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Vector G2 & G2B GPS Compasses

1. 55 Chapter 1 Introduction Chapter 1 Introduction Overview Parts List Chapter 1 Introduction Overview Figure 1 1 G2 side view Note When referring to both the G2 GPS Satellite Compass and the G2B GPS Satellite Compass this manual uses the term G2 B When referring to either product this manual uses either G2 or G2B respectively The G2 B is a complete GPS Satellite Compass and positioning system in a single enclosure that requires only one power data cable connection With its NMEA 2000 support and ease of installation the G2 B is the perfect solution for marine applications The G2 B is an integrated system that houses the following Dual GPS antennas DGPS beacon module and H field beacon antenna G2B only Power supply Single axis gyro Tilt sensor on each axis X and Y axes The gyro and tilt sensors are present to improve system performance and to provide backup heading information in the event that a GPS heading is not available due to signal blockage Note The G2 GPS Satellite Compass is identical to the G2B GPS Satellite Compass with the exception that it does not contain a DGPS beacon module and antenna If you purchased the G2 GPS Satellite Compass disregard the sections of this manual that discuss the beacon signal receiver operation and implications to installation relating to the beacon signal The G2 GPS Satellite Compass supports multiple R
2. 22 Chapter 2 Installation Powering the G2 B Power Considerations For best performance use a clean and continuous power supply The G2 B power supply features reverse polarity protection but will not operate with reverse polarity See Table B 3 on page 47 for complete power specifications Connecting to a Power Source Note This section refers to powering the unit via serial connection To power the unit via NMEA 2000 connection follow the standard procedure for powering up via NMEA 2000 Before you power up the G2 B you must terminate the wires of the power cable as required There are a variety of power connectors and terminals on the market from which to choose depending on your specific requirements WWP UVM EH Do not apply a voltage higher than 36 VDC This will damage the receiver and void the warranty To interface the G2 B power cable to the power source Connect the red wire of the cable s power input to DC positive Connect the black wire of the cable s power input to DC negative The G2 B will start when an acceptable voltage is applied to the power leads of the extension cable Electrical Isolation The G2 B s power supply is isolated from the communication lines and the PC ABS plastic enclosure isolates the electronics mechanically from the vessel addressing the issue of vessel hull electrolysis 23 Chapter 2 Installation Connecting the G2 B to External Devices
3. Wiad 40 24 YITWNHMDI WILSAS 1IDUIdOINY DB 9 PIN 3 DB 9 PIN DB 9 PINS a N C tape back 429 29 30123A ONIINIIINDI 3I BOS ABYSSIIINO dOLASAC 40 SOLA Id SSWANDI SID 829 40 29 IDLIJA 27 Chapter 2 Installation 28 Chapter 3 Operation Chapter 3 Operation GPS Overview G2 B Overview Common Commands and Messages 29 Chapter 3 Operation GPS Overview For your convenience both the GPS and SBAS operation of the G2 B features automatic operational algorithms When powered for the first time the G2 B performs a cold start that involves acquiring the available GPS satellites in view and the SBAS differential service If SBAS is not available in your area an external source of RTCM SC 104 differential corrections may be used If you use an external source of correction data it must support an eight data bit no parity one stop bit configuration 8 N 1 GPS Operation The GPS receiver is always operating regardless of the DGPS operation mode The following sections describe general operation of the G2 B s internal GPS receiver Note Differential source and status have no impact on heading pitch or roll They only have an impact on positioning and heave Automatic Tracking The G2 B s internal GPS receiver automatically searches for GPS satellites acquires the signals and manages the navigation information required
4. 2 Any of the anti tamper seals covering case screw holes or other mechanisms for opening the Equipment s case have been removed broken or otherwise tampered with 3 There are any defects in it or damages to it caused by a Faulty installation or hook up of the Equipment b Abuse misuse or any use of the Equipment in violation of the instructions set forth in the Manual c Shipping alterations or incorrect and or unauthorized service d Accident exposure of the Equipment to excessive heat fire lightning or other electrical discharge or water immersion e Water damage due to failure to fully fasten the plug connected into the equipment s power signal receptacle f Improper or inadequate ancillary or connected equipment OTHER LIMITATIONS AND EXCLUSIONS 1 ComNav does not warrant or guarantee the precision or accuracy of positions heading or other GPS based navigation data obtained when using the Equipment The potential accuracy of the Equipment as stated in the Manual associated ComNav literature and or Product specifications provides only an estimate of the highest achievable accuracy based on Specifications provided by the US Department of Defence for GPS Positioning o S GPS Receiver specifications provided by the OEM manufacturer c DGPS service provider performance specifications N The Equipment is not intended for primary navigation or for use in safety of life applications ComNav do
5. 21 22 23 24 25 26 27 28 be accomplished without materially affecting the performance and functionality of the Product c replace the Software or the Product with non infringing software or product of equal or better performance and quality or d if none of the foregoing can be done on a commercially reasonable basis terminate this license and Licensee shall stop using the Product and ComNav shall refund the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years The foregoing sets out the entire liability of ComNav and the sole obligations of ComNav to Licensee in respect of any claim that the Software or its use infringes any third party rights INDEMNIFICATION Except in relation to an infringement action Licensee shall indemnify and hold ComNav harmless from any and all claims damages losses liabilities costs and expenses including reasonable fees of lawyers and other professionals arising out of or in connection with Licensee s use of the Product whether direct or indirect including without limiting the foregoing loss of data loss of profit or business interruption TERMINATION Licensee may terminate this Agreement at any time without cause ComNav may terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured
6. ComNav Mardmne Lee G2 amp G2B GPS Satellite Compasses Installation amp Operation Manual _ComNay NN gt gt y gt w l C COMPLIES WITH CE REGULATIONS P N 29010091 v1 0 This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Copyright Notice No part of this manual may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of ComNav Marine Ltd Contents Chapter 1 Chapter 2 Chapter 3 Contents Introduction aL A A Oe S EERE BON 2 Parts Tist ici cots ance a l e 3 Installation aese aypuspa par ED Mounting Location LL 6 GPS Receptions 2 veces hace AIEEE ES Mateus ction 6 Beacon Reception i pil a anatase ata ae 6 Environmental Considerations 7 VHF Interference usais AA a 7 Mounting Orientation LL 9 G2 B Alignment ipa ira e ends 11 Mounting Options ici ss oe a eas 12 G2 B Dimensions u 0 cece cee ee eee ce eben te hae tine 12 Power Data Cable Considerations 13 Mounting the G2 B
7. 1 character 1 byte 8 bits 1 byte use 10 bits byte to account for overhead See Common Commands and Messages on page 36 for an example of this calculation Recommendations for Connecting to Other Devices When interfacing to other devices ensure the transmit data output from the G2 B is connected to the data input of the other device The signal grounds must also be connected Since RS 422 is a balanced signal with positive and negative signals referenced to ground ensure you maintain the correct polarity For example when connecting the transmit data output positive signal to the receive line of the other device it should be connected to the receive positive terminal The negative transmit data signal from the G2 B is then connected to the receive data negative input of the other device There is likely little reason to connect the receive data input of the G2 B to another device unless it is able to send configuration commands to the G2 B Since the G2 B uses proprietary NMEA 0183 commands for control over its configuration the vast majority of electronics will not be able to configure its settings unless the other device has a terminal setting where you can manually issue commands NMEA 2000 Port To use G2 B with NMEA 2000 you have to connect the included serial to NMEA 2000 adapter P N 31210014 see Figure 2 8 to the unit Insert the 18 pin connector of the adapter into the male end of the 18 pin connector on the G2 B by
8. 9 P parallel mounting 9 part numbers 3 parts list 3 perpendicular mounting 9 pitch time constant 34 pole mount 18 power connecting to a power source 23 considerations 23 electrical isolation 23 specifications 47 PTAU 34 39 R rate of turn ROT time constant 34 receiver performance 30 RS 232 46 RS 422 46 S sensor specifications 46 short site alignment 11 SPDTAU 34 39 specifications 49 Index certifications 47 communication 46 environmental 47 GPS sensor 46 mechanical 47 power 47 speed time constant 34 supplemental sensors 32 T tilt aiding 32 time constants 34 COGTAU 34 HRTAU 34 HTAU 34 PTAU 34 SPDTAU 34 tracking automatic 30 automatic SBAS 30 troubleshooting 42 Vv VHF interference 7 w watchdog 35 50 End User License Agreement IMPORTANT This is an agreement the Agreement between you the end purchaser Licensee and ComNav Marine Ltd ComNav which permits Licensee to use the ComNav software the Software that accompanies this Agreement This Software may be licensed on a standalone basis or may be embedded in a Product Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a Product As well in this Agreement the use of a Product shall be deemed to be use
9. aligning the keys You can then attach the adapter to the unit using the supplied screws machine 8 32 1 2 PPHC SS and washer washer flat 8 SS The 5 pin male Micro C connector connects to your NMEA 2000 drop cable Figure 2 8 Serial to NMEA 2000 adapter Note The serial to NMEA 2000 adapter is not an IMO requirement and may not be used in such an application 19 Chapter 2 Installation Table 2 1 shows the requested PGNs with the G2 B in NMEA 2000 mode Table 2 1 Received messages based on a request PG No PGN Description Level Default Update Rate msec Freq Hz 059392 ISO Acknowledgement Used to acknowledge the status of certain requests addressed to a specific ECU On Request On Request 059904 ISO Request Request the transmission of a specific PGN addressed or broadcast On Request On Request 060928 ISO Address Claim Used to identify to other ECUs the address claimed by an ECU On Request On Request 126996 Product Information NMEA 2000 database version supported manufacturer s product code NMEA 2000 certification level Load Equivalency number and other product specific information On Request On Request 126464 Receive Transmit PGNs group function The Transmit Receive PGN List Group type of function is defined by first field The message will be a Transmit or Receive PGN List group function On Req
10. based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications where applicable WARRANTY DISCLAIMER EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT COMNAV MAKES NO REPRESENTATION WARRANTY OR CONDITION OF ANY KIND TO LICENSEE WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE MERCHANTABILITY ACCURACY RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM USAGE OR TRADE AND THOSE ARISING UNDER STATUTE LIMITS ON WARRANTY DISCLAIMER Some jurisdictions do not allow the exclusion of implied warranties or conditions so some of the above exclusions may not apply to Licensee In that case any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety 90 days from the date of the license of the Software or the purchase of the Product The warranties given herein give Licensee specific legal rights and Licensee may have other rights which may vary from jurisdiction to jurisdiction CHANGE TO WARRANTY No employee or agent of ComNav is authorized to change the warranty provided or the limitation or disclaimer of warranty provisions All such changes will only be effective if pursuant to a separate agreement signed by sen
11. byte use 10 bits byte to account for overhead Example Message GPHDT GPROT GPHDG GPGGA GPZDA Rate 10 5 1 1 1 Bytes Bits in byte Bits sec 20 10 2000 18 10 900 33 10 330 83 10 830 38 10 380 Total 4440 Table 3 2 below through Table 3 5 provide brief descriptions of common commands and messages for the G2 B Table 3 2 Commands Command Description GPMSK Tune beacon to specific frequency JAGE Specify maximum DGPS correction age 6 to 8100 seconds JAPP Query or specify receiver application firmware JASC Specify ASCII messages to output to specific ports see ASCII messages in Table 3 3 JBAUD Specify RS 232 RS 422 output communication rate JBIN Specify binary messages to output to specific ports see Table 3 4 JDIFF Query or specify differential correction mode JGEO Query or specify SBAS for current location and SBAS satellites JI Query unit s serial number and firmware versions JOFF Turn off all data messages JQUERY GUIDE Query accuracy suitability for navigation 36 Chapter 3 Operation Table 3 2 Commands continued Command Description JRESET Reset unit s configuration to firmware defaults Note JRESET clears all parameters For the G2 B you will have to issue the JATT FLIPBRD YES command to properly redefine the circuitry orientation inside the product once the receiver has reset Failure to do so will
12. configuration from Port B in terms of data message output data rates and the baud rate of the port This allows you to configure the ports independently based upon your needs For example if you want one generalized port and one heading only port you can configure the ports as follows Port A to have GPGGA GPVTG GPGSV GPZDA and GPHDT all output at 1 Hz over a 9600 baud rate Port B for GPHDT and GPROT message output at their maximum rate of 20 Hz over a 19200 baud rate The messages you configure each port to output and the rate of the port will be the same for both RS 232 and RS 422 interface levels For example the RS 232 Port A and RS 422 Port A output the same data messages at the same baud rate If the baud rate or messages for the RS 422 port need to be changed this needs to be commanded through the RS 232 port Both RS 232 and RS 422 output signals may be used simultaneously Note For successful communications use the 8 N 1 protocol and set the baud rate of the G2 B s serial ports to match that of the devices to which they are connected Flow control is not supported Chapter 2 Installation Selecting Baud Rates and Message Types When selecting your baud rate and message types use the following formula to calculate the bits sec for each message and then sum the results to determine the baud rate for your required data throughput Message output rate Message length bytes bits in byte Bits second
13. damages of any kind resulting from installation use quality performance or accuracy of the equipment NOTICE OF DEFECT The Limited Warranty will not apply with respect to any defective Equipment unless written notice of such defect is given to ComNav by mail to the address for ComNav set forth below or by facsimile to ComNav at 604 207 8008 and unless that written notice is received by ComNav within ten 10 days of the date upon which the defect first became known to the Purchaser Notices sent by mail from within North America will be deemed to be received by ComNav on the seventh 7th day first following the date of posting Notices sent by mail from anywhere else in the world will be deemed to be received by ComNav on the tenth 10th day next following the date of posting Notices sent by facsimile will be deemed to be received by ComNav on the date of transmission with appropriate answerback confirmation REMEDIES NOT TRANSFERABLE The Purchaser s remedies under this Warranty apply only to the original end user of the ComNav Equipment being the Purchaser and apply only to the original installation of the Equipment The Purchaser s remedies under this Warranty are not transferable or assignable by the Purchaser to others in whole or in part CUSTOMER REMEDIES 1 If the Equipment or any part thereof proves to be defective within the warranty period the Purchaser shall do the following a contact ComNav by phoning 604 2
14. for positioning and tracking Receiver Performance The G2 B works by finding four or more GPS satellites in the visible sky It uses information from these satellites to compute a position within 4 0 m Since there is some error in the GPS data calculations the G2 B also tracks a differential correction The G2 B uses these corrections to improve its position accuracy to better than 1 0 m The two main aspects of GPS receiver performance are 1 satellite acquisition and 2 positioning and heading calculation When the G2 B is properly positioned the satellites transmit coded information to the antennas on a specific frequency This allows the receiver to calculate a range to each satellite from both antennas GPS is essentially a timing system The ranges are calculated by timing how long it takes for the signal to reach the GPS antenna The GPS receiver uses a complex algorithm incorporating satellite locations and ranges to each satellite to calculate the geographic location and heading Reception of any four or more GPS signals allows the receiver to compute three dimensional coordinates and a valid heading Differential Operation The purpose of differential GPS DGPS is to remove the effects of selective availability SA atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous positioning capabilities of the G2 B will result in positioning accuracies of 4 0 m 95 of the time In order
15. from Verify the RTCM or binary messages are not being output G2 B accidentally send a JSHOW command Ensure the baud rate of the G2 B matches that of the remote device e Potentially the volume of data requested to be output by the G2 B could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No GPS lock Verify the G2 B has a clear view of the sky Verify the lock status of GPS satellites this can be done with ComNav ToolKit No SBAS lock e Verify the G2 B has a clear view of the sky Verify the lock status of SBAS satellites this can be done with ComNav ToolKit monitor BER value Set SBAS mode to automatic with the JWAASPRN AUTO command Note SBAS lock is only possible if you are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere 42 Appendix A Troubleshooting Table A 1 Troubleshooting continued Symptom Possible Solution No heading or incorrect heading value e Check CSEP value is fairly constant without varying more than 1 cm 0 39 in larger variations may indicate a high multipath environment and require moving the receiver location e Heading is from primary GPS antenna to secondary GPS antenna so the arrow on the underside of the G2 B should be directed to the bow side JATT SEARCH command forces the G2 B to acq
16. of the Software which is embedded in the Product BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE TO THESE TERMS 1 DO NOT INSTALL OR USE THE SOFTWARE AND ID IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT COMNAV PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE AS WELL THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT 1 LICENSE ComNav hereby grants to Licensee a non transferable and non exclusive license to use the Software as embedded in a Product and all Updates collectively the Software solely in binary executable form 2 RESTRICTIONS ON USE Licensee agrees that Licensee and its employees will not directly or indirectly in any manner whatsoever a install or use more copies of the Software than the number of copies that have been licensed b use or install the Software in connection with any product other than the Product the Software was intended to be used or installed on as set out in the documentation that accompanies the Software c copy any of the Software or any written materials for any purpose except as part of Licensee s normal backup processes d modify or create derivative works based on the
17. placing tension on the cable Remove unwanted slack from the cable at the G2 B end Secure along the cable route using plastic wraps VIN ENSS eR Improperly installed cable near machinery can be dangerous Chapter 2 Installation Mounting the G2 B This section describes how to flush mount or pole mount the G2 B Keep the following in mind when planning your installation ComNav GPS does not supply mounting surface hardware or a mounting pole You must supply the appropriate hardware or mounting pole required to complete G2 B installation You do not necessarily need to orient the antenna precisely as you can enter a software offset to accommodate for a heading measurement bias due to installation Flush Mounting the G2 B The bottom of the G2 B contains eight holes two sets of four holes for flush mounting the unit to a flat surface Figure 2 7 The flat surface may be something you fabricate per your installation an off the shelf item such as a radar mounting plate or an existing surface on your vessel Figure 2 7 Flush mounting holes on bottom of G2 B Complete the following steps to flush mount the G2 B 1 Determine the desired location and proper orientation for the G2 B See Mounting Orientation on page 9 for information on determining the desired orientation 2 Use the supplied template or photocopy the section of the G2 B that contains the eight mounting holes see Figure 2 7 for use as a template
18. screws on the long sides of the base see middle drawing in Figure 2 6 allow you to secure the G2 B in place 3 16 Allen wrench not included G2 B Dimensions Figure 2 6 illustrates the physical dimensions of the G2 B 209 16 mm 8 234 in W 122 32 mm I 4 815 in e S 2 A RETTO 668 54 mm 26 320 in SET SCREW 3 8 16 UNC THREAD SIZE 2 PLACES 31 75 mm 1 25 MOUNTING HOLE MOUNTING HOLE 1 14 UNS THREAD SIZE G M8 1 25 THREAD SIZE 101 60 mm I 8 PLACES 4 000 in s a e O a Dn _ 1 G i O O 9 e gt di 63 50 mm S Li 2 500 in 46 99 mm 1 850 in This drawing shows lt 93 98 mm the NMEA 2000 50 80 mm 3 700 in adapter attached 2 000 in 76 20mm gt gt 3 000 in Figure 2 6 G2 B dimensions Chapter 2 Installation Power Data Cable Considerations Before mounting the G2 B consider the following regarding power data cable routing Cable must reach an appropriate power source Cable may connect to a data storage device computer or other device that accepts GPS data Avoid running the cable in areas of excessive heat Keep cable away from corrosive chemicals Do not run the cable through door or window jams Keep cable away from rotating machinery Do not crimp or excessively bend the cable Avoid
19. that the Update under normal use and maintenance will conform in all material respects to the documentation provided with the Update and any media will be free of defects in materials and workmanship Notwithstanding the foregoing ComNav does not warrant that the Software will meet Licensee s requirements or that its operation will be error free 9 WARRANTY EXCLUSIONS The warranty set forth in Section 8 will not apply to any deficiencies caused by a the Product not being used as described in the documentation supplied to Licensee b the Software having been altered modified or converted in any way by anyone other than ComNav or approved by ComNav c any malfunction of Licensee s equipment or other software or d damage occurring in transit or due to any accident abuse misuse improper installation lightning or other 51 10 11 12 13 14 15 16 17 18 19 electrical discharge or neglect other than that caused by ComNav ComNav GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software whether standalone or embedded in a Product The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications The potential positioning and navigation accuracy obtainable with the Software as stated in the Product or Software documentation serves to provide only an estimate of achievable accuracy
20. to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Perpendicular Orientation You can also install the antennas so they are oriented perpendicular to the center line of the boat s axis In this orientation You will need to enter a heading bias of 90 if the primary antenna is on the starboard side of the boat and 90 if the primary antenna is on the port side of the boat You will need to configure the receiver to specify the GPS antennas are measuring the roll axis using JATT ROLL YES You will need to enter a roll bias to properly output the pitch and roll values You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Figure 2 2 and Figure 2 3 provide mounting orientation examples P Forward a motion xS Recessed arrow _ located on H bottom of enclosure H f PT gt i Figure 2 2 Recommended orientation and resulting signs of HPR values Chapter 2 Installation Recessed arrow located on bottom of enclosure H x Forward motion Figure 2 3 Alternate orientation and resulting signs of HPR values 10 Chapter 2 Installation G2 B Alignment The top of the G2 B enclosure incorporates sight design features to help you align the enclosure with respect to an important feature on your vessel To
21. to improve positioning quality to better than 1 0 m 95 the G2 B is able to use differential corrections received through the internal SBAS demodulator or beacon receiver or through externally supplied RTCM corrections Automatic SBAS Tracking The G2 B automatically scans and tracks SBAS signals without the need to tune the receiver The G2 B features two channel tracking that provides an enhanced ability to maintain a lock on an SBAS 30 Chapter 3 Operation satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible Beacon Operation Many marine authorities such as coast guards have installed networks of radio beacons that broadcast DGPS corrections to users of this system With the increasing utility of these networks for terrestrial applications there is an increasing trend toward densification of these networks inland The dual channel beacon receiver in the G2B can operate in manual or automatic tuning mode or using database mode will select the closest station in compliance with IEC 61108 4 standards G2 B Overview The G2 B provides accurate and reliable heading and position information at high update rates To accomplish this task the G2 B uses a high performance GPS receiver and two antennas for GPS signal processing One antenna is designated as the primary GPS antenna and the oth
22. to plan the mounting hole locations Use the inner four holes or the outer four holes per your installation If using a photocopy make sure it is scaled one to one with the mounting holes on the bottom of the G2 B 3 Mark the mounting hole centers on the mounting surface 4 Place the G2 B over the marks to ensure the planned hole centers align with the true hole centers adjusting as necessary 5 Use a center punch to mark the hole centers 6 Drill the mounting holes with a 9 mm bit appropriate for the surface Place the G2 B over the mounting holes and insert the mounting screws through the bottom of the mounting surface into the G2 B rN ENS Stes When installing the G2 B hand tighten only Damage resulting from overtightening is not covered by the warranty Pole Mounting the G2 B If you need the GPS assisted roll measurement install the G2 B perpendicular to the vessel s axis If you do not need this measurement install the G2 B parallel with the vessel s axis For more information refer to Figure 2 2 and Figure 2 3 on page 10 Chapter 2 Installation Complete the following steps to pole mount the G2 B 1 Determine the desired location and proper orientation for the G2 B See Mounting Orientation on page 9 for information on determining the desired orientation 2 Hand tighten the G2 B on the pole until snug unit is stable on pole while ensuring correct orientation yINENS Si Sle Hand tighten only D
23. use the sights center the small post on the opposite side of the enclosure from you within the channel made in the medallion located in the center of the enclosure top as shown in Figure 2 4 and Figure 2 5 Alignment accuracy when looking through the long site Figure 2 4 is approximately 1 while alignment through the short site Figure 2 5 is approximately 2 5 Figure 2 4 Long site alignment Figure 2 5 Short sight alignment If you have another accurate source of heading data on your vessel such as a gyrocompass you may use its data to correct for a bias in G2 B alignment within the G2 B software configuration Alternatively you can physically adjust the heading of the G2 B so that it renders the correct heading measurement however adding a software offset is an easier process 11 Chapter 2 Installation Mounting Options The G2 B allows for two different mounting options flush mount and pole mount Flush mount The bottom of the G2 B contains eight M8 1 25 holes for flush mounting the unit to a flat surface see Figure 2 6 The eight holes comprise two sets of four holes The inner four holes are in the same location as the MV 102 allowing you to use the G2 B as a drop in replacement The outer four holes provide a wider mounting option Pole mount The bottom of the G2 B contains a mounting hole 1 thread 0 9 depth for easy pole mounting Hand tighten until snug do not overtighten The set
24. within the 30 days Any such termination by a party shall be in addition to and without prejudice to such rights and remedies as may be available including injunction and other equitable remedies Upon receipt by Licensee of written notice of termination from ComNav or termination by Licensee Licensee shall at the end of any notice period a cease using the Software and b return to ComNav or destroy and provide a certificate of a Senior Officer attesting to such destruction the Software and all related material and any magnetic or optical media provided to Licensee The provisions of Sections 6 7 8 9 10 15 21 26 and 27 herein shall survive the expiration or termination of this Agreement for any reason EXPORT RESTRICTIONS Licensee agrees that Licensee will comply with all export control legislation of Canada the United States Australia and any other applicable country s laws and regulations whether under the Arms Export Control Act the International Traffic in Arms Regulations the Export Administration Regulations the regulations of the United States Departments of Commerce State and Treasury or otherwise as well as the export control legislation of all other countries PRODUCT COMPONENTS The Product may contain third party components Those third party components may be subject to additional terms and conditions Licensee is required to agree to those terms and conditions in order to use the Product FORCE MAJEURE EVENT Neit
25. 07 1600 to discuss the nature of the problem and to obtain return shipping instructions for the defective Equipment and b prepare a detailed written statement of the nature and circumstances of the defect to the best of the Purchaser s knowledge and including the date of purchase of the Equipment the place of purchase the name and address of the installer and the Purchaser s name address and telephone 56 number all to be sent along with proof of purchase to ComNav at the address set out below and within the time limits set out above for Notice of Defect 2 If upon examination by ComNav the defect is determined to result from defective workmanship or material and if the defect has occurred within the warranty period set forth above the Equipment or the defective parts thereof shall be repaired or replaced at ComNav s sole option without charge and shall be returned to the Purchaser at ComNav s expense Return delivery will be by the most economical means Should the Purchaser require that the Equipment be returned by a faster method the costs incurred by the faster delivery will be pre paid by the Purchaser 3 No refund of the purchase price for the Equipment will be made to the Purchaser unless ComNav is unable to remedy the defect after having a reasonable number of opportunities to do so 4 Warranty service shall be performed only by ComNav Any attempts to remedy the defect by anyone else shall render the warranti
26. B Technical Specifications Depends on multipath environment number of satellites in view satellite geometry ionospheric activity and use of SBAS Depends on multipath environment number of satellites in view satellite geometry and ionospheric activity HEC 60945 Standard Based on a 40 second time constant 48 Index Index A alarm watchdog 35 alignment 11 automatic SBAS tracking 30 tracking 30 C cable See power data cable 13 certifications 47 COGTAU 34 39 commands common 36 common commands and messages 36 communication specifications 46 connect to a power source 23 to external devices 24 course over ground time constant 34 E electrical isolation 23 environmental considerations 7 specifications 47 environmental considerations 7 external devices 24 F fixed base station RTK 31 flush mount 14 G GPHEV 9 38 GPS automatic SBAS tracking 30 automatic tracking 30 operation 30 overview 30 receiver performance 30 reception 6 sensor specifications 46 gyro aiding 33 H heading time constant 34 heave 9 38 accuracy 46 HRTAU 34 39 HTAU 34 39 L long sight alignment 11 M mechanical specifications 47 message common 36 mounting alignment 11 cable considerations 13 environmental considerations 7 flush mount 14 GPS reception 6 location 6 orientation 9 parallel orientation 9 perpendicular orientation 9 pole mount 18 VHF interference 7 O orientation for mounting
27. F front ends enabling tighter coupling of measurements from separate antennas for use in heading based products Users will achieve excellent accuracy and stability due to the more accurate code phase measurements improved multi path mitigation and fewer components The G2 B s GPS antennas are separated by 50 cm between their phase centers resulting in 0 5 rms heading performance The G2 B provides heading and positioning updates of up to 20 Hz and delivers positioning accuracy of 1 0 m 95 of the time when using differential GPS corrections from beacon G2B only or from Space Based Augmentation Systems SBAS The G2 B also features technology that enables ComNav GPS Satellite receivers to utilize old differential GPS correction data for 40 minutes or more without significantly affecting the positioning quality The G2 B is less likely to be affected by differential signal outages due to signal blockages weak signals or interference Chapter 1 Introduction Parts List Note The G2 B s parts comply with IEC 60945 Section 4 4 exposed to the weather Table 1 1 lists the parts included in your G2 B kit Table 1 1 Parts list Part Name Qty Part Number G2 receiver 1 21210002 or or G2B receiver 1 21210005 Power data cable 15 m 31110055 or Power data cable 30 m 1 31110056 Accessory item 1 31210015 Kit containing the following 1 Clamp 1 Screw Washer Chapter 1 Introdu
28. HF radios may not provide suitable filtering and may interfere with the G2 B s operation if too close Chapter 2 Installation Before installing the G2 B use the following diagram to ensure there are no nearby devices that may cause VHF interference a x e 4 1 5 m radius at top J minimum Y Z Na AI Use these minimum distances to determine where to place the G2 B a es 1 0 m radius at base lt minimum ba Figure 2 1 G2 B distance from nearby VHF radios Chapter 2 Installation Mounting Orientation The G2 B outputs heading pitch and roll readings regardless of the orientation of the antennas However the relation of the antennas to the boat s axis determines whether you will need to enter a heading pitch or roll bias The primary antenna is used for positioning and the primary and secondary antennas working in conjunction output heading pitch and roll values Note Regardless of which mounting orientation you use the G2 B provides the ability to output the heave of the vessel This output is available via the GPHEV message Parallel Orientation The most common installation is to orient the G2 B parallel to and along the center line of the axis of the boat This provides a true heading In this orientation If you use a gyrocompass you can enter a heading bias in the G2 B to calibrate the physical heading to the true heading of the vessel You may need
29. It does this knowing that the secondary GPS antenna is 50 cm from the primary GPS antenna This is called a fixed baseline and it defines the search volume of the secondary antenna as the surface of a sphere with radius 50 cm centered on the location of the primary antenna see Figure 3 1 31 Chapter 3 Operation Primary antenna 50 cm baseline Figure 3 1 Secondary antenna s search volume Note The G2 B moving base station algorithm only uses GPS to calculate heading Differential corrections are not used in this calculation and will not affect heading accuracy Supplemental Sensors The G2 B has three supplemental sensors gyro and two tilt sensors that are integrated into the unit s carrier board The supplemental sensors are enabled by default You can enable disable the gyro and both tilt sensors you cannot enable disable each tilt sensor separately The sensors act to reduce the RTK search volume which improves heading startup and reacquisition times This improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible erroneous solutions Table 3 1 provides a sensor operation summary Table 3 1 Sensor operation summary Feature Normal Operation Coasting no GPS Heading GPS Gyro Heave GPS None Pitch GPS Inertial sensor Roll Inertial sensor Inertial sensor Contact ComNav for the commands and methodology required to recalibrate
30. Note This section refers to a serial connection For connecting external NMEA 2000 devices plug the serial to NMEA 2000 adapter into the G2 B and then attach a standard NMEA 2000 drop line cable to the adapter Power Data Cable Considerations The G2 B uses a single 15 m 49 ft or 30 m 98 ft cable for power and data input output 15m 30m lt gt 100 mm 25 mm Ala o 25 mm Shrink tubes Cover drain wire with black shrink tube Figure 2 9 Power data cable 15 m or 30 m The receiver end of the cable is terminated with an environmentally sealed 18 pin connection while the opposite end is un terminated and requires field stripping and tinning Depending on the application and installation needs you may need to shorten this cable However if you require a longer cable run than 30 m you can bring the cable into a break out box that incorporates terminal strips within the vessel When lengthening the cable keep the following in mind To lengthen the serial lines inside the vessel use 20 gauge twisted pairs and minimize the additional wire length When lengthening the power input leads to the G2 B ensure the additional voltage drop is small enough that your power system can continue to power the system above the minimum voltage of the system Wire of 18 gauge or larger should also be used Minimize RS 232 cable length to ensure reliable communication 24 Chapter 2 Installation Powe
31. R IN NO EVENT WILL COMNAV S TOTAL CUMULATIVE LIABILITY HEREUNDER FROM ALL CAUSES OF ACTION OF ANY KIND EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO COMNAV TO PURCHASE THE PRODUCT THIS LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT BREACH OF WARRANTY MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH LIMITS ON LIMITATION OF LIABILITY Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages so the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction BASIS OF BARGAIN Licensee agrees and acknowledges that ComNav has set its prices and the parties have entered into this Agreement in reliance on the limited warranties warranty disclaimers and limitations of liability set forth herein that the same reflect an agreed to allocation of risk between the parties including the risk that a remedy may fail of its essential purpose and cause consequential loss and that the same forms an essential basis of the bargain between the parties Licensee agrees and acknowledges that ComNav would not have been able to sell the Product at the amount charged on an economic basis without such limitations PROPRIETARY RIGHTS INDEMNITY ComNav shall indemnify defend and hold harmle
32. Software e sub license rent lease loan or distribute the Software f permit any third party to use the Software g use or operate Product for the benefit of any third party in any type of service outsourcing application service provider service or service bureau capacity h reverse engineer decompile or disassemble the Software or otherwise reduce it to a human perceivable form i Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale or transfer of the whole Product 3 UPDATES At ComNav s discretion ComNav may make Updates available to Licensee An update Update means any update to the Software that is made available to Licensee including error corrections enhancements and other modifications Licensee may access download and install Updates during the Warranty Period only All Updates that Licensee downloads installs or uses shall be deemed to be Software and subject to this Agreement ComNav reserves the right to modify the Product without any obligation to notify supply or install any improvements or alterations to existing Software 4 SUPPORT ComNav may make available directly or through its authorized dealers telephone and email support for the Software Contact ComNav to find the authorized dealer near you As well ComNav may make available user and technical documentation regarding the Software ComNav reserves the right to reduce and limit access to such support at
33. amage resulting from overtightening is not covered by the warranty 3 Use the set screws on the long sides of the base see Figure 2 6 on page 12 to secure the G2 B in place 3 16 Allen wrench not included Chapter 2 Installation Connecting Serial Cable Serial to NMEA 2000 Adaptor to G2 B After you mount the G2 B connect either the serial power data cable or the serial to NMEA 2000 adapter to the G2 B Connecting the Serial Power Data Cable 1 Align the cable connector keyway with the G2 B connector key 2 Rotate the cable ring clockwise until it locks The locking action is firm you will feel a positive click when it has locked 3 Attach the power data cable to the cable clamp 4 Fasten the clamp to the bottom of the G2 B using the screw and washer 5 Attach the cable cover Steps 1 amp 2 Attach cable to unit Connect cable here Cable ring Cable connector G2 B connector key keyway Steps 3 amp 4 Attach clamp and cable to unit Step 5 Attach cable cover 16 Chapter 2 Installation Connecting the Serial to NMEA 2000 Adapter For more information on the serial to NMEA 2000 adapter see NMEA 2000 Port on page 19 1 Align the adapter connector keyway with the G2 B connector key Rotate the cable ring clockwise until it locks The locking action is firm you will feel a positive click when it has locked Fasten the adapter to
34. any time 5 BACKUPS AND RECOVERY Licensee shall back up all data used created or stored by the Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software Licensee shall assume all risks of loss or damage for any failure to comply with the foregoing 6 OWNERSHIP The Licensee understands that the Licensee does NOT own rights title and interest in and to the Software and related materials including intellectual property rights The Software is licensed to Licensee not sold 7 TRADEMARKS ComNav and the associated logos are trademarks of ComNav Other trademarks are the property of their respective owners Licensee may not use any of these trademarks without the consent of their respective owners 8 LIMITED WARRANTY ComNav warrants solely to the Licensee subject to the exclusions and procedures set forth herein below that for a period of one 1 year from the original date of purchase of the Product in which it is embedded the Warranty Period the Software under normal use and maintenance will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship For any Update ComNav warrants for 90 days from performance or delivery or for the balance of the original Warranty Period whichever is greater
35. ca seco citas pol EE pn 14 Connecting Serial Cable Serial to NMEA 2000 Adaptor to G2 B 16 POLES pn en retard E te LINA SIIT RNA Es NN tole Son 18 Serial Ports oie esses hee EDIZ ZO PEE eG eS RA aw 18 NMEA 2000 Port r s eyo iii ile do danesi 19 Powering HheG2 B ie sac aa adi E ke as oan due 23 Power Considerations 0 c eee ee eee eee eee nee 23 Connecting to a Power Source reres stna LL 23 Electrical Isolation soon Aaa ea 23 Connecting the G2 B to External Devices 24 Power Data Cable Considerations 24 Power Data Cable Pinout Specifications 25 Default Parameters rers rne urayuy a Haan Ss Bee Saeed ia 26 Operation wisi eae oe dara a Sua 29 GPS OVERVIEW mokai i atada 30 GPS Opetationi iii ee labbra 30 Differential Operation 30 G2 B OVEIVIEW dsl fille ohi pete AI dea ii 31 Fixed Baseline Moving Base Station RTK 31 Supplemental Sensors LL Li 32 Time Constadis lf air ea 34 Alarm Functionality iui e ee a Gees tine geass 34 Common Commands and Messages 36 iii Contents Appendix A Troubleshooting 41 Appendix B Technical Specifications 45 IMdex y ya tosis ors gi E pie wide le BS it 49 End User License Agreement 51 Warranty Information
36. cause radical heading behavior You can also issue the JRESET command with an optional field as follows JIRESET ALL does everything JRESET does plus it clears almanacs JRESET BOOT does everything JRESET ALL does plus clears use of the real time clock at startup clears use of backed up ephemeris and almanacs and reboots the receiver when done ISAVE Save session s configuration changes In Table 3 3 the Info Type value is one of the following P Position V Velocity Time H Heading Attitude S Sats Stats Quality Table 3 3 NMEA 0183 and other messages Message Info Max Description TEC Type Output Approved Rate Message GPDTM P 1 Hz Datum reference Yes GPGGA P 20 Hz GPS position and fix data Yes GPGLL P 20 Hz Geographic position lat long Yes GPGNS P 20 Hz GNSS position and fix data Yes GPGRS S 1 Hz GNSS range residual RAIM Yes GPGSA S 1 Hz GNSS DOP and active satellites Yes GPGST S 1 Hz GNSS pseudo range error statistics and position Yes accuracy GPGSV S 1 Hz GNSS satellites in view Yes GPHDG H 20 Hz Provides magnetic deviation and variation for Yes calculating magnetic or true heading see last bullet in Note at end of this table GPHDM H 20 Hz Magnetic heading based on GPS derived heading No and magnetic declination see last bullet in Note at end of this table GPHDT H 20 Hz GPS derived true heading Yes see last bull
37. ction Alam System GPS Compass Display System E E Navigator G2 shown SCE CA E Navigation System Chartplotter etc APC with suitable software can be used as an alternative to the Navigation Systemand or the GPS Compass Display System saga gt The arrows show the flow of the Navigation data Position Heading Speed etc and commands Waypoints G2 control etc between the systems Chapter 2 Installation Chapter 2 Installation Mounting Location Mounting Orientation Mounting Options Ports Powering the G2 B Connecting the G2 B to External Devices Default Parameters Chapter 2 Installation Mounting Location This section provides information on determining the best location for the G2 B GPS Reception When considering where to mount the G2 B consider the following GPS reception recommendations Consider GPS reception ensuring there is a clear view of the sky available to the G2 B so the GPS and SBAS satellites are not masked by obstructions that may reduce system performance Since the G2 B computes a position based on the internal primary GPS antenna element mount the G2 B where you desire a position with respect to the primary GPS antenna located on the end opposite the recessed arrow on the underside of the enclosure Locate any transmitting antennas away from the G2 B by at least a few meters to ensure tracking performance is not com
38. e Transmit Heading Device THD circuit board The relay contacts are isolated from all circuitry in the THD The THD is connected to the coil side of the relay but not to the contacts that are connected to the external pins through the main IO connector If the THD loses power or heading the coil voltage is lost and the relay opens and activates the notification method employed by the user When the heading is output the relay contacts remain closed completing the circuit as an indication that the G2 B is operational Note Alarm pins must be connected to an IMO approved device Alarm Signal There are two wires 24 AWG multi strands on the output cable that are used for the external alarm function The color codes for the two wires are white and white red stripe and are the output of a relay When this relay closes the connection is complete on the user defined external notification device Watchdog The watchdog is a timer that is controlled by the software that monitors if the heading is lost The watchdog software is compliant with IEC 60495 35 Chapter 3 Operation Common Commands and Messages Note When selecting your baud rate and message types use the following formula and example to calculate the bits sec for each message and then sum the results to determine the baud rate for your required data throughput Message output rate Message length bytes bits in byte Bits second 1 character 1 byte 8 bits 1
39. er is the secondary GPS antenna Positions computed by the G2 B are referenced to the phase center of the primary GPS antenna Heading data references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center The heading arrow located on the bottom of the G2 B enclosure defines system orientation The arrow points in the direction the heading measurement is computed when the antenna is installed parallel to the fore aft line of the vessel The secondary antenna is directly above the arrow Fixed Baseline Moving Base Station RTK The G2 B s internal GPS receiver uses both the L1 GPS C A code and carrier phase data to compute the location of the secondary GPS antenna in relation to the primary GPS antenna with a very high sub centimeter level of precision The technique of computing the location of the secondary GPS antenna with respect to the primary antenna when the primary antenna is moving is often referred to as moving base station Real Time Kinematic or moving base station RTK Generally RTK technology is very sophisticated and requires a significant number of possible solutions to be analyzed where various combinations of integer numbers of L1 wavelengths to each satellite intersect within a certain search volume The integer number of wavelengths is often referred to as the ambiguity as they are initially ambiguous at the start of the RTK solution The G2 B restricts the RTK solution
40. es not warrant or guarantee that the Equipment will perform in accordance with the requirements of such usage 3 ComNav reserves the right to modify the Equipment without any obligation to notify supply or install any improvements or alterations to existing Equipment 55 NO OTHER WARRANTIES THE FOREGOING WARRANTY IS EXCLUSIVE OF ALL OTHER WARRANTIES AND CONDITIONS WHETHER WRITTEN ORAL OR IMPLIED ARISING BY STATUTE OR OTHERWISE WITH RESPECT TO THE DESIGN SALE INSTALLATION OR USE OF THE EQUIPMENT INCLUDING BUT NOT LIMITED TO IMPLIED WARRANTIES OR CONDITIONS OF MERCHANTABILITY AND FITNESS FOR THE ORDINARY PURPOSES FOR WHICH THE EQUIPMENT IS USED OR FITNESS FOR A PARTICULAR PURPOSE AND ANY OTHER OBLIGATIONS ON THE PART OF COMNAV ITS EMPLOYEES SUPPLIERS AGENTS OR REPRESENTATIVES LIMITATION OF LIABILITY The extent of ComNav s liability for damages of any nature to the end purchaser or any other person or entity whether in contract or tort and whether to persons or property shall in no case exceed in the aggregate the cost of correcting the defect in the equipment or at ComNav s option the cost of replacing the defective item In no event will ComNav be liable for any loss of production loss of profits loss of use or for any special indirect incidental consequential or contingent damages even if ComNav has been advised of the possibility of such damages Without limiting the foregoing ComNav shall not be liable for any
41. es set forth in this Warranty null and void CHOICE OF LAW AND JURISDICTION This Warranty is governed by the laws of the Province of British Columbia Canada If the Purchaser acquired the Equipment outside of Canada each of the parties hereto irrevocably attorn to the jurisdiction of the courts of the Province of British Columbia Canada and further agree to settle any dispute controversy or claim arising out of or relating to this Limited Warranty or the breach termination or invalidity of it by arbitration under the rules of the British Columbia International Commercial Arbitration Centre BCICAC The appointing authority shall be BCICAC or if the BCICAC shall cease to exist the Chief Justice of the Supreme Court of British Columbia BCICAC shall administer the case in accordance with BCICAC Rules There shall be one arbitrator and the place of arbitration shall be Vancouver British Columbia Canada The United Nations Convention on Contracts for the International Sale of Goods Act S B C 1990 c 20 and any other statutory enactments of the United Nations Convention on Contracts for the International Sale of Goods do not apply to this Warranty ComNav Maine Ltd 15 13511 Crestwood Place Richmond British Columbia V6V 2G1 Canada www comnav com WARNING The Equipment is an aid to navigation only It is not intended or designed to replace the person on watch A qualified person should always be in a position to monit
42. et in Note at end of this table 37 Chapter 3 Operation Table 3 3 NMEA 0183 and other messages continued The GP of the message is GPGRS GPGSA GPGST and GPGSV support external integrity checking They are to be synchronized with corresponding fix data GPGGA or GPGNS You can change the message header for the HDG HDM HDT and ROT messages to either GP or HE using the JATT NMEAHE command he talker ID To preface these messages with GP issue the following command JATT NMEAHE 0 lt CR gt lt LF gt To preface these messages with HE issue the following command Table 3 4 Binary messages JBIN Message Description 1 GPS position 2 GPS DOPs 80 SBAS 93 SBAS ephemeris data 94 Ionosphere and UTC conversion parameters 95 Satellite ephemeris data 96 Code and carrier phase 97 Processor statistics Message Info Max Description TEC Type Output Approved Rate Message GPHEV H 20 Hz Heave value in meters Yes GPRMC 20 Hz Recommended minimum specific GNSS data Yes GPROT H 20 Hz GPS derived rate of turn ROT Yes see last bullet in Note at end of this table GPRRE S 1 Hz Range residual and estimated position error Yes GPVTG V 20 Hz COG and ground speed Yes GPZDA V 20 Hz Time and date Yes PASHR H 20 Hz Time heading roll and pitch data in one message No PSAT GBS 8 1 Hz Satellite fa
43. eters z P MSK rate selection Automatic Enabled Max Rate Sentence Description Port A Port B default User default User GPGGA Global Positioning System Fix Data x x 10 GPGLL Geographic Position Latitude amp Longitude 1 x 10 GPGSA GNSS DOP amp Active Satellites x x 1 GPGST GNSS Pseudorange Error Statistics x x 1 GPGSV GNSS Satellites in View x x 1 GPRMC Recommended Minimum Specific GNSS Data x x 10 GPRRE Range Residual x x 1 HEHDT True Heading 1 10 10 HEHDG True Heading Variation amp Deviation x x 10 HCHDM Magnetic Heading 1 10 10 GPROT Rate of Turn 1 10 10 GPVTG Course and Speed Over Ground 1 1 10 GPZDA Time and Date 1 x 10 HPR Time True Heading and Pitch or Roll x x 4 proprietary sentence PCSI Beacon Status Information G2B only x x 4 proprietary sentence RDI SBAS Diagnostic Information x x 1 proprietary sentence 26 Chapter 2 Installation WILSAS vayy ee YO 3311D1d13VH9 3 8000 62Z0 IS0 2043 qo2 104 AND 240 UMOYS SAMOJOD 34M JLON MA 9 TI AY3L1va aam UNO aog 392000 ZON OT sana pasnun yo xDoq ado ay ma me ME z s5 55 EE ER ze EE ze 22 ae E 22 22 ue co i lt lt 39 55 zz 33 9 33 53 1 8 2 1 TADA D O 9 O l SINIDIAVA 3 DIA TD INAANO OL TINT NOD GIVE 009v GUI I INAI VIN SY TINO ANTI NADHS SOLYOIAWN Sd9 AVNHDI LAN3WNALSNI SAD 30aNGS NOLIVOLAVN SY CRMOLMDI ZAVN ISOS SVI SY TIUMDIINDI LAW NADHS Ed
44. her party will have the right to claim damages as a result of the other s inability to perform or any delay in performance due to unforeseeable circumstances beyond its reasonable control such as labor disputes strikes lockouts war riot insurrection epidemic Internet virus attack Internet failure supplier failure act of God or governmental action not the fault of the non performing party FORUM FOR DISPUTES The parties agree that the courts located in Vancouver BC Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and ComNav concerning this Agreement or Licensee s use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those courts Notwithstanding the foregoing either party may apply to any court of competent jurisdiction for injunctive relief APPLICABLE LAW This Agreement shall be governed by the laws of the Province of British Columbia Canada exclusive of any of its choice of law and conflicts of law jurisprudence CISG The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction hereunder GENERAL This is the entire agreement between Licensee and ComNav relating to the Product and Licensee s use of the same and supersedes all prior collateral or contemporaneous oral or written representations warranties or agreements regarding the same No ame
45. igh precision and very fast update rates are needed for position data This PGN can provide delta position changes down to 1 mm with a delta time period accurate to 5 msec 100 10 129028 Altitude Delta High Precision Rapid Update The Altitude Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for altitude and course over ground data This PG can provide delta altitude changes down to 1 millimeter a change in direction as small as 0 0057 and with a delta time period accurate to 5 msec 100 10 129029 GNSS Position Data Conveys a comprehensive set of Global Navigation Satellite System GNSS parameters including position information 1000 129033 Time amp Date Single transmission that provides UTC time UTC Date and Local Offset 1000 129539 GNSS DOPs Provides a single transmission containing GNSS status and dilution of precision components DOP that indicate the contribution of satellite geometry to the overall positioning error There are three DOP parameters reported horizontal HDOP Vertical VDOP and time TDOP 1000 129540 GNSS Sats in View GNSS information on current satellites in view tagged by sequence ID Information includes PRN elevation azimuth SNR defines the number of satellites defines the satellite number and the information 1000
46. ior officers of the respective parties WARRANTY CLAIM In the event Licensee has a warranty claim Licensee must first check for and install all Updates that are made available The warranty will not otherwise be honored Proof of purchase may be required ComNav does not honor claims asserted after the end of the Warranty Period LICENSEE REMEDIES In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty Period or a breach of a warranty ComNav s sole obligation and liability and Licensee s sole and exclusive remedy is for ComNav at ComNav s option to a repair the Software b replace the Software with software conforming to the documentation or c if ComNav is unable on a reasonable commercial basis to repair the Software or to replace the Software with conforming software within ninety 90 days to terminate this Agreement and thereafter Licensee shall cease using the Software ComNav will also issue a refund for the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years LIMITATION OF LIABILITY IN NO EVENT WILL COMNAV BE LIABLE TO LICENSEE FOR ANY INCIDENTAL CONSEQUENTIAL SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN RELATION TO ANY LOSS OF DATA INCOME REVENUE GOODWILL OR ANTICIPATED SAVINGS EVEN IF COMNAV HAS BEEN INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE FURTHE
47. ith carrier phase smoothing Channels Two 12 channel parallel tracking Two 10 channel when tracking SBAS SBAS tracking 2 channel parallel tracking Update rate 20 Hz position and heading Horizontal accuracy lt 1 0 m 95 confidence DGPS lt 4 0 m 95 confidence autonomous no SA2 Heading accuracy lt 0 5 rms Normal operation GPS Coasting no GPS Gyro Heave accuracy lt 30 cm rms Normal operation GPS Coasting no GPS None Pitch accuracy lt 1 rms Normal operation GPS Coasting no GPS Inertial sensor Roll accuracy lt 1 rms using accelerometer Normal operation Inertial sensor Coasting no GPS Inertial sensor Rate of turn o 90 s maximum Cold start lt 60 s typical no almanac or RTC Warm start lt 20 s typical almanac and RTC Hot start lt 10 s typical almanac RTC and position Heading fix lt 10 s typical valid position Compass safe distance 75 cm 29 5 in Maximum speed 1 850 kph 999 kts Maximum altitude 18 288 m 60 000 ft Table B 2 Communication specifications Item Specification Serial ports 1 RS 232 full duplex 2 RS 422 1 full duplex 1 half duplex Baud rates G2 4800 9600 19200 38400 G2B 4800 9600 19200 38400 Correction I O protocol RTCM SC 104 Data I O protocol NMEA 0183 NMEA 2000 46 Append
48. ix B Technical Specifications Table B 3 Power specifications Item Specification Input voltage 6 to 36 VDC Power consumption 3 W nominal Current consumption G2 G2B 320 mA 9 VDC 240 mA 12 VDC 180 mA 16 VDC 350 mA 9 VDC 265 mA 12 VDC 200 mA 16 VDC Power isolation Isolated to enclosure Reverse polarity protection Yes Table B 4 Mechanical specifications Item Specification Enclosure UV resistant white plastic AES HW 600G non corrosive self extinguishing Dimensions 209 16 L x 668 54 W x 122 32 H mm 8 234 L x 26 320 W x 4 815 H in Weight G2 G2B 2 131 kg 4 70 Ib 2 44 kg 5 38 Ib Table B 5 Environmental specifications Item Specification Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Vibration TEC 60945 EMC FCC Part 15 Subpart B CISPR22 IEC 60945 CE Table B 6 Certifications IMO Resolution MSC 116 73 ISO 22090 3 Ed 1 0 2004 incl Corr 1 2005 IMO Resolution A 694 17 IEC 60945 Ed 4 0 2002 incl Corr 1 2008 IMO Resolution MSC 191 79 IEC 61162 1 Ed 4 0 2010 TEC 61162 2 Ed 1 0 1998 TEC 62288 Ed 1 0 2008 IMO wheelmarked for Annex A 1 item 4 41 Transmitting heading device THD GNSS method Based on the Directive 2009 26 EC 47 Appendix
49. ll have drifted too far and the G2 B begins outputting null fields in the heading output messages There is no user control over the time out period of the gyro Calibration which is set at the factory is required for the gyro to remove latency from the heading solution as well as provide backup heading when GPS is blocked The receiver will calibrate itself after running for a while but it may be important to follow the manual calibration instructions if you want to guarantee performance quickly after powering up the receiver The gyro initializes itself at power up and during initialization or can be calibrated When the gyro is first initializing it is important that the dynamics that the gyro experiences during this warm up period are similar to the regular operating dynamics For example if you use the G2 B on a high speed maneuverable craft it is recommended that when gyro aiding in the G2 B is first turned on use it in an environment that has high dynamics for the first five to ten minutes instead of sitting stationary 33 Chapter 3 Operation With the gyro enabled the gyro is also used to update the post HTAU smoothed heading output from the moving base station RTK GPS heading computation This means that if the HTAU value is increased while gyro aiding is enabled there will be little to no lag in heading output due to vehicle maneuvers Time Constants The G2 B incorporates user configurable time constants that can pro
50. message The default value of this constant is 0 5 seconds of smoothing Increasing the time constant increases the level of pitch smoothing and increases lag Rate of Turn ROT time constant Use the JATT HRTAU command to adjust the level of responsiveness of the ROT measurement provided in the GPROT message The default value of this constant is 2 0 seconds of smoothing Increasing the time constant increases the level of ROT smoothing Course Over Ground COG time constant Use the JATT COGTAU command to adjust the level of responsiveness of the COG measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of COG smoothing COG is computed using only the primary GPS antenna and its accuracy depends upon the speed of the vessel noise is proportional to 1 speed This value is invalid when the vessel is stationary as tiny movements due to calculation inaccuracies are not representative of a vessel s movement Speed time constant Use the JATT SPDTAU command to adjust the level of responsiveness of the speed measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of speed measurement smoothing Alarm Functionality Note Alarm functionality is only valid for serial communication 34 Chapter 3 Operation A relay is located on th
51. ndment to or modification of this Agreement will be binding unless in writing and signed by duly authorized representatives of the parties Any and all terms and conditions set out in any correspondence between the parties or set out in a purchase order which are different from or in addition to the terms and conditions set forth herein shall have no application and no written notice of same shall be required In the event that one or more of the provisions of this Agreement is found to be illegal or unenforceable this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect 53 54 Warranty Information Limited Warranty This Limited Warranty the Warranty covers all Vector and Navigator GPS Compass products amp accessories the Equipment sold by ComNav Marine Ltd ComNav LIMITED ONE YEAR WARRANTY ComNav warrants to the Purchaser provided that the recommended installation and maintenance procedures set forth in the manual the Manual provided with the Equipment have been followed and subject always to the other provisions of this Warranty that the Equipment is free from defects in workmanship and materials under normal use and service for a period of one 1 year from the date of purchase of the Equipment by the Purchaser EXCLUSIONS This Limited Warranty is null and void if 1 The serial number of the Equipment has been removed altered or mutilated
52. ntenna separation X X NEGTILT Enable disable negative tilt X X NMEAHE Change the HDG HDM HDT and ROT message headers X X between GP and HE PBIAS Set query pitch roll bias 15 0 to 15 0 X X PTAU Set query pitch time constant 0 0 to 3600 0 sec X X ROLL Configure for roll or pitch GPS orientation X X SEARCH Force a new GPS heading search X SPDTAU Set query speed time constant 0 0 to 3600 0 sec X X SUMMARY Display current settings summary X TILTAID Enable disable accelerometer pre calibrated X TILTCAL Calibrate accelerometers X 39 Chapter 3 Operation 40 Appendix A Troubleshooting Appendix A Troubleshooting 4l Appendix A Troubleshooting Table A 1 provides troubleshooting for common problems Table A 1 Troubleshooting Symptom Possible Solution Receiver fails to power e Verify polarity of power leads e Check integrity of power cable connectors e Check power input voltage 6 to 36 VDC e Check current restrictions imposed by power source minimum available should be gt 1 0 A No data from G2 B e Check receiver power status to ensure the receiver is powered an ammeter can be used for this e Verify desired messages are activated using ComNav ToolKit or JSHOW command in any terminal program Ensure the baud rate of the G2 B matches that of the receiving device e Check integrity and connectivity of power and data cable connections Random data
53. or the vessel s heading and to watch for navigational hazards and should be prepared to revert to manual steering immediately if an undesired change of heading occurs if the heading is not maintained within reasonable limits or when navigating in a hazardous situation ALWAYS REMEMBER WHENEVER UNDER WAY A QUALIFIED PERSON ON WATCH IS REQUIRED BY LAW 57
54. promised giving you the best performance possible Make sure there is enough cable length to route into the vessel to reach a breakout box or terminal strip Do not locate the antenna where environmental conditions exceed those specified in Table B 5 on page 47 Beacon Reception When using the G2B s internal beacon receiver as the correction source consider the possible mounting locations from the perspective of ambient noise within the beacon band Keep the following in mind when deciding upon a location with respect to maximizing beacon performance Ensure that the antenna is as far as possible from all other equipment that emits electromagnetic interference EMI including DC motors alternators solenoids radios power cables display units and other electronic devices If you are installing the antenna on a vessel mount the G2B as high as possible considering maintenance and accessibility In addition ensure that the antenna is higher than the highest metal object on the vessel If a radar system is present mount the antenna outside the path of the radar beam The G2B s internal beacon receiver calculates a signal to noise ratio SNR measured in decibels dB that indicates the receiver s performance The SNR is the height of the signal above the noise Chapter 2 Installation floor the higher the SNR the better your beacon receiver demodulates the signal The optimum antenna location will be a position whe
55. query or change a sensor s status Tilt Aiding The G2 B s accelerometers internal tilt sensors are factory calibrated and enabled by default This constrains the RTK heading solution beyond the volume associated with just a fixed antenna separation This is because the G2 B knows the approximate inclination of the secondary antenna with respect to the primary antenna The search space defined by the tilt sensor will be reduced to a 32 Chapter 3 Operation horizontal ring on the sphere s surface by reducing the search volume This considerably decreases instances of incorrect headings as well as startup and reacquisition times see Figure 3 2 Tilt angle Figure 3 2 G2 B s tilt aiding Gyro Aiding The G2 B s internal gyro offers several benefits It reduces the sensor volume for an RTK solution This shortens reacquisition times when a GPS heading is lost because the satellite signals were blocked The gyro provides a relative change in angle since the last computed heading and when used in conjunction with the tilt sensor defines the search space as a wedge shaped location see Figure 3 3 Figure 3 3 G2 B s gyro aiding The gyro aiding accurately smooths the heading output and the rate of turn It provides a substitute heading for a short period accurate to within 1 per minute for up to three minutes in times of GPS loss for either antenna If the outage lasts longer than three minutes the gyro wi
56. r Data Cable Pinout Specifications Figure 2 10 shows the power data cable pinout while Table 2 3 shows the cable s pinout specifications Table 2 3 Power data cable pinout Figure 2 10 Power data cable pin assignment Pin Function Wire Color 1 Power Red 2 Power Black 3 Port A Tx RS 232 Blue 4 Port A Rx RS 232 Black blue stripe 5 Reserved 6 Port A Tx RS 422 Green 7 Port B Rx RS 422 Brown 8 Port B Rx RS 422 Black brown stripe Reserved 10 Drain Bare wire 11 Port A Tx RS 422 Green black stripe 12 Signal ground Grey 13 Alarm White 14 Alarm White red stripe 15 1 PPS Orange 16 Port B Tx RS 422 Yellow 17 Port B Tx RS 422 Yellow black stripe 18 1 PPS Orange black stripe 25 Chapter 2 Installation Default Parameters Table 2 4 provides details on certain default parameters Contact your dealer for default port settings for your unit Note Use the JSAVE command to save changes you make to the G2 B s configuration for the changes to be present in subsequent power cycles Table 2 4 Default parameters Unit Parameter Specification G2 and G2B Max DGPS age correction age 2700 seconds Elevation mask 5 Differential mode G2 SBAS G2B Beacon G2B internal beacon Frequency selection Automatic aram
57. re your average SNR is highest You should turn on all accessories that you intend to use during normal operation when locating the best position for the antenna By monitoring the SNR you can determine the optimum location with respect to beacon reception Environmental Considerations The G2 B is designed to withstand harsh environmental conditions however adhere to the following limits when storing and using the G2 B Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing VHF Interference VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation For example if installing the G2 B near marine radios consider the following VHF marine radio working frequencies Channels 1 to 28 and 84 to 88 range from 156 05 to 157 40 MHz The L1 GPS working center frequency is 1575 42 MHz The bandwidth is 2MHz to 10 MHz which is dependent on the GPS antenna and receiver design VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GPS to degrade significantly The radiated harmonic signal strength of different brands models varies Follow VHF radio manufacturers recommendations on how to mount their radios and what devices to keep a safe distance away Handheld 5W V
58. sition of a vessel relative to both horizontal and vertical planes This would typically be used for vessel stabilization vessel control and onboard platform stabilization 1000 127258 Magnetic Variation Message for transmitting variation The message contains a sequence number to allow synchronization of other messages such as Heading or Course over Ground The quality of service and age of service are provided to enable recipients to determine an appropriate level of service if multiple transmissions exist 1000 129025 Position Rapid Update Provides latitude and longitude referenced to WGS84 Being defined as single frame message as opposed to other PGNs that include latitude and longitude and are defined as fast or multi packet this PGN lends itself to being transmitted more frequently without using up excessive bandwidth on the bus for the benefit of receiving equipment that may require rapid position updates 100 10 129026 COG amp SOG Rapid Update Single frame PGN that provides Course Over Ground COG and Speed Over Ground SOG 250 21 Chapter 2 Installation Table 2 2 Transmitted messages continued PG No PGN Description Level Default Update Rate msec Freq Hz 129027 Position Delta High Precision Rapid Update The Position Delta High Precision Rapid Update Parameter Group is intended for applications where very h
59. ss Licensee from and against any and all actions claims demands proceedings liabilities direct damages judgments settlements fines penalties costs and expenses including royalties and attorneys fees and related costs in connection with or arising out of any actual infringement of any third party patent copyright or other intellectual property right by the Software or by its use in accordance with this Agreement and documentation PROVIDED THAT a ComNav has the right to assume full control over any action claim demand or proceeding b Licensee shall promptly notify ComNav of any such action claim demand or proceeding and c Licensee shall give ComNav such reasonable assistance and tangible material as is reasonably available to Licensee for the defense of the action claim demand or proceeding Licensee shall not settle or compromise any of same for which ComNav has agreed to assume responsibility without ComNav s prior written consent Licensee may at its sole cost and expense retain separate counsel from the counsel utilized or retained by ComNav INFRINGEMENT If use of the Software may be enjoined due to a claim of infringement by a third party then at its sole discretion and expense ComNav may do one of the following a negotiate a license or other agreement so that the Product is no longer subject to such a potential claim b modify the Product so that it becomes non infringing provided such modification can 52 20
60. the body of the G2 B using the provided screws and the two slots in the adapter Attach the cable cover Steps 1 amp 2 Attach adapter to unit Connect adapter here Cable connector G2 B keyway connector key Step 3 Fasten adapter to unit Step 4 Attach cable cover 17 Chapter 2 Installation Ports The G2 B offers either serial port or NMEA 2000 port functionality Serial Ports The G2 B has three ports Port A Port B and Port C where Port A can be both full duplex RS 232 and half duplex RS 422 transmit only Port B is full duplex RS 422 Port C is for NMEA 2000 and only available via serial to NMEA 2000 adapter You can receive external differential corrections via either Port A full duplex RS 232 or Port B full duplex RS 422 You can connect up to three devices at one time using two ports One device can receive data via Port A RS 422 transmit only while two devices can transmit and receive data via Ports A and B one connected to Port A RS 232 and one connected to Port B Note Port A RS 422 or Port B is required for communicating to an IMO approved device You can update firmware via Port A RS 232 or Port B Note The G2B has maximum baud rate of 38400 Higher baud rates will impair beacon signal tracking Serial Port Configuration You may configure Port A or Port B of the GPS receiver to output any combination of data Port A can have a different
61. uest On Request 129538 GNSS Control Status GNSS common satellite receiver parameter status On Request On Request 129545 GNSS RAIM Output Used to provide the output from a GNSS receiver s Receiver Autonomous Integrity Monitoring RAIM process The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM Settings On Request On Request 129546 GNSS RAIM Settings Used to report the control parameters for a GNSS Receiver Autonomous Integrity Monitoring RAIM process On Request On Request 20 Chapter 2 Installation Table 2 2 shows the transmitted PGNs with their default update rate with the G2 B in NMEA 2000 mode Table 2 2 Transmitted messages PG No PGN Description Level Default Update Rate msec Freq Hz 126992 System Time The purpose of this PGN is twofold To provide a regular transmission of UTC time and date To provide synchronism for measurement data 1000 127250 Vessel Heading Heading sensor value with a flag for True or Magnetic If the sensor value is Magnetic the deviation field can be used to produce a Magnetic heading and the variation field can be used to correct the Magnetic heading to produce a True heading 100 10 127251 Rate of Turn Rate of change of the Heading 100 10 127257 Attitude Provides a single transmission that describes the po
62. uire a new heading solution unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GPS signal loss Enable TILTAID to reduce heading search times Monitor the number of satellites and SNR values for both antennas within ComNav ToolKit at least four satellites should have strong SNR values e Potentially the volume of data requested to be output by the G2 B could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No DGPS position in external RTCM mode e Verify the baud rate of the RTCM input port matches the baud rate of the external source e Verify the pinout between the RTCM source and the RTCM input port transmit from the source must go to receive of the RTCM input port and grounds must be connected e Ensure corrections are being transmitted to the correct port using the JDIFF PORTB command on Port A will cause the receiver to expect the corrections to be input through Port B Appendix A Troubleshooting 44 Appendix B Technical Specifications Appendix B Technical Specifications 45 Appendix B Technical Specifications Table B 1 through Table B 5 provide the G2 B s GPS sensor communication power mechanical and environmental specifications Table B 1 GPS sensor specifications Item Specification Receiver type L1 C A code w
63. ult detection RAIM Yes PSAT HPR H 20 Hz Proprietary NMEA message that provides heading No pitch roll and time in single message PSAT INTLT H 1 Hz Proprietary NMEA message that provides the pitch Yes and roll measurements from the internal inclinometers in degrees RDI S 1 Hz SBAS diagnostic information Yes TSS1 H 20 Hz Heading pitch roll and heave message in the No commonly used TSS1 message format Notes 38 Chapter 3 Operation Table 3 4 Binary messages continued JBIN Message Description 98 Satellites and almanac 99 GPS diagnostics Table 3 5 Parameters specific to JATT command Parameter Description Query Specify COGTAU Set query COG time constant 0 0 to 3600 0 sec x x CSEP Query antenna separation x EXACT Enable disable internal filter reliance on the entered antenna x x separation FLIPBRD Turn the flip feature on off Default is Yes On If performing x x a factory reset verify this is on GYROAID Enable disable gyro X X HBIAS Set query heading bias 180 0 to 180 0 X X HELP Show the available commands for GPS heading operation and X status HIGHMP Set query the high multi path setting for use in poor GPS X X environments HRTAU Set query ROT time constant 0 0 to 3600 0 sec X X HTAU Set query heading time constant 0 0 to 3600 0 sec X X LEVEL Enable disable level operation X X MSEP Manually set or query a
64. vide a degree of smoothing to the heading pitch rate of turn ROT course over ground COG and speed measurements You can adjust these parameters depending on the expected dynamics of the vessel For example increasing the time is reasonable if the vessel is very large and is not able to turn quickly or would not pitch quickly The resulting values would have reduced noise resulting in consistent values with time However if the vessel is quick and nimble increasing this value can create a lag in measurements If you are unsure on how to set this value it is best to be conservative and leave it at the default setting Note For heading and rate of turn there is no lag once the gyro is calibrated and enabled Heading time constant Use the JATT HTAU command to adjust the level of responsiveness of the true heading measurement provided in the GPHDT message The default value of this constant is 10 0 seconds of smoothing when the gyro is enabled The gyro is enabled by default but can be turned off By turning the gyro off the equivalent default value of the heading time constant would be 0 5 seconds of smoothing This is not automatically done and therefore you must manually enter it Increasing the time constant increases the level of heading smoothing and increases lag only if the gyro is disabled Pitch time constant Use the JATT PTAU command to adjust the level of responsiveness of the pitch measurement provided in the PSAT HPR

Vector G2 & G2B GPS Compasses

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Vector G2 &amp; G2B GPS Compasses

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Vector G2 & G2B GPS Compasses