4.6 Depth ........................................................................................................................ 47
4.7 Summary .................................................................................................................. 47

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 5 Sharing ports between NaviPac and NaviScan ......................................................... 48

5.1 Setup in NaviPac ...................................................................................................... 49

5.2 Setup in NaviScan .................................................................................................... 50

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 (“Inst<nnn>.dll”). For a detailed list of instrument numbers, please
refer to the file instype.h.

2 Interface description

2.1 Surface navigation

Instrument EIVA ID Format
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 (NaviScan) 59 Position information (routed via NaviScan) in binary networked format.

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

Free Position input 19 delimited 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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 Instrument EIVA ID Format

Geco-Prakla GPS 2 49 TRINAV:

“[0101xxvvvvvvvvvvwwww<time><age><latitude><longitude><height>
Geco-Prakla GPS 3 51 <UKOOA info>]<CR><LF>”
GECO3:
Geco-Prakla GPS 4 52
$WGPOS,vers,no,name,gps week,
timestamp,age,lat,long,height,hdop,vdop,uv, varLat,varLon,varH,ER,fix,
Geco-Prakla GPS 5 53
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 HiPAP/APOS 4 “$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...
<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]>
Kongsberg HPR 300 2
<Z_D[3]> <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>,<
Kongsberg LBL 12
northing>,…\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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 Instrument EIVA ID Format
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>,

Motorola MiniRanger 11 <Range4>, <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 EdgeTech

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

Position and height from POSMV – using network UDP/IP protocol Group
POSMV Group 1 35
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+0012.3111.122
Sea-diff / Skyfix 28 2.2111.1222.233344455.566.677889991122333445566677889991234567
891111 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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 Instrument EIVA ID Format
“<Code1> … <Status1> <Partial Range1> … <Code8> … <Status8>
Syledis SB5 21
<Partial Range8> <CR> <LF>”

“<hhmmss> <Code1>d1 R<Range1> …. <Code8>d1 R<Range8><CR>

Syledis STR3/SR4 5
<LF>”

“X<easting> Y<northing><CR><LF>” or “L<Latitude>

Syledis XY 6
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
Instrument EIVA ID Format
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
Constructed Direction 159
base 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 (NaviScan) 136 Heading information (routed via NaviScan) in binary networked format.

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

Gyro calculated by the use of two different located RTK GPS antennas.
Gyro from RTK GPS 155 Should 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>

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

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

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

Binary BCD data:

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

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

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

“$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>”

“$..HDT, <gyro><cr><lf>” or “$..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.

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

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).

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 $SMD,Pitch,Roll,Heading,Tow Force,Burial Depth,Tension,Port Skid
Plough Gyro ($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><lf> or
Posidonia 118
$PTSAZ,#NNNNN,HHMMSS.SSS,JJ,MM,AAAA,#PTSAW,R,C.CCC,R.RR
R,T.TTT,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 APS3 119 Calculated instrument based on input from Sonardyne APS-3.

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>,
Triton XL ROV Gyro 113
<note><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

Instrument EIVA ID Format

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 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>

Special CTC (SCS) format.

CTC Trencher <Motion> 206
“,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 (NaviScan) 236 Motion information (routed via NaviScan) in binary networked format.

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

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)
Corresponds to the IXSEA format called B&A Standard.
Ixsea RPH (B&A Format) 217

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

$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]>
Kongsberg HPR300 201 <Z_D[3]> <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.

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

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

Kongsberg SDP R/P 215
sum>\r\n”

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

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

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

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>

$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.RR
R,T.TTT,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.
Seatex MRU 5/6 203 As default, 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 APS3 219 Calculated instrument based on input from Sonardyne APS-3.

Topcon-specific $PTPSR,ATT message.

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

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 “$PPTIROV,<gyro>,<depth>,<altitude>,<pitch>,<roll>,<CP1>,<CP2>,<Tel>,
Triton XL ROV R/P 213
<note><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

2.4 Doppler log

Instrument EIVA ID Format

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

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

RDI Workhorse Navigator

300
DVL

Note that the definition is saved in NaviPac.INI and will be global for all RDI
DVLS.

2.5 Dynamic positioning

Instrument EIVA ID Format
AGA/Leica from fixed point 410

AGA/Leica from fixed point Uses ASCII format item 7, 8 and 9.

419
2

AGA/Leica from vessel 409 Uses ASCII format item 7, 8 and 9.

Comb. Dynamic pos 1 440 Calculated instrument, which allows multiple transponders/antennas on

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 Instrument EIVA ID Format
Comb. Dynamic pos 2 441 same vessel.

Comb. Dynamic pos 3 481

Comb. Dynamic pos 4 483

Comb. Dynamic pos 5 485

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

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

Fanbeam - remote 407 Positioning remote vessel using Fanbeam or Artemis. Selection between
Fanbeam - remote 2 414 various standard formats.

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.
Esters PMO 2160: Binary data – Set “<10:16,1,10,0,1,240,0,16,3,4>” as
Generic Cable Counter 2 413
start 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)

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 HiPAP/APOS 496 “$PSIMSSB,hhmmss.ss,tp,Status,error,coord,orientation,sw,x,y,depth, ...

<cr><lf>” or binary HPR400 format. To switch between ASCII and binary
Kongsberg HiPAP/APOS - HPR400, you must changes settings in the Options menu.
486
2. If HiPAP is operated in dual mode, then it also reads the “$PSIMSSD,
hhmmss.ss, tp, Status, error, Master/slave, x, y ,depth, ... <cr><lf>”

Binary BCD data:

Kongsberg HPR300 494
< head> <roll[2]> <pitch[2]> <course[2]> <tp_id> <X_R[3]> <Y_B[3]>

Interfaces.docx
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 Instrument EIVA ID Format
<Z_D[3]> <stat> <timeout> < TPs[3]> < TDAngle[2]> < test> <type>
Kongsberg HPR 300 - 2. 484 <specification> <transducers> <Tdstatus> < KalmanWindow> <checksum>
<eot> where <eot> 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>,<
Kongsberg LBL 402
northing>,…\r\n"
Coordinates must be ‘E’.

Laser meter:
Leica autotrack 1 403 We use parameter 21 (horizontal angle), 22 (vertical angle) and 31 (slant
range).

Laser meter:
Leica autotrack 2 404 We use parameter 21 (horizontal angle), 22 (vertical angle) and 31 (slant
range).

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

NASNetR 416 $NASPOS,<time>,<TP: ROV1>,<lat>,N/S,<long>,E/W,<height>*4F

Nautronix RS9 - 2. 482 “<Date> <Time> B:<Target> X:<delta X> Y:<delta Y> D:<depth> …
Nautronix RS9** <USBL> 492 E:<Error code><CR><LF>”

$POREG,TP,HHMMSS.SS,0678,0000,0032,QC,00,00027.34,00.00,175.23
,xxxxxx.xx,yyyyyy.yy,zzzzz.zz,,-01.32,-00.52,013,050.3*52
ORE BATS ($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 Position 444 $PIXSE, HSPOS (done via special PHINS IF module)

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

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

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

Data from external navigation system. Three formats supported:

Remote dynamic objects 1 421
NaviPac: “<stx><Id>,<Easting>,<Northing>, <Gyro><CR><LF>”
NaviPac +: “<stx><Id>,<Easting>,<Northing>, <Gyro> …<CR><LF>”
Remote dynamic objects 2 422 WinFrog:”$<Id><Rest of GGA string>$<Id><Rest of HDT
string><CR><LF>”
Pseudo NMEA: “$<Id>GGA …<CR><LF>” and “$<Id>HDT….<CR><LF>”
Remote dynamic objects 3 423
Stolt Offshore France: “<stx><Id> <Easting> <Northing> <Gyro>

Page 14 of 51
 Instrument EIVA ID Format
<Status><chk><CR><LF>”
Remote dynamic objects 4 424
Exp. NaviPac: <stx><Id>,<east>,<north>,<heading> XX, <depth/height>,
<std.dev>,<roll>,<pitch>,<heave>,<altitude>,<age> *<checksum>
Remote dynamic objects 5 425 (To be able to use gyro, motion data and data acquisition, these must be
defined as separate calculated instruments (gyro from remote NaviPac,
etc)).
Remote dynamic objects 6 426
Apache:
$SFPOS,<id>,hhmmss.ss,<east>,<north>,<height>,1,<heading>,T*<chksu
Remote dynamic objects 7 427 m>
Tracs-TDMA:
$PRPS,POSN,sss,y,cc,hhmmss,ddmm.mmmm,N,dddmm.mmmm,E,
Remote dynamic objects 8 428
?hhhh.h,vvv.v,bbb.b,x,m,d,aa,hh,ss,rrrr *hh <cr><lf>
IMCA Position: $__TEL,PH, vessel, hhmmss.ss,Lat,Long,Hgt,Sd,Source,
Remote dynamic objects 9 429 Status, heading<cr><lf>
Century Subsea Spar: %0,T@AN|,$HEHDT …. $1GPGGA … <cr><lf>
Remote dynamic objects IxSea GAPS: $PTSAG,NN,hhmmss.sss,jj,mm,aaaa,BBB,DDMM.MMMM,H,
430
10 DDDMM.MMMM,D,A,MMMM.M,A,MMMM.M*ck

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 <time>< Buoy ID><Range><Bearing><Altitude><#Sat><dop>….<cr><lf>

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 Instrument EIVA ID Format
Geoconsult ="FXT;time,E east, N,north,D depth,A error,H heading,T id"
Stolt Offshore 1="FXT;delay,TARGET SINGL TRAK,E east, N north,D
depth,A error,H heading"
Stolt Offshore
2="FXT;ttttt.tt,m,Eeeeeee.ee,Nnnnnnnn.nn,Ddddd.dd,Axx.xx,Hhhh.h"
Stolt Offshore
3="FXT;ttttt.tt,m,Eeeeeee.ee,Nnnnnnnn.nn,Ddddd.dd,Axx.xx,Hhhh.hZaaa.a
a,Ppp.p, Rrr.r,Sss.s"
Sonardyne LBL
400 EIVA/Pharos
Pharos/APS3
="FXTNP;ID,HH:MM:SS.ss,LL.LL,Eeeeeeeee.ee,Nnnnnnnnn.nn,Dddddd.d
d, Saaa.aa,Maaa.aa,Taaa.aa,Paaa.aa,Hhhh.h<cr><lf>"
On reception of ”FXT<cr><lf>” it outputs the following information on the
same port:
”FXT;hh:mm:ss,E<easting>,N<northing>,H<heading>,S<std.dev><cr><lf>”

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,x

489
($PSONUSBL) xx.xx, xx.x*hhCRLF

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

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

Trimble CB460 443
sensor data

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

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.

Instrument EIVA ID Format

Page 16 of 51
 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

From Remote NaviPac - anchor 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 EIVA Special ASCII anchor data string.

510
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 Kongsberg New format:
513
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>”

$RATTM,<id>,<range>,<bearing>,<T/R>,<smg>,<cmg>,<T/R>,<CPA>,<tC
PA>,<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>,<be
NMEA targets 503
aring>,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
>,<name>,<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 Location 504
Or EIVA format:
$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
Minewarming Sonar
Reson reference position. Special Reson MCM setup.

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 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.

<0x02><ASCII Data><0x17><CheckSum>
Steinco data to EIVA Cat 509
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-
training/NaviPac%20Manuals/16_Timing%20Principles%20in%20NaviPac.
Trimble UTC time + PPS 505
pdf for details on how to use UTC timing.
Note: If PPS is used, NaviPac will automatically synchronise the PC clock
with GPS time.

“$..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.
ZDA time + PPS 500 pdf
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 18 of 51
 2.7 Data output
Instrument EIVA ID Format
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
AR:CIS 681 Restorer – 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: EMRI Dedicated EMRI format. Sends the strings $PESSA, $PESSD and
605/604
Autopilot) $PESSX.

Autopilot (Format: Condor

605/607 Generic autopilot special interface made for SS7.
Autotrack)

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

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

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

Special output from Balder system to Reson.

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

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

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

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

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 One every cycle:
CODA <easting> <northing> <kp> <dcc> <depth> <alt> <smg> <head
line> <fix> <SOS> <delay> <nav time>
Coda - long format 669

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>
Coda Data 661 <Depth from USBL> <roll> <pitch> <depth> <altitude><CR><LF>

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

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:
$SFPOS,<id>,hhmmss.ss,<east>,<north>,<height>,1,<heading>,T*<chksu
Data to ext. nav. system 643
m>
IMCA: $..TEL,PH,<name>,<lat>,<long>,<Hgt>,<Sd>,<source>,<Status>,<h
eading><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 20 of 51
 Annotation on new event:
Datasonics ChirpII Data 634 E <Date> <Time> <Event> <Position 1> <Position 2> <Gyro> <CMG>
<SMG> <CR><LF>

Delph 1 Annotation: T E N On new events:

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

DigiSHOT 693 Special ASCII output in relation to distance shooting.

DOF SubSea Pipe Inspect 692 Special ASCII output for pipeline inspection.

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
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 ”$<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>

EIVA runline control 649
IF=<Inverse 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)
KK Heading 100 and 10ths
ELAC {HDP4060} Data 673
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>

"$PELATM,<time> <event><easting>< northing>

ELAC HS 4300 Annotation 666
<kp>,*<chksum><cr><lf>”

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

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

Page 22 of 51
 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

Gyro to NaviScan TEST 670 heading calculated on dual RTK.
” #NBHDT,ggg.gg,T,aaa.aaa,S\r\n"

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

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

Interfaces.docx
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 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><sp><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}
$IIWPL,<lat>,N/S,<long>,E/W,<WP id>*<check sum> {One message per
wp.}
Kongsberg DP Waypoints 639
or (Custom id = 998)
"$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
Log OS-9 Data 659 data. See http://download.eiva.dk/online-
training/NaviPac%20Manuals/Various/OS9.pdf for further information.

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

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 24 of 51
 ”$<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>

Nav Settings to NaviScan 672 IF=<Inverse 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"
See Section 4.5 ‘Expanded setup’ in this document for details.

$PFFO,MLTPT,<group>,<number>,<Latitude>,<N/S>,<Longitude>,<E/W>,
Navigation Data Server 683
<Symbol>,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,R20<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
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 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 & Anchor R4 = Null field
684
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.

”Vessel_ID, DATE_TIME, Easting, Northing, UTMZone, Depth,

Position to ArcScene 679
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.

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

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

Rob track {$DNRTR} 657
track>, <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>,<regu
ROV Steering (Sperre) 680
lation>*hh<cr><lf>

Page 26 of 51
 "@DDDD.DDD A00.00<CR><LF>"
RTK Height to NaviScan 623 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
SCS ROV Log2 638 number><cr><lf>”
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><d
epth><source-lat><source-long><gyro><CMG><SMG>000<east><north>
Seismic Navigation <dE><dN> <brg><jd> <cr><lf>
699
Header ION:
$1<length><revision><status><shottime>UTC<event><line><lat><long><d
epth><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.

$PSONDEP,<depth>,,M,*<chksum><cr><lf> and
Sonardyne DEP & VEL 698
$PSONSS,<depth>,<sound-velocity>,M, *<chksum><cr><lf>

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

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

“Date/Time Ev: <event> E:<east> N:<north>D:<depth> “Gy:<gyro>

Syntrak 480 Rec. 655
SMG:<smg> 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.

Depth information to the USBL system to improve X/Y calculation:

Trackpoint II – Depth to 668
”DEP <depth><CR><LF>”

User defined output 1 611

User defined output 2 612

User defined output 3 613

User defined output 4 614

Free ASCII output. See http://download.eiva.dk/online-
User defined output 5 615
training/NaviPac%20Manuals/Appendix/A1_User%20defined%20Outputs.p
User defined output 6 616 df
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>"
SOL/EOL:
Waverly 3700 Annotation 640
"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
Waypoint control 652
number 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 28 of 51
 2.8 Data acquisition
Instrument EIVA ID Format
ADCP Depth(s) 746 Select up to three ranges from the binary PD0 format (four beams).

Interfaced via AD Converter to simple ASCII string. NaviPac stores raw

AMT Dissolved Oxygen 798
voltage, oxygen percentage and concentration.

Interfaced via AD Converter to simple ASCII string. NaviPac stores raw

AMT PH 799
voltage 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
AR PL: Skid 752
to 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

BenthosSIS1000 740
output.
” Range, Depth, Altitude, SV, Mag nT, Mag Signal, Temp,
Benthos SIS1000 (CTD) 741 Conductivity<CR><LF>”.
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,tem
Caterpillar Data (JD) 793
p2,temp3,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 <Depth> 715 CTC (SCS) Trencher information.

Interfaced via AD Converter to simple ASCII string. NaviPac stores raw

CYCLOPS-7 (ScanFish) 797
voltage and scaled data.

“pppppp<cr><lf>”
DGH 2611 Pulse counter 730
Pulse corresponds to speed in nautical miles (1 NM = 20,000)

Interfaces.docx
Page 29 of 51
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 Special calculated instrument based on Digicourse and Remote GPS.
Channel 1: Feather angle based on Digicourse
Digicourse Feather Angle 733
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
Digiquartz Depth
779 will be compensated for barometer reading if present. Note: The incoming
(Compensated)
pressure 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

ELAC HS4300 738
S (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.

Fahrentholz 790 ddddd,ddddd<cr><lf>

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, ...
HiPAP Travel Time 768
<travel 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.

Special calculated item for iUSBL streamer integration.

a) Streamer pitch
iUSBL QC 787
b) Stream yaw
c) Streamer length

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

Page 30 of 51
 LDM 41/42 775 <distance><cr><lf>

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.
MAG G-866 726 Channel 1: Raw reading C1
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 as channel 1, AD
Channel number 2, and altitude channel 3. Depth will be stored as local
bathy.
For the processed magnetometer (723), we have the magnetometer as
channel 1, difference between actual reading and old reading (samples) as
MAG G-880 Procesed 723
channel 2, and difference between actual reading and a running average
(defined via gain) as channel 3.

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

“<L/R> <Angle>, <Range><CR><LF>” Uses a global defined sound

Mesotech scanner 721
velocity.

Calculated sword depth based on angle.

MiniCon 30 857 @WMNffffffffffsssaaaaaaaaaaaaaaaaaaaaaaaaqqqrrtttoooooooooovvcc*<
CR>

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

Calculated instrument based on Remote NaviPac – expanded format. One

NaviPac (remote) 734
data 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.

Interfaces.docx
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 “ <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 ($SMD) 770

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>

Dedicated ROTS format from Geoconsult – see

ROTS I 727 http://download.eiva.dk/online-
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<C
R>

Page 32 of 51
 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
Simrad EA500 713
><LF>”

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

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

Voltage information from A/D Converter box (ICP DAS I-7012 or similar).
Special A/D Converter 742
Polled 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

Tritech SCU3 bathy 718 processed or raw. Please note that the two formats refer to different offsets,
and you have 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>,
Triton XL ROV D/A 725
<note><cr><lf>”

":TQaaaa bbb ccc ddd111111222222333333444444 XX\r\n" or

TSS 340/350 750 ":SQsLLLL VVVV AAAAsCCCCsSSSs1111s2222s3333s4444s5555s6666
qq\r\n"
750: dX,dZ,DOB
751: Average strength, S1, S2
TSS 340/350 (signal str) 751 The average signal strength is calculated as the average value of the two
lateral and the two vertical signals. The values are in millivolts.

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

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 Any <CR><LF> ended string with up to three items.

User defined input 4 773

User defined input 5 774

Interfaces.docx
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 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

“<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
854
Process combining 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
Valeport Proc 2 781
Barometric Pressure IPS 1 IPS 2 IPS 3 IPS 4 IPS 1 Depth IPS 2 Depth IPS
3 Depth IPS 4 Depth <CR><LF>

Valeport Raw 1 782 Sound speed<tab> Pressure<tab>Temperature<tab>depth<tab>

Valeport Raw 2 783 Conductivity

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

Page 34 of 51
 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

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 But in online displays, the modified codes are visible:

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:

Figure 4 Selection of Transceiver Id

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 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 objects
4. Right click on instrument and select Clone to second Kongsberg system
5. NaviPac generates a copy of the first driver with new Transceiver Id and the same
list of objects

If you use the clone function at a later stage, you must individually add objects to the new
cloned driver by using all objects on driver 1 as the reference.

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 3.8.4 and onwards include a special driver to the PHINS/ROVINS system.

Figure 5 PHINS/ROVINS data flow

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 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)

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).

The NASNet system outputs position and data telegrams as described in Sections 3.5.1
‘Specification from Nautronix’ to 3.5.3 ‘Use in NaviPac’ below.

3.5.1 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.

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.

3.5.2 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

3.5.3 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
 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.

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.

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 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

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.

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 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.

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.

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 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

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

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 4.5 Expanded setup
The data output Nav Settings to NaviScan:

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

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 $CNF003: NumberOfSensors=16

$CNF004: VesselName=MyVessel

$CNF005: [Instrument00]

$CNF006: Type=0.42 Surface Navigation

$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 Options >
Global Parameters > 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:

 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

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 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 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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