Interfaces PDF

NAVIPAC
SENSOR INTERFACING
Author: Ole Kristensen

Last update: 11/08/2014
Version: 3.9
Contents
1
Interfaces ......................................................................................................................... 4
Interface description ...................................................................................................... 4
Page 2 of 51
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
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
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
Sharing ports between NaviPac and NaviScan ......................................................... 48

5.1
Setup in NaviPac ...................................................................................................... 49
5.2
Setup in NaviScan .................................................................................................... 50
Interfaces.docx
Page 3 of 51
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
Artemis - driver 2
15
Artemis MK3
Artemis MK4
Ashtech GPS1
42
Dedicated label protocol NaviPac uses label 7, 8 and 9.

A<Azimuth><CR><LF> D<Range>CR><LF> or <Azimuth > < Range >
<Status> <CR><LF> or <Code><Range><Azimuth><CR><LF>
Ashtech NMEA GPS: GPS, Differential or RTK.

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

Edgetech 4600 (NaviScan) 59
Position information (routed via NaviScan) in binary networked format.
Fanbeam
"RrrrrrBbbbbbASF<CR><LF>" (MK II Format) or
Fanbeam - driver 2
16
nn rrrr.rr bbb.bb<CR><LF> (Standard MDL)
Free Position input
19
Any CR/LF-ended string containing position as X and Y. Items must be

delimited by a comma, semicolon, space or equals sign or defined by fixed
length.
Geco-Prakla GPS 1
Page 4 of 51
48
Standard format utilised for UKOOA data monitoring.
Instrument
EIVA ID Format
Geco-Prakla GPS 2
49
Geco-Prakla GPS 3
51
Geco-Prakla GPS 4
52
Geco-Prakla GPS 5
53
Geodimeter ATS 3D
39
GPS1 (NMEA)
44
TRINAV:
[0101xxvvvvvvvvvvwwww<time><age><latitude><longitude><height>
<UKOOA info>]<CR><LF>
GECO3:
$WGPOS,vers,no,name,gps week,
timestamp,age,lat,long,height,hdop,vdop,uv, varLat,varLon,varH,ER,fix,
ct,ct,#sat,#ref,sats used,ref id,]
Dedicated label protocol NaviPac uses label 7, 8 and 9.
Any NMEA-based GPS giving the following information:
GPS2 (NMEA)
45
$..,GGK, UTC, Date, Latitude, Longitude, Quality, NoSat, DOP,

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
GPS5 (NMEA)
58
instrument details.
To fulfil UKOOA standards, please use GSA and GST.
Hyperfix
27
Kongsberg HiPAP/APOS
<Code1><LaneId1><LaneRange1>
<Code8><LaneId8><LaneRange8><CR><LF>
Fixed station:
$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:
Kongsberg HPR 300
<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> <transducers> <Tdstatus> < KalmanWindow> <checksum>
<eot> where <eot> equals 40H
Kongsberg HPR 300P
Fixed station:
TT X N SSS CCC.C xxx.x yyy.y zzz.z qq.q nnn tt.t aaa.a<cr><lf>
Fixed station:
Kongsberg LBL
12
"$PSIMLBP,<time>,<tp_array>,<Type>,<state>,<coordinates>,<easting>,<
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.
Interfaces.docx
Page 5 of 51
Instrument
EIVA ID Format
Leica GPS2
47
Binary format Id equals 0x2:

<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
Leica Total 2 (R/B)
41
Microfix
17
Microfix II
18
Motorola MiniRanger
11
<Range4>, <Strength4> <CR><LF>
NASNetR BOAT
37
$NASPOS,<time>,BOAT,<lat>,N/S,<long>,E/W,<height><checksum>
Nautronix RS9**
14
angle.
. 21<hor. Angle> 22<vert. Angle> 31 <slant rang> <cr><lf>
<Filter> <Event> <hhmmss> <X> <Y> <Line> <Offset> <DTG> <Code1>
<Range1> <Code8> <Range8> <CR><LF>
<Filter> <Event> <hhmmss> <X> <Y> <Line> <Offset> <DTG> <Code1>
<Range1> <Code8> <Range8> <CR><LF>
<HH,MM,SS.S>, <Code1>, <Range1>, <Strength1>, , <Code4>,
Fixed station:
<Date> <Time> B:<Target> X:<delta X> Y:<delta Y> D:<depth>
E:<Error code><CR><LF>
Fixed station:
ORE Trackpoint II
TP-II:<target> <time> <heading> <bearing> <range> <X> <Y> <Z> ..

<CR><LF>
LTX: <target> <range> <bearing> <depression angle> <CR><LF>
Polartrack
Position from EdgeTech
MIDAS
13
<Range> <Bearing><Vertical bearing> <CR>
26
$GPGXY,<x>,a,<y>,b,<time>*<h><CR><LF>
POSMV Group 1
35
Racal UKOOA GPS 1
50
Remote NaviPac
20
Position and height from POSMV using network UDP/IP protocol Group
1.
[LVT**<utc><data><age><datum><latitude><longitude><height><ukooa
parameters><cr><lf>
Using the NaviPac remote format: <stx><id><easting><northing>
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:

Sercel NS230
36

$..,GGK, UTC, Date, Latitude, Longitude, Quality, NoSat, DOP,
Height<CR><LF>
Page 6 of 51
Instrument
EIVA ID Format
Syledis SB5
21
Syledis STR3/SR4
Syledis XY
Topcon GPS 1
31
Topcon GPS 2
32
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
Trimble 4000 - 2
25
<Code1> <Status1> <Partial Range1>
<Code8> <Status8>
<Partial Range8> <CR> <LF>

<hhmmss> <Code1>d1 R<Range1> . <Code8>d1 R<Range8><CR>
<LF>
X<easting> Y<northing><CR><LF> or L<Latitude>
G<Longitude><CR><LF>
Topcon NP format or standard GGA telegram.
pp.p ....<CR><LF>
Does also allow NMEA messages.
2.2 Gyro
Instrument
EIVA ID Format
NMEA1 Gyro
104
NMEA2 Gyro
105
NMEA3 Gyro
106
definition in the instrument details.
Anschutz (NMEA)
153
$..HDT, <gyro><cr><lf> or $..TSP, <gyro><cr><lf>
$..HDT, <gyro><cr><lf> or $..TSP, <gyro><cr><lf> or

$..HDM, <gyro><cr><lf>
You can change between different string layouts by using the string prefix
Binary std. 20 format:

Anschutz (Std. 20)
121
CDL RLG
128
CDL Tokimec2 Gyro
135
Constructed Direction
159
CTC Trencher Gyro
108
Digilog Gyro
103
<stx><gyro><chg><mc1><mc2><rot><status><compass><chk><eot>
H<gyro>P<pitch>R<roll><cr><lf>
Supports RLG1 (decimal degree) and RLG2 (integer in 1/100 degree).
$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 object to the objects it is assigned to.
Special CTC (SCS) data format.
,GGGG,...<cr><lf>
Does also cover Trimcube format.
HggggPpppppRrrrrr,S<CR><LF> gggg is gyro in 1/10 degree.
Heading information (routed via NaviScan) in binary networked format.
Interfaces.docx
Page 7 of 51
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>
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 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
Kongsberg HPR300P Gyro 101

Kongsberg LBL Gyro
112
Kongsberg SDP Gyro
115
KVH Gyro Track
111

"$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

sum>\r\n
%<pitch>,<roll>,<gyro><CR><LF>
$..HDT, <gyro><cr><lf> or $..TSP, <gyro><cr><lf> or
Lemkhl: NMEA HDT
154
$..HDM, <gyro><cr><lf>
You can change between different string layouts by using the string prefix
definition in the instrument details.
Page 8 of 51
aa.aa ddd.dd gggg rrrrrr pppppp<cr><lf>
MAGNUM ROV Gyro
124
Manual Gyro
122
MDL
127
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).
Fully controllable (individually for each object) manual gyro input. Does also
allow motion sensor input.
Gyro 1/10 degree.
$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>,<
Posidonia
118
cr><lf> 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 Gyro 102/103
126
Heading from POSMV network telegram (Group 102).
PRDID: Gyro
132
$PRDID,Pitch,Roll,Heading<cr><lf>
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.
ScanFish III Gyro
139
Binary PD0 format.
$SF,Fish,<gyro>,<roll>,<pitch>,<depth>,<altitude>
Note this is not a true value just rough heading indicator.
Stolt Core Vehicle.
SCV ROV Gyro
109
...HE<Gyro>...<CR><LF or
...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
Topcon RTK Gyro
125
Calculated instrument based on input from Sonardyne APS-3.

Standard NMEA $GPHDT or Topcon-specific $PTPSR,ATT message.
To change between the two, please change the string prefix in the
instrument details: $PTPSR,ATT vs $GPHDT.
Triton XL ROV Gyro
113
User defined Gyro 1
197
User defined Gyro 2
198
User defined Gyro 3
199
$PPTIROV,<gyro>,<depth>,<altitude>,<pitch>,<roll>,<CP1>,<CP2>,<Tel>,
<note><cr><lf>
Any ASCII string with either byte count or separators.
2.3 Motion sensor

Instrument
EIVA ID Format
Interfaces.docx
Page 9 of 51
CDL RLG
228
CDL Tokimec2 RP
235
CTC Trencher <Motion>
206
Supports RLG1 (decimal degree) and RLG2 (integer in 1/1000 degree).
$PTVF,pitch,roll,gyro,PR,RR,AR,Speed,yyy,Status*xx<cr><lf>
Special CTC (SCS) format.
,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>
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

$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 Format)
217
Corresponds to the IXSEA format called B&A Standard.

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
(GYROCOMPASS2)
216
$PHTRO,<x.xx>,<a>,<y.yy>,<b>*hh<CR><LF> (roll & pitch)

":aaaaaasnhhhhqnrrrrsnpppp<cr><lf>" (TSS)
Corresponds to the IXSEA format called GYROCOMPASS2.
Binary BCD data:
Kongsberg HPR300
201
$PSIMSNS, <time>, <PosItem>, <Transceiver>, <Transducer>, <Roll>,
Kongsberg HPR400
202
<Pitch>, <Heave>, <Heading>, ...,<cr><lf> or binary HPR400 format. See

dynamic positioning.
Page 10 of 51
Kongsberg LBL Motion
212
Kongsberg SDP R/P
215
"$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

sum>\r\n
KVH Gyro track
211
%<pitch>,<roll>,<gyro><CR><LF>
MAGNUM ROV R/P
224
Manual RP
222
Fully controllable (individually for each object) manual motion sensor input.
Does also allow gyro input.
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)

Plough RP ($SMD)
231
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
SCV ROV <Motion>
207
.PI<pitch> RO<roll><CR><LF or
.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
Topcon RTK pitch
225
Calculated instrument based on input from Sonardyne APS-3.

Topcon-specific $PTPSR,ATT message.
Can also be switched over to roll sensor.
Interfaces.docx
Page 11 of 51
Triton XL ROV R/P
213
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
298
299
<note><cr><lf>
Any ASCII string with either byte count or separators.
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

DVL
300
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
2
Page 12 of 51
Uses ASCII format item 7, 8 and 9.

419
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
Instrument
EIVA ID Format
Comb. Dynamic pos 2
441
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.
same vessel.
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)

$PFFIAAV (heading and attitude)
USBL on dynamic object uses Kongsberg NMEA format:
iUSBL
487
<cr><lf>
Kongsberg/Simrad APOS system expanded with initial system.
Kongsberg Hain
497
"$PSIMLBP,<time>,
,<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
<cr><lf> or binary HPR400 format. To switch between ASCII and binary
Kongsberg HiPAP/APOS 2.
HPR400, you must changes settings in the Options menu.

486
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>
Kongsberg HPR300
494
Binary BCD data:

Interfaces.docx
Page 13 of 51
Instrument
EIVA ID Format
Kongsberg HPR 300 - 2.
484
Kongsberg HPR300P
495

Up to 16 objects.
Kongsberg LBL
402
"$PSIMLBP,<time>,<tp_array>,<Type>,<state>,<coordinates>,<easting>,<
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>
$POREG,TP,HHMMSS.SS,0678,0000,0032,QC,00,00027.34,00.00,175.23
ORE BATS ($POREG)
488
,xxxxxx.xx,yyyyyy.yy,zzzzz.zz,,-01.32,-00.52,013,050.3*52
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
Plough position ($SMD)
417
$PIXSE, HSPOS (done via special PHINS IF module)

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>
Remote dynamic objects 1 421
Data from external navigation system. Three formats supported:

NaviPac: <stx><Id>,<Easting>,<Northing>, <Gyro><CR><LF>
NaviPac +: <stx><Id>,<Easting>,<Northing>, <Gyro> <CR><LF>
WinFrog:$<Id><Rest of GGA string>$<Id><Rest of HDT

string><CR><LF>
Page 14 of 51
Pseudo NMEA: $<Id>GGA <CR><LF> and $<Id>HDT.<CR><LF>

Stolt Offshore France: <stx><Id> <Easting> <Northing> <Gyro>
Instrument
EIVA ID Format
<Status><chk><CR><LF>
Exp. NaviPac: <stx><Id>,<east>,<north>,<heading> XX, <depth/height>,

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

10
430
IxSea GAPS: $PTSAG,NN,hhmmss.sss,jj,mm,aaaa,BBB,DDMM.MMMM,H,

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
Remote GPS 6
436
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>
Interfaces.docx
Page 15 of 51
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
Sonardyne LBL
Pharos/APS3
a,Ppp.p, Rrr.r,Sss.s"
400
EIVA/Pharos
="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)
489
$PSONUSBL,HHMMSS.ss,TP,C,sxxxx.xx,syyyy.yy,zzzz.zz,sxx.xx,sxx.xx,x
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.
Trimble CB460
443
Tritech Seaking R/B
405
User defined Remote

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

sensor data
%M002D012200016IP+rrrrr+bbbbbIP+nnnnn+bbbbb<CR><LF>>
431
ASCII input as lat/long, east/north, range/bearing or dx/dy/dz.
User defined Remote

Relative Pos
432
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
Page 16 of 51
EIVA ID Format
AIS targets
514
AIS tracking system based on VDM position telegrams such as:

!AIVDM,1,1,,,1P0001P01p1SUGvR1;n00@1p000,0*27
Dedicated inter-NaviPac protocol, which supports runlines, waypoints and
From Remote NaviPac control
507
anchor patterns. Please see http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/Appendix/A12_Distributed_NaviPac.pdf for

further information.
Generic CMS data to EIVA

Cat
LEM30 Height
510
508
Special ASCII anchor data string.

Defined in NaviPac but handled in EIVA Catenary.
: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

RDN50
513
New format:
$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
NMEA targets
503
$PAEST,<latitude>,<N/S>,<longitude>,<E/W>,<ID>,<range>,<M//N/K>,<be
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 =
NMEA Waypoint Location
504
WP_1 etc.
Or EIVA format:
$EIVWP,<Id>,<East>,<North>,<Name><CR><LF> Id corresponds to
special tug id 201 = Tug 1 etc.
Offset: Reson
Minewarming Sonar
No real input.
512
This is a special setup that enables NaviPac to calculate offset position for
Reson reference position. Special Reson MCM setup.
Interfaces.docx
Page 17 of 51
Binary layout
Osprey DP Waypoint
501
1:
Start 11101011
2-6:
Estimated X LSN 0.1 M
7-11:
Estimated Y LSB.1 M
.
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 Cat
509
<0x02><ASCII Data><0x17><CheckSum>
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 + PPS
505
training/NaviPac%20Manuals/16_Timing%20Principles%20in%20NaviPac.
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/onlinetraining/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
NMEA1
624
On each cycle.
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)
NMEA3
626
NMEA4
650
$..RMC Position course and speed

$..TLL Target position (for selectable object)
$..VTG Speed
$..HDG Heading
$..APA Auto-pilot information (DOL, bearing and name).
NMEA5
651
AR:CIS
681
$..XTE Auto-pilot cross track error

$..ZDA Time and date for synchronisation.
NMEA telegrams {GLL, ZDA, DBT, OSD} specially designed for Asean
Restorer DBT gives depth from either echo sounder (vessel-mounted) or
special plough water depth.
On new events:
Atlas Deso 20/25

Annotation
TX <Time> <Event> __________________<CR><LF>

630
*<CR><LF>
EM0<CR><LF>
*<CR><LF>
Autopilot (Format: EMRI

Autopilot)
Autopilot (Format: Condor
Autotrack)
Autopilot (Format:
Kongsberg DP)
Autopilot (Format: EMRI
SEM200 Autopilot)
Autopilot (Format:
Sjfartsverket LowSpeed)
605/604
Dedicated EMRI format. Sends the strings $PESSA, $PESSD and

$PESSX.
605/607
Generic autopilot special interface made for SS7.
605/608
Waypoints to external unit generic autopilot.
605/609
605/606
Balder: Output to Reson
689
Bodenseewerk gravity
646
CapJet Output
674
Dedicated EMRI format. Sends the strings $PESSA, $PESSD and

$PESSX.
$NPSJOV,Gyro,East,North,Mode,DOL,dE,dN,WP-E,WP-N<cr><lf>
Special output from Balder system to Reson.
"$BALDER,hhh.hh,G,ttt.tt,G,hhmmss.sss*<chksum><cr><lf>
date time <latitude> <longitude> <event> <file> <heading> <course>
<speed> <velocity> <speed> <depth> <trigger> <cr><lf>
<kp>,<Easting>,<Northing>,<Segment bearing (true)><cr><lf>
Interfaces.docx
Page 19 of 51
One every cycle:

CODA <easting> <northing> <kp> <dcc> <depth> <alt> <smg> <head
Coda - long format
669
line> <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>
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:
Data to ext. nav. system
643
$SFPOS,<id>,hhmmss.ss,<east>,<north>,<height>,1,<heading>,T*<chksu
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>
Data to Triton ISIS
627
<Gyro> <Event> <KP> <DOL> <Depth from USBL> <CR><LF>

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/onlinetraining/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
Ev
632
On new events:
<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>"
Dowty 200 Annotation
641
SOL/EOL:
"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
Edgetech 260
686
Edgetetch 560
687
Output of range/bearing to selected waypoint in KA-BCD(.01) format.

Annotation of Edgetech 260 recorder:
Form$GPEVT,M,Fix,<event>KP<kp>*<checksum><cr><lf>
Data: Edgetch NMEA telegrams ($GPGGU, $GPZDA, $GPVTG)
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
EIVA Dredging
900
EIVA NaviCat
694
Navigation data in ASCII format to SceneServer.

Position of bucket and rectangle of cleared area. Special ASCII telegram for
Online3D presentation.
Anchor handling data in ASCII format to SceneServer.
Interfaces.docx
Page 21 of 51
$<S/E>, <Long File Name><cr><lf>, where
EIVA runline control
649
$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 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>
ELAC {HDP4060} Data
673
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
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 $E <CR><LF>
ELAC HS 4300 Annotation 666
ELAC HydroStar {XSE
Position}
667
"$PELATM,<time> <event><easting>< northing>

<kp>,*<chksum><cr><lf>
Position data in XSE network format see relevant L-3/ELAC product
documentation.
Start Of Line:
<T>EV:eeeee TI:hh:mm:ss SOL:<Runline name><LF>
ELAC LAZ 4700

Annotation
602
End of Line:
<T>EV:eeeee TI:hh:mm:ss EOL:<Runline name><LF>
Event:
<T>EV:eeeee TI:hh:mm:ss<LF>
ELAC LAZ 4721

Annotation
EMRI $PESSX
Page 22 of 51
665
676
T<time> <event><easting>< northing> <kp> <lf>

$PESSX,<dol>,<l/r>,<brg><cr><lf>
Is output with user-defined frequency can be less than cycle time.
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>"
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:
EPC4800 Annotation
636
If long format:
<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.
EPC9800 Annotation
633
C<0x5><0x>Mark:
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 Gecos 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

height
Hugin 2001 Data
621
663
HC<heave bias>, A<age>, GPSH<raw GPS height>dZ<dynamic antenna

offset><cr><lf>
Summarise NMEA GGA and HiPAP position strings on one port.
Interfaces.docx
Page 23 of 51
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-IDs>*<check sum> {Start message}
$IIWPL,<lat>,N/S,<long>,E/W,<WP id>*<check sum> {One message per
Kongsberg DP Waypoints
639
wp.}
or (Custom id = 998)
"$PRTRC,<Track-id>,<name>,<# WPs>\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:
LL Video Overlay
647
<Date> <Time> E <Easting> N <Northing><CR><LF>

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/onlinetraining/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.
Navigation Data Server
683
NaviPac Eventing
696
$PFFO,MLTPT,<group>,<number>,<Latitude>,<N/S>,<Longitude>,<E/W>,
<Symbol>,A<cr><lf>
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

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
Odom Annotation
645
Outland Video Overlay
677
PHINS/ROVINS Aiding
901
Creates ASCII TGO file for each navigation cycle.

0x010x06E:<event>T:<hh:mm:ss>D:<dd.mm.yy>
E:<easting>N:<northing>Kp:<kp>0x04
Special Outland video overlay with special control GUI.
Position aiding as either GGA (on deck) or $PUSBA (in water). Handled via
special PHINS driver module.
Interfaces.docx
Page 25 of 51
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
info
684
R4 = Null field
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
NaviScan
Position to ArcScene
671
679
$EivaObject,Time,Age,Easting,Northing,ZValue,Kp,Dcc,Qc,Id\r\n where
EivaObject is the name of the selected offset.
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>"
Position to NaviScan
622
A.AAA gives the age of current position.

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>
RDI Current Profiler
631
On each cycle:
"$PRDID,<Pitch>,<Roll>,<Heading>\r",
Dedicated inter-NaviPac protocol, which allows distribution of runlines and
Remote NaviPac - Control
656
runline control. See http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/Appendix/A12_Distributed_NaviPac.pdf for

further information.
Page 26 of 51
Rob track {$DNRTR}
657
ROTS II Data
662
ROV Steering (Sperre)
680
$DNRTR,<direction>,<XTE>,<velocity along track>, <velocity across

track>, <track offset>, <max turnrate>*<checksum><cr><lf>
Copy of data from ROTS II (Data acquisition) plus time, position and kp.
$EIVATC,<heading>,<code>,<speed>,<code>,<offtrack>,<speederr>,<regu
lation>*hh<cr><lf>
"@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:
SCS ROV Head Up
629
<Date> <Time> <Dive number> <Heading> <Easting> <Northing> <Std.

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>,<USBLx>,<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
Header
699
<dE><dN> <brg><jd> <cr><lf>

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:
Serial data out:

E,N,Z,T,Ev,G,H
E=<Easting> N= <Northing> H=<Height> Ev=<Event> G=<Gyro>

628
D=<Depth><CR><LF>
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

SOL/EOL
688
Start and stop lines using special $NPR12 and $NPR10 messages.
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 & VEL
698
Steering info to HRP
690
$PSONDEP,<depth>,,M,*<chksum><cr><lf> and
$PSONSS,<depth>,<sound-velocity>,M, *<chksum><cr><lf>
Combination runline tracking via NMEA $NPAPB and waypoint list via
NMEA $NPRTE and $NPWPL messages.
Interfaces.docx
Page 27 of 51
Subsea7 $ACGDAT
697
Syntrak 480 Rec.
655
$ACGDAT,ID,PID,time,east,north,height,gyro,roll,pitch,bathy,age,quality,tim
e-depth,depth, timedaq1, daq1,timedaq2,daq2*<chksum><cr><lf>
Date/Time Ev: <event> E:<east> N:<north>D:<depth> Gy:<gyro>
SMG:<smg> CMG:<cmg> CVG:<convergence><cr><lf>
In Rig Move mode special anchor/tug output to external CMS. See
TMS to CMS
660
http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/Appendix/A11_RIG_Move.pdf for further

information.
Trackpoint II Depth to
668
User defined output 1
611
612
613
614
615
616
617
618
619
620
Depth information to the USBL system to improve X/Y calculation:

DEP <depth><CR><LF>
Free ASCII output. See http://download.eiva.dk/onlinetraining/NaviPac%20Manuals/Appendix/A1_User%20defined%20Outputs.p

df
for further details.
Start of program:
Synchronise time: TIM dd:mm:yy hh:mm:ss:<CR>
All events:
Event marker: "EVT<CR>"
Waverly 3700 Annotation
640
SOL/EOL:
"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/onlinetraining/NaviPac%20Manuals/Appendix/A11_RIG_Move.pdf.
$EIVWP,<Id>,<East>,<North>,<Name><CR><LF> Id is generated by the
Waypoint control
652
system, as it uses 200 + remote id, where remote id is the identification

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
AMT Dissolved Oxygen
798
AMT PH
799
AR CIN Port
755
AR CIN Stbd
756
AR PL: Depth
753
AR PL: Force
754
Select up to three ranges from the binary PD0 format (four beams).
Interfaced via AD Converter to simple ASCII string. NaviPac stores raw
voltage, oxygen percentage and concentration.
voltage and calculated PH.
$PABBCIN,P-spd,S-Spd,P-count,S-count,P-tension,S-tension
755: Port side data
756: Starboard side data
$PATLPLO,pitch,roll,heading,port skid,stb skid,trench dpt,burial dpt,water
depth,force,tension
752: Port skid, starboard skid
753: Trench depth, burial depth, water depth
754: Force, tension
AR PL: Skid
752
Atlas Deso 25
700
Benthos PSA 900
729
BenthosSIS1000
740
Note: PATLPLO and PABBCIN strings comes on the same input but have
to be split on two physical ports in NaviPac.
DA<Depth> <CR><LF> or
DB<Depth> <CR><LF>
"Ddd.dd Ttt.tt Rrr.rr\r\n"
Depth, CTD and magnetometer information from the SIS1000 telemetry
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
CapJet In 2
745
Carousel data
772
Caterpillar Data (JD)
793
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.
CYCLOPS-7 (ScanFish)
797
DGH 2611 Pulse counter
730
Dist>,<speed1>,<speed2><cr><lf>
<gyro>,<pitch>,<roll>,<sword left>,<sword right>,<hor.
Dist>,<speed1>,<speed2><cr><lf>
XXX,Distance,m/Hr,m/s,Tension<CR><LF>
$CAPIASH,moment,tension,length,diameter,status,alarm,alarm,temp1,tem
p2,temp3,temp4,ttemp1,ttemp2,speed,pressure*chk<cr><lf>

voltage and scaled data.
pppppp<cr><lf>
Pulse corresponds to speed in nautical miles (1 NM = 20,000)
Interfaces.docx
Page 29 of 51
Special calculated instrument based on Digicourse and Remote GPS.

Digicourse Feather Angle
733
Channel 1: Feather angle based on Digicourse

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

pressure must be in PSI.
776
FORMAT4:llllll.l,
lbf,pppppp.p,
lbf<cr>
Special calculated driver for statistics on distance shooting:

Distance shoot info
763
1: Distance between events

2: Time to next event
3: Time between last two events
<#>:<id1>,<tension count1>,....<cr><lf>
Eilersen Tension
788
ELAC HS4300
738
ELAC LAZ 4700
707
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>
Free Acquisition
855
GSSI Georadar
722
HiPAP Travel Time
768
HydroC CO2
794
Special 10-byte binary starting with #. Measures CO2.
Innovator 3
747
Innovatum Tracker
758
Selectable eight parameters from 64- og 80-character Innovatum string.
$PELACSDS,<location>,<depth>,<cr><lf> NaviPac supports Location

S (channel 1), P (2) and B (3).
DDDD<unit><cr><lf>
Where <unit> is m, dm or cm
Reads up to 20 items from ASCII string (byte count, comma, space, colon,
semicolon or tab separated).
<STX>#<Scan number><ETX>
The instrument is polled once each cycle by sending a # to the unit.
<travel time><cr><lf>
Special calculated item for iUSBL streamer integration.

iUSBL QC
787
a) Streamer pitch
b) Stream yaw
c) Streamer length
JD Angle Measurement
Page 30 of 51
792
$ANGLE, count<cr>><lf>
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
MAG G-880 Procesed
723
channel 1, difference between actual reading and old reading (samples) as

channel 2, and difference between actual reading and a running average
(defined via gain) as channel 3.
MAGNUM ROV Data
748
Mesotech scanner
721
MiniCon 30
857
<L/R> <Angle>, <Range><CR><LF> Uses a global defined sound

velocity.
Calculated sword depth based on angle.
@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
NaviPac (remote)
734
NaviSound 2000
702
Calculated instrument based on Remote NaviPac expanded format. One

data acquisition channel.
"*..<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
NMEA Wind Sensor
(MWV)
NMEA Wind (MWV)
Processed
739
$..VTG, $..VHW and $..VBW standard NMEA format.
757
$..MWV,<dir>,<ref>,<spd>,<uni>,<sta>,*<chk>,<cr><,lf>
767: Processed.
767
Octans data frame
731
Odim Winch Control
786
$..HRP, <number of turns>,<xxx>\r\n

PLCWNE<Time><Length><Tension> ...
Only first data set read by NaviPac.
Interfaces.docx
Page 31 of 51
<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/onlinetraining/NaviPac%20Manuals/Various/OS9.pdf.
Plough as laid ($SMD)
769
Plough data ($SMD)
771

Angle<CR><LF>
Plough variables ($SMD)
770
PS 30
856
RDI Current
728
Reson Deso Exp.
749
Bathy depth and pressure.

S<Mantisse>E<Exponent>T<Temp><cr><lf>
Binary RDI PD0 format.
DA<Depth> <CR><LF>
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/onlinetraining/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
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 Data
760
ScanFish III Data
863
SCV ROV <Depth>
714
"N<id> C<cond> T<temp> P<pres> c<sv> S<salinity><cr><,lf>"
ScanFish II.
User-selectable fields in comma-separated string.
ScanFish III.
DE<depth> AL<Altitude><CR><LF> or
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
Simrad EA500
713
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.
Special A/D Converter
742
Standard 20
743
Steinco AMS
765
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>
Tritech SCU3 bathy
718
<Depth><CR><LF>
D<channel>,<Time>,<Depth>,<Strength>,<Transducer>,<Slope>CR><CR
><LF>
Voltage information from A/D Converter box (ICP DAS I-7012 or similar).
Polled by #01<cr> answer ><channel 1><channel 2><cr>
Binary std. 20 format:
<stx><gyro><chg><mc1><mc2><rot><status><compass><chk><eot>
Special Steinco format.
"<0x02><ASCII Data><0x17><CheckSum>"
Bathymetric system reply data in continuous ASCII format: WINSON

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
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
711
712
773
774
Any <CR><LF> ended string with up to three items.
Interfaces.docx
Page 33 of 51
858
859
860
861
862
Valeport Current Meter
853
<speed X><tab><speedy><cr><lf>
NaviPac supports metres per second, knots and millimetres per second.
Valeport Current Meter

Process
Valeport Proc 1
853 gives raw measurements and 854 absolute measurements by

854
780
combining with vehicle data.

(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> < 1> <CHL> <2> <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
pressure
Page 34 of 51
724
Sample:
01 Water level
4.32 cm
02 Water temp.
11.12 Deg.C
03 Air pressure
1015.69 hPa
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.
Interfaces.docx
Page 35 of 51
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
Page 36 of 51
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
Interfaces.docx
Page 37 of 51
Setting up the HiPAP drivers in NaviPac Configuration from startup can be done easily by
using the clone function:
1.
2.
3.
4.
5.
Define the primary driver

Set Transceiver Id to the first number (eg 1)
Add objects
Right click on instrument and select Clone to second Kongsberg system
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
Page 38 of 51
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/onlinetraining/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
Interfaces.docx
Page 39 of 51
$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
3.5.2
$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.
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
Page 40 of 51
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.
Interfaces.docx
Page 41 of 51
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.
Page 42 of 51
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 Helmsmans 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 RTKbased gyro, and you can then send the result to NaviScan for gyro correction.
Interfaces.docx
Page 43 of 51
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:
Heading (degrees)
Speed
(m/s)
kn
45
90
135
180
225
270
315
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
1.9
-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
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
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
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
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
Page 44 of 51
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
Interfaces.docx
Page 45 of 51
$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
$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
.
$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.
Page 46 of 51
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
Position to NaviScan
NaviScan
Pos from NaviPac
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
Interfaces.docx
Page 47 of 51
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)
INT32
InsId;
// Id of instrument version 1 COM port number
TIMEVAL
time_stamp;
// Timestamp of reception of telegram (first bit)
// Last 16 bit domain id unique time box number
}
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:
Page 48 of 51
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
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
Interfaces.docx
Page 49 of 51
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.
Page 50 of 51
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.
Interfaces.docx
Page 51 of 51

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NAVIPAC

Author: Ole Kristensen

Interface description ...................................................................................................... 4

Motion sensor ............................................................................................................. 9

Doppler log ............................................................................................................... 12

Dynamic positioning ................................................................................................. 12

Special input ............................................................................................................. 16

Data output ............................................................................................................... 19

Data acquisition ........................................................................................................ 29

Special interfaces ......................................................................................................... 35

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

Dual HiPAP .............................................................................................................. 36

Dual Transceiver HiPAP .......................................................................................... 37

Nautronix NASNet .................................................................................................... 39

Specification from Nautronix .............................................................................. 39

Sample from Nautronix ...................................................................................... 40

Use in NaviPac .................................................................................................. 41

Integration with NaviScan ............................................................................................ 41

Recording control ..................................................................................................... 43

GPS-based height .................................................................................................... 43

Gyro correction ......................................................................................................... 43

Dual RTK heading correction............................................................................. 43

Correction for speed error.................................................................................. 44

Expanded setup ....................................................................................................... 45

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

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

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

Dedicated label protocol NaviPac uses label 7, 8 and 9.

Ashtech NMEA GPS: GPS, Differential or RTK.

DO NOT USE FOR STANDARD GPS DRIVERS AS BEHAVIOUR IS

C&C TRIN format or standard GGA telegram.

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

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

nn rrrr.rr bbb.bb<CR><LF> (Standard MDL)

Free Position input

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

Standard format utilised for UKOOA data monitoring.

$..,GGK, UTC, Date, Latitude, Longitude, Quality, NoSat, DOP,

$RTLLQ,hhmmss.s,mmddyy, Easting, m, Northing, m, Quality, NoSat,

NaviPac is set up to use $GPGAA as default. If the instrument outputs

Kongsberg HPR 300

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

Kongsberg HPR 300P

Leica MC1000 system: Can also use ordinary GGA message.

Binary format Id equals 0x2:

Leica Total 2 (R/B)

<Range4>, <Strength4> <CR><LF>

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

<Range> <Bearing><Vertical bearing> <CR>

Racal UKOOA GPS 1

Any NMEA-based GPS giving the following information:

Antenna Alt., Unit, Geoidal separation, Unit, Age, Diff ID <CR><LF>

Topcon Total Station 1

Q<range>m<Vertical angle><Horizontal angle>g...<cr><lf>.

Topcon Total Station 2

Angle in gons or degrees.

"ddddddd tt:tt:ttMdd:mm.mmmmmmN ddd:mm.mmmmmmE hhhhhh.hhh

<Code1> <Status1> <Partial Range1>