Documente Academic
Documente Profesional
Documente Cultură
FOR THE
KH 1020 GLOBAL POSITIONING SYSTEM
PUBLICATION KH 1503
Issue 1
February 98
KELVIN HUGHES
Kelvin Hughes Ltd. is the Naval and Marine Division of Smiths Industries Aerospace
Registered Office: 765 Finchley Road, London NW11 8DS.
Incorporated in England No. 1030135
PROPOSAL
Date:
(Name/Rank of Proposer)
FOR OFFICE USE
Amendment is approved: YES/NO
The proposal is to be processed: *URGENTLY* *BY ROUTINE ACTION*
*DEFERRED* *FILED FOR REFERENCE*
SPONSOR’S COMMENTS
Signature: Date:
WARNING
1. LETHAL VOLTAGE
2. THE EQUIPMENT DESCRIBED IN THIS PUBLICATION USES ELECTRICAL
POWER WHICH MAY BE LETHAL.
3. WHENEVER PRACTICABLE, BEFORE CARRYING OUT MAINTENANCE
OR REPAIR, PERSONNEL CONCERNED MUST:
(1) ISOLATE THE EQUIPMENT FROM THE ELECTRICAL SUPPLY.
(2) MAKE TESTS TO VERIFY THAT THE ISOLATION IS COMPLETE.
(3) ENSURE THAT POWER CANNOT BE ACCIDENTALLY
RECONNECTED.
4. IF IT IS ESSENTIAL TO WORK ON THE EQUIPMENT WITH POWER
CONNECTED, THE WORK MUST BE UNDERTAKEN ONLY BY QUALIFIED
PERSONNEL WHO ARE FULLY AWARE OF THE DANGER INVOLVED AND
WHO HAVE TAKEN ADEQUATE SAFETY PRECAUTIONS TO AVOID
CONTACT WITH DANGEROUS VOLTAGES.
CAUTION
1. ELECTROSTATIC SENSITIVE DEVICES
2. The Procedures Detailed In This Manual Involve Handling Panels Electronic
Circuits (PECs) Which Carry Electrostatic Sensitive Devices (ESSDs). The Devices
Embody In Their Design A Thin Layer Of Insulation Which May Be Damaged By
Electrostatic Charge.
3. Damage Is Caused By Very Fast Discharge Times And Not By The High Voltages
Involved. Slow Discharge Paths Must Be Provided Therefore To Avoid Damage
When The PECS Are Being Handled. These Discharge Paths Must Be Through The
Maintainer, His Tools And Work Bench, To Earth.
4. All PECs Carry ESSDs And Are Factory Packed With The Connectors Shorted
Together With A Slow Discharge Foam Which Should Be Left In Position Until The
Last Possible Moment.
5. If A PEC Is Removed From The Equipment It Must Have Its Connectors Shorted
Together With The Foam At The Earliest Possible Moment.
6. Damage Resulting From Failure To Adhere To These Precautions May Not Be
Immediately Apparent But Show Up As A Component Failure After A Period Of
Time.
RECORD OF AMENDMENTS
It is certified that the amendments promulagated in the undermentioned Amendment List have been
incorporated in this copy of the publication.
1 11.2.99
2 21.11.00
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* NOTE: Insert details of pages amended, inserted or cancelled.
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RECORD OF AMENDMENTS
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LIST OF ABBREVIATIONS
ABBREVIATION MEANING
AEU Antenna Electronic Unit
AFC Automatic Frequency Control
AGC Automatic Gain Control
ALARM DIST Alarm Distance
ALM Almanac
BCD Binary Code Decimal
BIT Built In Test
BRG Bearing
BRSR Baud Rate Select Register
BWRD Backwards
C/A C/A Code
CALC DRIFT Calculated Drift
C&C Code & Carrier Locked
CDE Code Locked
CDU Controller Module
CHAN GPS Channel 1 - 5
CLR Clear Key
CMG Course Made Good
C/No Carrier to Noise
CP Control Processor
DL/R Data Loader/Recorder
DPRAM Dual Ported RAM
DRT Dead Reckoned Time
EEPROM Electrically Erasable/Programmable
Read--Only Memory
ELP Early/Late prompt
EFABUF Buffered External Function Acknowledge
ELEV Satellite Elevation
EMC Electromagnetic Compatibility
EP Estimated Position
EPH Ephemeris
ESSD Electrostatic Sensitive Devices
ETI Elapsed Time Indicator
FR Frequency
FRE Free
FRM Frequency Reference Module
FRPA Fixed Reception Pattern Antenna
FWRD Forward
GDOP Geometric Dilution of Precision
GPS Global Positioning System
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ABBREVIATION MEANING
GUV Group Unique Variable
GYRO HDG Gyrocompass Heading
HEAD Heading
HDOP Horizontal Dilution of Precision
HDLC High Level Data Link Control
HEAD Heading
QUICK Hamming Coded Havequick
HSE Housekeeping
HYDLAPS Signals For Hydrographic Systems
IDENT Identity
INJ Inject
INS Inertial Navigation System
ITA Intended Time of Arrival
JS Jamming to Noise
LAT/LONG Latitude & Longitude
LCD Liquid Crystal Display
LED Light Emitting Diode
MARK Marked Position
MCR Modem Control Register
MFP Multifunction Peripherals
MGRS Military Grid Reference System
MIL STD 1397A Interface Module
MOB Man Over Board
Mode GC Mode Great Circle
NAV Navigation
NCO Numerically Controlled Oscillator
NIF Naval Interface
NIF 3 Crypto Module
NIF 4 RS422 Interface Module
NOVRAM Non--Volatile RAM
NP Navigation Processor
NTDS Navel Interface 7 Module
OCW Operation Control Word
OFFSET F/A Offset Forward/Aft
OFFSET L/R Offset Left/Right
PDOP Position Dilution of Precision
PEC Panels Electronic Circuits
PFOM Position Figure of Merit
PIC Programmable Interrupt Controllers
PPS Precise Positioning Service
PSU Power Supply Unit
PTTI Precise Time/Time Interval
PVT Position/Velocity/Time/Accuracy
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ABBREVIATION MEANING
RF Radio Frequency
RL Rhumb Line
RPU Receiver & Processor Unit
SA/AS Select Availability & Anti Spoofing
SAT Satellite Identification Number
SCLK Sample Clock
SIM Simulation
SINS Ships Inertial Navigation System
SMG Speed Made Good
SGML Standard Generalised Mark Up Language
SP Signal Processor
SPS Standard Positioning Service
STATE Satellite Status
SV Satellite Vehicle
TDOP Time Dilution of Precision
TFOM Time Figure of Merit
TMP Time Mark Pulse
TTFF Time To Fix First
TTL Transistor Transistor Logic
UCR UART Control Register
UPS Universal Polar Stereographic
USAGE Satellite Usage
UTC Co--Ordinate Universal Time
UTM Universal Transverse Mercator
VDOP Vertical Dilution of Precision
VLSI Very Large Scale Integration
VIS Visible
WAYPT Waypoint
ZIF Zero Intermediate Frequency
TABLE OF CONTENTS
LIST OF VOLUMES
VOLUME 1 OPERATORS HANDBOOK FOR KELVIN HUGHES KH 1503 NAVAL
GPS NAVIGATION SYSTEM
VOLUME 2 TECHNICAL HANDBOOK FOR KELVIN HUGHES KH 1504 NAVAL
GPS NAVIGATION SYSTEM
VOLUME 3 INSTALLATION & COMMISSIONING HANDBOOK FOR KELVIN
HUGHES KH 1505 NAVAL GPS NAVIGATION SYSTEM
CONTENTS OF VOLUME 1
Preliminary Pages
Title and Promulgation
Publication Amendment Proposal Form
Warnings
Record of Amendments
List of Associated Publications
Table of Contents
List of Figures
List of Tables
List of Abbreviations
CONTENTS
SECTION 1 SUMMARY OF DATA & PERFORMANCE AND LIMITATIONS
CHAPTER 1 SUMMARY OF DATA AND LIST OF REFERENCES
Page No Para No
PURPOSE 1 1
SUMMARY OF DATA 1 2
ELECTRICAL DATA 1 3
Power Source 1 4
ELECTRICAL CONNECTION 2 6
LOCAL CDU 2 7
GPS Processing 2 8
Navigation Processing 2 9
Built In Test (BIT) 2 10
Inputs 2 11
Outputs 3 12
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Page No Para No
INTERFACES 3 13
Differential Corelations 3 14
Host Vessel 3 15
Synchro 3 16
Precise Time In 3 17
PTTI Out 3 18
SA/AS 3 19
Instrumentation 3 20
Data Recording 3 21
Serial Time Mark 3 22
Have Quick Output 3 23
PHYSICAL CHARACTERISTICS 4 24
APPLICABLE DOCUMENTS 4 25
CHAPTER 2 PERFORMANCE AND LIMITATIONS
Page No Para No
INTRODUCTION 1 1/2
ANTENNA SYSTEM 2 3
RECEIVER AND NAVIGATION PROCESSOR 2 4
FUNCTIONAL DESCRIPTION 2 5
CHARACTERISTICS 4 6
FIXED RECEPTION PATTERN ANTENNA (FRPA)
PERFORMANCE 4 7
Characteristics of the FRPA 4 8/12
GPS RECEIVER AND NAVIGATION PROCESSOR
PERFORMANCE 4 13
Position/Velocity/Time Accuracy 4 14/15
Vehicle Dynamics 4 16
External Effects 5 17/18
Signal Acquisition 5 19
Hot Start 5 20
Hot Start Time 5 21/22
Normal Start 6 23
Normal Start Times 6 24/25
Cold Start 6 26
Time to First Fix 6 27
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Page No Para No
TTFF1 7 28
TTFF2 7 29
Tracking Reliability 7 30
Effect of Host Vessel Interfaces 7 31
Multipath Signal Discriminatiion 7 32
Channel to Channel Pseudo Range Bias 7 33
Stationary Mode 7 34
Selective Availibility/Anti--Spoofing 7 35
Power Interruption 8 36
ENVIRONMENTAL CONDITIONS 8 37
ELECTROMAGNETIC RADIATION 10 38
Radiated Susceptibility 10 39
EMI and EMC Testing 10 40
CHAPTER 3 UPKEEP POLICY
Page No Para No
PART A -- UPKEEP POLICY STATEMENT 1/4 1/25
PART B -- REPAIR AND OVERHAUL FACILITIES 5 26/28
PART C -- FACILITIES NEEDED BY FLEET MAINTENANCE BASES,
MAINTENANCE SHIPS AND FORWARD SUPPORT UNITS 6 29/30
PART D - UPKEEP PERIOD STATEMENT 7/8 31/57
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Page No Para No
BUILT IN TEST (BIT) 6 24
ERRORS 6 25
ALARMS 6 26
UNITS 6 27
FUNCTION GROUPS 6 28
Navigation 6 29
Waypoints and Routes 7 30
Satellite Data 7 31
System Set--up 7 32
Fault Monitoring 7 33
NAVIGATION PAGES
DESCRIPTION 8 34
OWNSHIP DATA 9 35
OWNSHIP DATA PAGE COMMON PARAMETERS 9 36
Status 9 37
Position 9 38
Datum 9 39
Time 11 40
Fixing 11 41
Course Made Good (CMG) 11 42
Speed Made Good (SMG) 11 43
Heading (HEAD) 11 44
Log Speed (LOG) 11 45
Drift 11 46
Time Figure Of Merit (TFOM) 12 47
Ownship Data Page Default Mode 12 48/49
Positional Figure Of Merit (PFOM) 13 50
Ownship Data Page Display Waypoint Mode 14 51/64
Ownship Data Page Anchor Watch Mode 16 65/75
Ownship Data Page Freeze & Mark Mode 18 76/84
Ownship Data Page Man--Over--Board Mode 20 85/96
MOTION DATA 22 97/98
MOTION DATA SCREEN DESCRIPTION 22 99
Gyro compass Heading (GYRO HDG) 22 100
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Page No Para No
Log Speed 22 101
Roll 22 102
Pitch 23 103
Calculated Drift (CALC DRIFT) 23 104
Compass Error (GYRO ERROR) 23 105
Log Error 23 106
Roll Error 23 107
Pitch Error 23 108
Estimated Position Drift (EP DRIFT) 23 109
NAVIGATION MODES 24 110/111
NAVIGATION MODES SCREEN DESCRIPTION 24 112
Datum 24 113/114
Heading Reference (HEADING REF) 25 115
Position Mode (POSITN MODE) 25 116/117
Differential 25 118
No Fix Data 25 119/120
nX 26 121
nY 26 122
nZ 26 123
nA 26 124
nF 26 125
Corrections 26 126
GPS LAST FIX 27 127/128
GPS LAST FIX SCREEN DESCRIPTION 27 129
Position 27 130
Datum 27 131
Altitude 27 132
Time 27 133
Status 28 134
Satellite Data 28 135
Positional Figure Of Merit (PFOM) 28 136
ROUTE STEER PAGE 29 137/139
ROUTE STEER PAGE DESCRIPTION 29 140
Route No. 29 141
Leg No. 29 142
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Page No Para No
Mode 29 143
From Waypoint (FROM WAYPT) 29 144
To Waypoint (TO WAYPT) 30 145
Bearing 30 146
Range 30 147
Time--to--go 30 148
Track Error (TRACK ERR) 30 149
Track Made Good (TMG) 30 150
RENDEZVOUS 31 151/152
RENDEZVOUS PAGE DESCRIPTION 31 153
To Waypoint (TO WAYPT) 31 154
Mode 31 155
Intended Time of Arrival (ITA) 32 156/157
Alarm Distance (ALARM DIST) 32 158
Speed Made Good (SMG) 32 159/160
Bearing 32 161
Range 32 162
Position 32 163
Datum 32 164
Time--to--Go 32 165
WAYPOINTS AND ROUTES PAGES
DESCRIPTION 33 166
WAYPOINT SET--UP (WAYPT NO) 33 167/169
WAYPOINT SET--UP PAGE DESCRIPTION 34 170
Waypoint Number 34 171
Position 35 172
Datum 35 173
Mode 35 174
Bearing From (BRG FROM)
(BEARING/RNG/ELEV mode only) 35 175/176
Range (BEARING/RNG/ELEV mode only) 35 177/178
Elevation (ELEV) (BEARING/RNG/ELEV mode only) 36 179/180
Course 36 181/182
Speed 36 183/184
Time 36 185/188
Identity (IDENT) 37 189
Page No Para No
Freq 37 190
Mgrs 37 191
ROUTE SET--UP 38 192/194
ROUTE SET--UP PAGE DESCRIPTION 38 195
Route No. 38 196
Leg No. 38 197
From Waypoint (FROM WAYPT) 38 198
To Waypoint (TO WAYPT) 38 199
Mode 39 200
Bearing 39 201
Distance 39 202
Total Distance (TOTAL DIST) 39 203
Alarm Distance (ALRM DIST) 39 204
Start Time 39 205/206
Intended Time Of Arrival (ITA) 40 207/208
SATELLITE DATA PAGES
DESCRIPTION 41 209
SATELLITE GEOMETRY 41 210/211
SATELLITE GEOMETRY PAGE DESCRIPTION 41 212
Satellite Data 42 213
Dilution Of Precision Data (DOP) 43 214
Mask Angle 43 215
ALMANAC/EPHEMERIS 44 216/217
ALMANAC/EPHEMERIS PAGE DESCRIPTION 44 218
Satellite Vehicle (SV) 44 219
Almanac (ALM) 44 220
Ephemeris (EPH) 44 221
Tracked (TRK’D) 45 222
USE 45 223/224
Almanac Age 45 225
SYSTEM SET--UP PAGES
DESCRIPTION 46 226/227
RECEIVER SET--UP 46 228/229
Default Mode 47 230
Default Mode Page Description 47 231/242
Position Initialise Mode 49 243
Page No Para No
Position Mode Page Description 49 244/253
PLATFORM SET--UP 51 254/255
PLATFORM SET--UP PAGE DESCRIPTION 51 256
Antenna Height 51 257/258
Offset Left/Right (OFFSET L/R) 51 259
Offset Forward/Aft (OFFSET F/A) 52 260
Moving 52 261/262
Fixing 52 263
DATA LOAD/RECORD 53 264/267
DATA LOAD/RECORD PAGE DESCRIPTION 53 268
Interface 53 269
Load 54 270
Record 54 271
Info To Load 54 272
Info To Record 54 273
INTERFACE SET--UP 55 274/275
INTERFACE SET--UP PAGE DESCRIPTION 55 276
Interface 55 277/278
Data Exchange 55 279
Status 56 280/282
Baud Rate 56 283
Parity 57 284
Data Bits 57 285
Scaling 57 286
CRYPTO SET--UP 58 287/288
CRYPTO SET--UP PAGE DESCRIPTION 58 289
Duration 58 290
Status 58 291
Zeroise 59 292
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Page No Para No
FAULT MONITORING PAGES
DESCRIPTION 60 293
ERRORS 61 294/295
ALARMS 62 296/297
SELF TEST 63 298/299
FAILURE PAGE 64 300/301
WAYPOINT ROUTING AND DATABASE SUPPORT PAGES
DESCRIPTION 65 302
WAYPOINT DIRECTORY 65 303/304
STEERING SEQUENCE 66 305/306
ANNEX A
INTRODUCTION A1 A.1/A.5
Setting Simulated Position and Track A.1 A.6
Affected Pages A.1 A.7
Ownship Data Page A.1 A.8
Default mode A.1 A.9
Display Waypoint mode A.1 A.10
Anchor Watch mode A.2 A.11
Freeze & Mark mode A.2 A.12
Man--Over--Board mode A.2 A.13
Route Steer Page A.2 A.14
Rendezvous Page A.2 A.15
Receiver Set--Up Page A.2 A.16
ANNEX B
INTRODUCTION B1 B.1/B.4
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LIST OF FIGURES
SECTION 1 SUMMARY OF DATA & PERFORMANCE AND LIMITATIONS
CHAPTER 2
Figure No Title Page No
1 GPS System Block Diagram 1
SECTION 2 OPERATING INFORMATION
CHAPTER 2 OPERATING INSTRUCTIONS
Figure No Title Page No
1 CDU Display and Keypad Layout 1
2 Page Hierarchy 3
3 Main Menu 4
4 Navigation Page 8
5 Ownship Data Page (Default Mode) 13
6 Ownship Data Page (Display Waypoint Mode) 14
7 Ownship Data Page (Anchor Watch Mode) 17
8 Ownship Data Page (Freeze & Mark Mode) 19
9 Ownship Data Page (Man--Over--Board Mode) 20
10 Motion Data Page 22
11 Navigation Modes Page 24
12 GPS Last Fix Page 27
13 Route Steer Page 29
14 Rendezvous Page 31
15 Waypoints and Routes Page 33
16 Waypoint Set--Up Page 34
17 Route Set--Up Page 38
18 Satellite Data Page 41
19 Satellite Geometry Page 42
20 Almanac/Ephemeris Page 44
21 System Set--Up Page 46
22 Receiver Set--Up (Default Mode) Page 47
23 Receiver Set--Up (Position Initialise Mode) Page 49
24 Platform Set--Up Page 51
25 Data Load/Record Page 53
26 Interface Set--Up Page 55
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LIST OF TABLES
SECTION 1 SUMMARY OF DATA & PERFORMANCE AND LIMITATIONS
CHAPTER 1 SUMMARY OF DATA
Table Title Page No
1 GPS System Power Supply 1
2 Connection Requirements 2
CHAPTER 2 PERFORMANCE AND LIMITATIONS
Table Title Page No
1 Maximum Receiver Dynamics 4
2 Signal Levels 5
3 Effect of Host Vehicle Interfaces 7
4 GPS System Environmental Requirements 8
SECTION 2 OPERATING INFORMATION
CHAPTER 2 OPERATING INSTRUCTIONS
Table Title Page No
1 Navigation Pages 8
2 Datums 9
3 Time Figure of Merit 12
4 Positional Figure of Merit 13
5 Positional Figure of Merit 28
6 Waypoints and Route Pages 33
7 Satellite Data Page 41
8 System Set--up Pages 46
9 Interface and Options 56
10 Fault monitoring Page 60
11 Self Test Routines 63
SECTION 1
ELECTRICAL CONNECTION
6 Electrical connection between the GPS sub systems is via the connectors detailed in Table 2.
TABLE 2 --- CONNECTOR REQUIREMENTS
INTERFACE CONNECTOR
Digital PL2 (D38999/20WE35PN)
PTTI PL4 (D38999/20WD 97PN)
RF SK1 (MIL-- 39012 TNC)
POWER PL7 (D38999/20WA 98PA)
POWER PL1 (D38999/20WA 98PN)
KEY LOADER PL6 (164 GB 0518)
LOCAL CDU
7 The Local CDU contains the following modules:
(1) Navigation Processor Module
(2) Receiver Module
(3) RS422 Interface Module
(4) Synchro Interface Module (Optional)
(5) DPRAM Interface Handler Module
(6) CDU Controller Module
(7) Filter Module (GPS A2--5 only)
GPS Processing
8 The GPS Processing function is performed on the Receiver Module.
Navigation Processing
9 The navigation processing function is performed via the Navigation Processor Module which
contains a low power 8086 microprocessor with a specialised arithmetic co--processor.
Built In Test (BIT)
10 Built In Test is performed as background task.
Inputs
11 Inputs to the Local CDU are:
(1) Data input via the front panel
(2) Synchro or digital data from the ship
(3) Power from the ship
(4) AS/SA signals from key loading equipment
(5) Satellite signals from the Antenna
(6) Differentials corrections in accordance with RTCM 104 version 2
Outputs
12 Outputs from the Local CDU are:
(1) PTTI signals for timing and synchronisation
(2) RS422 signals for control/display, data transfer and instrumentation
(3) Power to the Remote CDU if fitted
(4) Power to the Antenna
INTERFACES
13 The following interfaces are provided:
Host Vessel
14 The KH 1020 provides 5 serial (RS422 compatible) interfaces for data transfer between the KH
1020 and host vessel combat system.
Differential Corrections
15 When operating in SPS mode the KH1020 can accept DGPS correction data over RS422 serial
interface in accordance with the message formats described in RTCM 104 v2. THe KH1020 will accept
Message Types:
(1) Type 1 - Differential C/A -- code corrections
(2) Type 2 - Delta Differential Corrections
(3) Type 3 -- Reference Station Parameters
(4) Type 9 - Differential C/A -- code corrections
Synchro
16 Optionally, the KH 1020 may accept analogue synchro inputs of ship’s heading, attitude and
waterspeed.
Precise Time In
17 The KH 1020 GPS system accepts Precise Time In to aid P--code direct acquisition.
PTTI Out
18 The KH 1020 GPS system provides a Precise Time and Time Interval (PTTI) interface capable
of transferring precision time data to the ship’s time dependent systems. This interface is as described
in ICD--GPS--060A.
SA/AS
19 The KH 1020 provides interfaces to Selective Availability and Anti--Spoofing (SA/A--S) key
loading equipment (KYK--13 or KOI 18).
Instrumentation
20 The KH 1020 GPS system provides instrumentation output signals conforming to the
requirements of ICD--GPS--153.
Data Loader Recorder
21 Routes, waypoints, user defined datum and antenna offsets can be transferred from the data
loader to the GPS Routes and waypoints can be transferred from the GP S to the data recorder. Transfers
are via RS422 serial data interface. Protocol is as specified in ICD--GPS--150.
Other Documents.
AQAP 13 Software Quality Standards
SECTION 1
Antenna
Sub--System
L1/L2
SA/A--S Key
Loading
Equipment
DIFFERENTIAL
CORRECTIONS
Instrumentation
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Sect 1, Chap 2
(9) Mechanises the navigation propagation equations so that they can be integrated at the rate
required by the host vessel combat system (up to 10 Hertz) but with a minimum rate of
at least 1 Hertz.
(10) Accepts and incorporates SPS differential corrections and pseudolite signal information
as well as the L1 and L2 signals received from GPS satellites.
(11) Operates with a Fixed Reception Pattern Antenna
(12) References the navigation solution to a point identified by stored information when
attitude data is available.
(13) Stores critical data items in non--volatile memory to protect against loss due to power
disconnection. The data stored is that required to support rapid restart of the system when
prime power is applied.
(14) Accepts initialisation data from a data loader module. The KH 1020 includes an RS422
data loader interface which provides for transmission of waypoint and routing data,
antenna offset data, User Defined Datum (Datum 20) parameters and ship unique
parameters as required.
(15) Supplies a status message, including a Figure of Merit (FOM), which is continuously
available for display and is based on: navigation mode, receiver operating states,
navigation algorithm statistics and GPS sub--system status derived from the continuous
Built--In--Test facilities.
(16) Displays the elapsed operating time of the system.
(17) Performs two types of BIT. Built in test falls into two categories:
a. On line monitoring.
b. Off line test which is performed at power--up or at the request of the operator.
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Sect 1, Chap 2
CHARACTERISTICS
6 The following paragraphs detail the system characteristics.
FIXED RECEPTION PATTERN ANTENNA (FRPA) PERFORMANCE
7 The following paragraph details the performance of the FRPA.
Characteristics of the FRPA
8 The antenna receives right hand circular polarisation signals within the following frequency
bands:
(1) L1 1575.4 MHz ±10.23 MHz
(2) L2 1227.6 MHz ±10.23 MHz
9 The nominal input impedance of the antenna is 50W. The return loss, with respect to a 50W load,
is not less than 10 dB within each frequency band.
10 For elevation angles up to 70° from the vertical (boresight) the average gain of the antenna is
not less than --3 dB.
11 Signal gain will be a minimum of +18dB and a maximum of +29dB over the azimuth angle range
1° to 360°.
12 The antenna will not suffer any permanent degradation as a result of being exposed to a 200 V/m
peak electric field with 10μS pulse width, 1 KHz repitition rate, in the frequency range form 30 MHz
to 10 GHz for all orientations.
GPS RECEIVER AND NAVIGATION PROCESSOR PERFORMANCE
13 The following paragraphs detail the GPS Receiver and Navigation Unit performance.
Position/Velocity/Time Accuracy
14 The GPS system provides the following final output osition, velocity and time (PVT) accuracies
worldwide over 24 hours with a minimum satellite elevation of 5° and including the SA/A--S
environment:
15 The GPS system satisfies the applicable atmospheric delay, receiver noise, resolution and
multipath system error budget allocations detailed in SS--GPS--300B Paragraph 3.2.1.1.
Vehicle Dynamics
16 The GPSUE satisfies the signal acquisition, signal tracking and navigational accuracy
requirements for the receiver dynamics specified in Table 1.
TABLE 1 --- MAXIMUM RECEIVER DYNAMICS
DYNAMIC LIMITATION
Velocity 1000 metres per second
Acceleration 9G
External Effects
17 The GPS system performs to the accuracies specified herein when the following conditions are
met:
(1) The difference in propagation delay between L1 and L2 GPS signals is less than 300 ns;
(2) The rate of change of propagation delay is no more than 1.7 ns per minute when measured
at the L2 frequency;
(3) Dilution of Precision measurements are as follows:
a. HDOP < 1.58
b. VDOP < 2.71
c. TDOP < 1.68
18 Signal levels are defined in Table 2:
TABLE 2 --- SIGNAL LEVELS
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Sect 1, Chap 2
TTFF1
28 TTFF1, associated with receiver operating State 1 (P--code acquisition via C/A code), does not
exceed 2 minutes.
TTFF2
29 TTFF2, associated with State 2 (direct P--code acquisition), does not exceed 2 minutes.
Tracking Reliability
30 After State 3, 4, or 5 operation has begun, the GPS system maintains the receiver operating state
with a probability of 0.95 (measured over at least 100 seconds).
Effect of Host Vessel Interfaces
31 The degradation of PVT data available at the digital interfaces, as a result of those interfaces does
not exceed that specified in Table 4 when compared with the GPS Time Mark Data Block from the
Instrumentation Port.
TABLE 3 --- EFFECT OF HOST VEHICLE INTERFACES.
RS422
Position 1.5 m, 1 sigma
Velocity 0.5 ms- 1, 1 sigma
Time 0.001 s, 1 sigma
PTTI
1 PPS 500 ns, 1 sigma
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Power Interruption
36 After a seven second interruption of prime power, the GPS system, within 90 seconds of
resumption of operation, re--establishes the tracking states it had prior to the interruption.
ENVIRONMENTAL CONDITIONS
37 The KH 1020 GPS system has been designed to operate within the environmental conditions
specified in MIL--STD--2036 for hardened equipment and as shown in Table 7.
TABLE 4 --- GPS SYSTEM ENVIRONMENTAL REQUIREMENTS.
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ELECTROMAGNETIC RADIATION
38 The GPSUE satisfies MIL--STD--461 Class A4 (Surface Ships) and Class A5 (Submarines)
requirements CE01, CE03, RE01, RE02, CS01, CS02, RS01, and RS03 as tailored below:
Radiated Susceptibility
39 The GPSUE satisfies the performance requirements of the SOR when exposed to RS03 peak
radiated CW electric field intensities of the following magnitudes:
(1) 14 KHz to 200 MHz--10 Volts per metre (Vm- 1);
(2) 200 MHz to 450 MHz--10 Volts per metre (Vm- 1);
(3) 450 MHz to 1 GHz--10 Volts per metre (Vm- 1);
(4) 1 GHz to 12 GHz--10 Volts per metre (Vm- 1) except for L1 and L2 75 MHz);
(5) 12 GHz to 17.5 GHz--10 Volts per metre (Vm- 1);
(6) 17.5 GHz to 40 GHz--2 Volts per metre (Vm- 1).
EMI and EMC Testing
40 Verification of Electromagnetic Compatibility (EMC) and Interference (EMI) performance is
performed in accordance with MIL--STD--462.
SECTION 1
Ship’s Staff
(1) Routine maintenance as specified in equipment handbooks.
(2) Repair by replacement of LRU or Sub--assembly.
Dockyard Staff
3 As for Central Depot staff above.
Fleet Maintenance Bases
4 See Part C. Fleet Maintenance Base facilities are not being utilised.
Dockyard
For ship
5 No Dockyard repair for ship capability is intended. Dockyards will provide normal defect repair
support.
For stock
6 No Dockyard repair for stock will be undertaken, all items will be repaired by the manufacturer,
Kelvin Hughes Ltd.
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KH 1503
Sect 1, Chap 3
In--Service Support
7 In--Service Support will be provided by:
(1) Defective items are to be returned to Kelvin Hughes Ltd for repair at contractors.
Contract Repair
8 All unit repairs will be undertaken by the manufacturing and repair contractor, Kelvin Hughes
Ltd.
FACILITIES REQUIRED AS A CONSEQUENCE OF THE UPKEEP POLICY
General
9 There are no known requirements for ships/depot staff expertise beyond that normally imparted
at pre--joining training. Other than emergency work, there are no known requirements for
non--uniformed support outside planned Dockyard/Base Support periods.
On--board
10 Bench working space and stowage facilities for ready--use spares, tools and test equipment.
Stowage of on--board spares will require approximately 1/4 cu. metre of space. There is no on--board
special--to--type test equipment. The following items will be required.
(1) Oscilloscope (50MHz bandwidth).
(2) Test Set Multi--range.
(3) Extension Card.
Central Depot Unit
11 As for On--Board plus larger stowage facility for FSU spares ( 1 cubic metre racking).
Fleet Maintenance Bases
12 As for On--Board plus larger stowage facility for Base spares.
Dockyard
13 No special equipment required.
Department of defence
14 Allocation of Repairable Return Routing Codes to ensure correct routing of returned change
units.
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KH 1503
Sect 1, Chap 3
Pre--DED trials
16 None required.
Non--operational period
17 The (below--decks office) equipment shall be kept in the OFF condition in the unprotected state.
Post--DED Trials
18 Routine performance checks only, as detailed in KH 1503, Volume 3, will be required.
Refits
Pre--refit Trials
19 Performance checks to Naval Weapon Harbour Trial (NWHT) standard, as detailed in KH 1503,
Volume 3, will be required.
Non--operational period
20 The object of requirements under the following conditions is to protect the equipment and to
minimise the work required to bring the equipment to the operational (post--refit) state:
21 General Requirements (if no extensive work required) - The equipment should be kept in the
”Preserved” state, fully protected in a sealed and dehumidified environment. The equipment should be
fully protected against contamination by dirt and by mechanical damage by use of fitted covers. If the
equipment is not in a humidity control zone, chemical desiccant containers should be fitted within the
protective covers. All units are to be closed and sealed and all openings are to be separately covered.
Equipment is to be electrically isolated. The equipment should be returned to the ”keep--alive” state (3
weeks prior to switching on) to enable it to be brought up to the Naval Weapon Harbour Trial (NWHT)
state by the end of the refit, and a NWHT conducted.
22 Extensive Work Required on the Compartments or on the Equipment - If work permits, all units
should be left installed. If units have to be moved due to defect work in a compartment then the minimum
disturbance of internal connections should be allowed to occur. Units should be removed, sealed in
polythene and stored ashore in a Relative Humidity (RH) controlled environment, away from the risk
of any damage. Any opening left in a cabinet or rack resulting from the removal of equipment is to be
blanked off and any loose ends covered and tied back.
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Sect 1, Chap 3
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SECTION 2
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Sect 2, Chap 1
RANGE CALCULATION
8 The range to a satellite is calculated by measuring the time taken for a radio signal to travel
through space (approximately 300,000 kilometres per second) from a known transmission time to the
point of arrival. The GPS system uses a synchronisation technique to determine the time of transmission.
All satellites and receivers attempt to simultaneously generate the same series of digital codes to form
a message. A message arriving at a receiver is compared with the internal code history in the receiver.
If a match is found with the receiver code history of the previous half second the receiver can determine
that the signal has taken half a second to reach it. The greater the distance from the satellite to the receiver
the larger the time difference. Receivers generally use high speed correlators to rapidly assess the time
differences for the various satellites. In order to avoid any ambiguities the code used to modulate the
satellite and receiver signals is designed not to repeat for seven days.
RANGE ACCURACY
9 The modulation of satellite signals is divided into short time increments known as chips. The
receiver correlation process cannot discriminate the time difference to a resolution better than a single
chip. The selection of a shorter time interval for each chip (a higher modulation frequency) would cause
the receiver to take longer to correlate the incoming signal. The GPS system overcomes this difficulty
by modulating the L1 signal with two pseudo random codes; the Coarse/Acquisition or C/A code at 1.023
million bits per second and the Precision or P--code at 10.23 million bits per second. The P--code signal
has a much longer repetition time and may be encrypted to prevent unauthorised use and to help prevent
spoofing of the signal by re-- transmitting old GPS data. The P--code can be correlated rapidly because
of its relationship with the C/A code. The L2 signal is modulated with P--code only.
RANGE ERRORS
10 The simple model described is subject to a number of errors. The most significant of these are:
(1) Ephemeris errors
(2) Ionospheric Propagation Delays
(3) Clock errors
(4) Receiver errors
Ephemeris Errors
11 Ephemeris errors produce an incorrect calculation of the position of the satellite and are
minimised by continuous monitoring of the constellation. Satellite orbits are constantly checked to
provide updates to the satellites using S--band transmissions from the ground stations.
Ionospheric Propagation Delays
12 Ionospheric propagation errors are the result of the signal travelling at different speeds and
appearing to bend when they pass through the earth’s atmosphere. The assumption of the speed of signal
transmission is therefore invalid and the perceived range is incorrect. The effect on the propagation
speed is a function of the frequency of the signal. Thus the use of two different frequency signals allows
the effect to be calculated and therefore minimised.
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KH 1503
Sect 2, Chap 1
Clock Errors
13 Clock errors give rise to an incorrect calculation of the signal arrival time. It can be assumed that
the satellite clocks are accurate because they are multi channel atomic clocks. The clock error is
therefore due to the receiver and will affect all range measurements by an equal amount. This clock bias
represents a fourth variable in the calculation to be made by the receiver. By including the range to a
fourth satellite in this calculation the receiver can solve the four simultaneous equations and produce
the three dimensional fix of position plus an accurate value of time.
Receiver Errors
14 Receiver errors are the result of errors in correlation, digitising errors and receiver noise causing
corruption of the GPS signal. In addition the logic in the receiver, which is used to determine which
satellites to use, may be at fault and cause a non--optimum geometry to be used.
DILUTION OF PRECISION
15 In a manner similar to the effect of geometry on a terrestrial fix, the GPS receiver may have to
use satellites which are not in the best position for obtaining a fix. As an extreme example consider two
satellites which are almost in the same line of site from the observer. The overlap of the range spheres
will be large and the accuracy of the fix will suffer. This reduction in the theoretical accuracy of the
system is referred to as the Geometric Dilution of Precision. Different receivers use different techniques
to determine the most suitable satellites to use but generally, the best geometry is the one where the lines
of sight to the four satellites form a tetrahedron with the greatest enclosed volume.
Original Page 3
KH 1503
Sect 2, Chap 2
SECTION 2
BRILLIANCE
STATUS GPS (SPS)
4 5 6
POSITION PFOM 2
12 30.471S
130 59.007E
7 8 9
.
DATUM: WGS 84 FIXING
3D
TIME TFOM 3
CONTRAST
CMG
07 1230: 171K
HEAD DRIFT
+/-- 0
047.5 045.0 205
SMG KT LOG KT KT
0.00 0.00 0.0
INJ SP CLR
HELP
F1 F2 F3 F4 F5 F6
4 The screen displays the page title in the top left hand corner, the soft key menu at the foot of the
screen and page data in the middle of the screen.
POWER--UP
5 There are two levels of power--up as follows:
(1) Cold start (setting up)
(2) Warm start.
Cold Start (Setting--Up)
6 A cold start, performed at installation or when all critical data stored in the CDU has been lost,
requires the operator to perform the setting--up procedure detailed in KH 1505 Chapter 2.
Warm Start
7 A warm start is performed when the GPS system is powered--up with the contents of critical
memory valid. The GPS system power is applied via the local CDU rear panel ON/OFF switch. The
Local and Remote CDU displays are turned on via their front panel BRIGHTNESS switches. When the
CDUs are turned on the screens displays the power--on self test and then defaults to the OWNSHIP
DATA (Default Mode) page.
DEFAULT MODE
8 The CDU display defaults to the OWNSHIP DATA (Default Mode) page, shown in Figure 5,
when one of the following occurs:
(1) The BRIGHTNESS switch on the front panel is turned on
(2) The CLR key is pressed when in the main menu, a sub--menu or a function page (see note)
(3) After a period of time if no keys are pressed. The time--out period is selectable via the
TIME--OUT parameter in the Receiver Set--up page
NOTE: If one of the Ownship Data page modes, other than default mode, was in use prior to
the CLR key being pressed, the display defaults to the next highest Ownship page mode
which may or may not be the Ownship page default mode.
PAGE ACCESS
9 The page hierarchy shown in Figure 2 is accessed as follows:
(1) Via quick access codes
(2) Via the Main Menu
(3) Via the cursor keys
00 MAIN MENU
01 NAVIGATION
11 OWNSHIP DATA
12 MOTION DATA DISPLAY WAYPOINT
13 NAVIGATION MODES
ANCHOR WATCH
14 GPS LAST FIX
FREEZE & MARK
15 ROUTE STEER
MAN OVER BOARD
16 RENDEZVOUS
WAYPOINT DIRECTORY
02 WAYPOINTS &
STEERING SEQUENCE
ROUTES
21 WAYPOINT SET-- UP
31 SATELLITE GEOMETRY
32 SATELLITE STATUS
04 SYSTEM SET-- UP
41 RECEIVER SET-- UP
44 INTERFACE SET-- UP
45 CRYPTO SET-- UP
05 FAULT
MONITORING
51 ERRORS
52 ALARMS
53 SELF TEST
00 MAIN MENU
NAVIGATION F1
SATELLITE DATA F3
SYSTEM SETUP F4
FAULT MONITORING F5
ETI(CASE) 000753
Arrow Keys
13 In the page level of operation the arrow keys are used to move around the page hierarchy, shown
in Figure 2, as follows:
(1) To move through the menu, sub--menu and function page levels use the UP and DOWN
cursor keys
(2) To move between the sub--menu pages or around the function page groups use the LEFT
and RIGHT cursor keys
CLR (CLEAR) KEY
14 The function of the CLR key depends on the mode or level of operation as follows:
(1) Pressing CLR in a Waypoint and Routing Database Support page, returns the display to
the page from which the support page was accessed
(2) Pressing CLR in the page mode returns the display to the page default mode
(3) Pressing the CLR key when in the main menu, a sub--menu or a function page defaults
the display to the OWNSHIP DATA page default mode (see note on page 2)
(4) Pressing CLR when entering data exits the data field and cancels any changes
(5) Pressing CLR in a HELP page returns the display to the page from which HELP was
accessed
ENTERING/EDITING PAGE DATA
15 Each page is defined by a set of parameters comprising one or more fields, which may be selected
or edited where appropriate. Parameters are selected by pressing the associated soft key highlighted at
the foot of the screen. Data is edited by:
(1) Using the keypad
(2) Using the soft function--keys where appropriate
(3) Using the the arrow keys as follows:
a. In the numeric and alphabetic data field use the left and right arrow keys to move
through data
b. In the tabular data field use all the arrow keys to move about tables
16 Edited data is stored by pressing the INJ (Inject) key. Pressing CLR when entering data exits the
data field and cancels any changes.
SOFT KEY OPTIONS
17 A ‘MORE’ soft key is displayed when there are more soft key options than can be displayed as
one set.
CONFIRMATION OF CRITICAL OPERATIONS
18 Certain operations require an extra level of confirmation before actions are carried out in order
to ensure that a single inadvertant key press cannot cause loss of data, e.g. if CLR is pressed to exit the
Ownship Data page Man--Over--Board mode, the message CONFIRM EXIT OF MOB MODE and two
soft function--keys labelled EXIT MOB and CANCEL appear to confirm or cancel the operation.
MASTER/SLAVE CONFIGURATION
19 One of the CDUs utilised in the system is designated as the Master CDU (normally the Local
CDU) and provides unique rights of access to certain system parameters and operating modes not
available to the Slave CDU (normally the Remote CDU). The CDU selected as master is indicated by
an ‘M’ located in the top right hand corner of the display. Either CDU may be configured to operate as
the master via the menus/soft keys on the Receiver Set--Up page.
20 At power--up the CDU that powers on first becomes the master. If the master CDU is turned off
via the brightness switch on the front panel the slave CDU becomes the master. If the slave CDU is in
the training mode and is made the master it automatically turns off the training mode. If the Remote CDU
is not fitted, the local CDU is always master.
21 Page parameters cannot be changed whilst being accessed by another user. Read only access is
provided for the CDU accessing data already attached to another user.
TRAINING MODE
22 Either CDU may be set up for training purposes via the Receiver Set--up page. The training mode
is indicated by SIM (Simulation) flashing at the top of the screen. When the training mode is selected
the other CDU becomes the master, if it is not already. If only one CDU is powered--up
the Training Mode is not available.
HELP
23 The action currently being processed by the user is provided with help text accessed via the
HELP key. The CLR key is used to exit the help mode and return the display to the condition it was in
prior to entering help.
BUILT IN TEST (BIT)
24 Background built in tests are run in each module at regular intervals. Any errors are flagged by
the message ERR flashing at the top of the current page. Serious errors also generate a warning message
indicating that position data is unreliable.
ERRORS
25 Errors are indicated by the word ‘ERR’ flashing on the display. The number of pending errors
is attached to the error indication. Full details of any errors flagged are available on the ERRORS page
(refer to Paragraph. 295). Error messages should initially be confirmed by running the interruptive self
test on the SELF TEST page (quick access 53).
ALARMS
26 Alarms are indicated by the word ‘ALRM’ flashing on the display. The number of pending
alarms is attached to the alarm indication. Alarm details are provided on the ALARMS page (refer to
Paragraph. 297).
UNITS
27 Throughout this document reference is made to knots and Nautical miles. Depending on the units
chosen on the Receiver Set--Up page (Paragraph. 225) these may also be expressed as metric values, ie
kilometres and metres per second . For any particular parameter the numerical range is the same,
irrespective of the units chosen.
FUNCTION GROUPS
28 Pages are functionally grouped under headings as shown in Figure 2. The headings are displayed
on the Main Menu shown in Figure 3. The following paragraphs provide a brief description of the
function groups.
Navigation
29 Sub--menus under the navigation heading provide GPS receiver navigation data, navigation
mode selection and ship‘s motion data.
NAVIGATION PAGES
DESCRIPTION
34 The Navigation sub--menu is accessed from the Main Menu by pressing F1 or from any other
function page by keying 01. Navigation pages are used to display and edit data associated with the ship’s
navigation. Table 1 details the quick selection codes for the page titles available under the navigation
heading. Figure 4 shows the actual display for the Navigation Page Menu.
TABLE 1 --- NAVIGATION PAGES
OWNSHIP DATA 11
MOTION DATA 12
NAVIGATION MODES 13
GPS LAST FIX 14
ROUTE STEER 15
RENDEZVOUS 16
01 NAVIGATION
OWNSHIP DATA F1
MOTION DATA F2
NAVIGATION MODES F3
ROUTE STEER F5
RENDEZVOUS F6
OWNSHIP DATA
35 The OWNSHIP DATA page has five modes of operation as follows:
(1) Default mode (shown in Figure 5)
(2) Display Waypoint mode
(3) Anchor Watch mode
(4) Freeze and Mark mode
(5) Man--Over--Board mode.
OWNSHIP DATA PAGE COMMON PARAMETERS
36 The following parameters are displayed on all five OWNSHIP DATA modes:
Status
37 This parameter displays the status of the GPS data (Precise Positioning Service (PPS) or
Standard Positioning Service (SPS)), or the Dead Reckoned Time (DRT) if no fix is available. If
Training Mode is selected SIM is displayed.
Position
38 This parameter displays the current position of the vessel, in the currently selected Horizontal
Reference (refer to Paragraph 232), according to the GPS data being received, or displays the dead
reckoned position if no GPS data is available. In the Man--Over--Board mode the parameter displays the
MOB position not OWNSHIP’s position
Datum
39 This parameter displays the current world datum being used to display the ownship position,
where world datum is one of those detailed in Table 2:
TABLE 2 DATUMS
DATUMGPS UE ABBREVIATION
ADINDAN ADINDAN
ARC 1950 ARC 50
AUSTRALIAN GEODETIC AUST. GEODETIC 84
BUKIT RIMPAH BUKIT RIMPAH
CAMP AREA ASTRO CAMP AREA ASTRO
DJAKARTA DJAKARTA
EUROPEAN 1950 EUROPEAN 50
GEODETIC DATUM1949 GEODETIC DATUM 49
GHANA NOT AVAILABLE
GUAM 1963 GUAM 63
GUNUNG SEGARA GUNUNG SEGARA
GUNUNG SERINDUNG 1962 NOT AVAILABLE
HERAT NORTH HERAT NORTH
HJORSEY 1955 HJORSEY 55
HU--TZU--SHAN HU--TZU--SHAN
INDIAN INDIAN
DATUMGPS UE ABBREVIATION
IRELAND 1965 (EIRE 1965) IRELAND 65
KERTAU 1948 (MALAYAN REVISED KERTAU 48
TRIANGULATION)
LIBERIA 1964 LIBERIA 64
LOCAL ASTRO USER DEFINED DATUM
LUZON LUZON
MERCHICH MERCHICH
MONTJONG LOWE NOT AVAILABLE
NIGERIA NIGERIA
NORTH AMERICAN 1927 CONUS NA 27 (CONUS)
NORTH AMERICAN 1927 ALASKA AND NA 27 (ALASKA & CAN)
CANADA
OLD HAWAIIAN, MAUI OLD HAWAIIAN (MAUI)
OLD HAWAIIAN, OAHU OLD HAWAIIAN (OAHU)
OLD HAWAIIAN, KAUAI OLD HAWAIIAN (KAUAI)
ORDNANCE SURVEY OF GREAT BRITAIN ORD SURV GB 36
1936
QORNOQ QORNOQ
SIERRA LEONE 1960 NOT AVAILABLE
SOUTH AMERICA (CAMPO INCHAUSPE) SA (CAMPO INCHAUSPE)
SOUTH AMERICA (CHUA ASTRO) SA (CHUA ASTRO)
SOUTH AMERICA (CORREGA ALEGRE) SA (CORREGA ALEGRE)
SOUTH AMERICA (PROVISIONAL SOUTH SA (PROV SA 56)
AMERICA 1956)
SOUTH AMERICA (YACARE) SA (YACARE)
TANANARIVE OBSV.1925 TANANARIVE OBS 25
TIMBALAI 1948 TIMBALAI 48
TOKYO TOKYO
VIOROL NOT AVAILABLE
SPECIAL DATUMS (SD) MGRS RELATED, MGRS REL INDIAN SPEC
INDIAN SPECIAL
SD, LUZON SPECIAL LUZON (SPECIAL)
SD, TOKYO SPECIAL TOKYO (SPECIAL)
SD, WGS 84 SPECIAL WGS 84 (SPECIAL)
DEFAULT DATUM, WGS 84 WGS 84
WGS 72 WGS 72
Time
40 This parameter displays the current day and time in hours, minutes and seconds in any of the
whole hour or half hour time zones.
Fixing
41 This parameter displays the current type of fixing entered (refer to Paragraph. 263). The
following messages are displayed:
3D -- When there are sufficient satellites to compute altitude
2D -- When there are insufficient satellites to compute altitude or the
receiver is set up to perform two dimensional fixing only
DR -- When there are insufficient satellites to perform two dimensional
fixing.
Course Made Good (CMG)
42 This parameter displays the course made good (i.e. the course over the ground) in the range 0
to 359.9_.
Speed Made Good (SMG)
43 This parameter displays the speed made good (i.e. the speed over the ground) in the range 0 to
99.99 knots.
Heading (HEAD)
44 This parameter displays the corrected gyro compass heading of the vessel in the range 0 to
359.9_.
Log Speed (LOG)
45 This parameter displays the corrected log speed of the vessel, in the range 0 to 99.99 knots. A
negative value, in the range 0 to --9.99 knots, is displayed if the vessel is moving astern (unless a pulse
log signal is being used).
Drift
46 This parameter displays the drift direction, in the range 0 to 359° and speed, in the range 0 to
99.9 knots.
0 Proper/nominal operation
1 <1 ns
2 1 ns to < 10 ns
3 10 ns to < 100 ns
4 100 ns to < 1 ms
5 1 ms to < 10 ms
6 10 ms to < 100 ms
7 100 ms to < 1 ms
8 1 ms to < 10 ms
9 >10 ms or fault
10 to 14 10 to 14 are not used
15 No information
PFOM ACCURACY
0 Not Available
1 Less than 26 metres
2 26 - 50 metres
3 51 - 75 metres
4 76 - 100 metres
5 101 - 200 metres
6 201 - 500 metres
7 501 - 1000 metres
8 1001 - 5000 metres
9 Greater than 5000 metres
11 OWNSHIP DATA
STATUS
GPS (SPS)
POSITION PFOM 2
12 30.471S
130 59.007E
FIXING
DATUM: WGS 84
2D
TIME TFOM 3
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
0.00 0.00 0.0
11 OWNSHIP DATA
WAYPOINT
STATUS
GPS (PPS) 046 KL431
POSITION BRG(TO)
52L GM 073.8
RANGE NM
15543 16480
19.54
FIXING
DATUM: WGS 84
2D
MODE
TFOM 3
TIME
RL
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
CLEAR
11 OWNSHIP DATA
WAYPOINT
STATUS
GPS (PPS)
POSITION BRG(TO)
52L GM
RANGE NM
15543 16480
FIXING
DATUM: WGS 84
2D
MODE
TFOM 3
TIME
RL
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
52 The display waypoint mode provides the following parameters in addition to the common
parameters;
WAYPT (Waypoint)
55 Pressing F2 provides a re--prompt for the WAYPT parameter. To CLEAR the waypoint (F1 soft
key) clears the waypoint in use, from the page, so that it may be edited, re--defined or deleted.
57 Pressing F5 changes the Rhumb Line mode to Great Circle mode for the BRG TO, BRG FROM
and RANGE parameters.
58 Pressing F5 changes the Great Circle mode to Rhumb Line mode for the BRG TO, BRG FROM
and RANGE parameters.
NAUTICAL MILES
59 Pressing F6 changes the units for the RANGE parameter to nautical miles. This soft
function--key only present if the UNITS parameter in the Receiver Set--Up page has been set to nautical.
METRES
60 Pressing F6 changes the units for the RANGE parameter to metres. This soft function--key only
present if the UNITS parameter in the Receiver Set--Up page has been set to metric.
YARDS
Waypoint (WAYPT)
62 This parameter displays the number and identity of the selected waypoint , in the range 000 to
999. Pressing F1 allows the user to enter the required waypoint. The CLEAR (F2 soft key) clears the
waypoint in use from the page so that it may be edited, re--defined or deleted.
RANGE
64 This parameter displays the range between the selected waypoint and the displayed ownship’s
position. The decimal point automatically moves to suit the magnitude of the value. The range is
displayed as either a Rhumb Line or Great Circle range, depending on the setting of the MODE
parameter.
Ownship Data Page Anchor Watch Mode
65 Accessed from the default mode by pressing F2. When F2 is pressed the screen displays the page
shown at the top of Figure 7. Pressing the CLEAR key changes the display to that shown at the bottom
of Figure 7. The Anchor Watch mode monitors the range from Ownship to a specified waypoint and
initiates an alarm once a pre--set alarm range is exceeded. The waypoint number, range to that waypoint
and the range at which the alarm is activated are displayed.
66 The anchor watch mode provides the following parameters in addition to the common
parameters:
ANCHOR WATCH
67 Pressing F1 provides a re--prompt for the WAYPT and MAX RANGE parameters. The CLEAR
(F1 soft key) clears the waypoint in use from the page so that it may be edited, re--defined or deleted.
NAUTICAL MILES
70 Pressing F6 changes the units for the RANGE and MAX RANGE parameters to nautical miles.
This soft function--key only present if the UNITS parameter in the Receiver Set--Up page has been set
to nautical.
METRES
71 Pressing F6 changes the units for the RANGE and MAX RANGE parameters to metres. This soft
function--key is only present if the UNITS parameter in the Receiver Set--Up page has been set to metric.
YARDS
72 Pressing F6 changes the units for the RANGE and MAX RANGE parameters to yards.
11 OWNSHIP DATA
WAYPOINT
STATUS
GPS (PPS) 046 KL431
POSITION MAX RANGE
12 30.471S 1000
YD
RANGE YD
130 59.007E
780
FIXING
DATUM: WGS 84
2D
TFOM 3 MODE
TIME
GC
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
CLEAR
11 OWNSHIP DATA
WAYPOINT
STATUS
GPS (PPS)
KL431
POSITION MAX RANGE
12 30.471S YD
RANGE YD
130 59.007E
FIXING
DATUM: WGS 84
2D
TFOM 3 MODE
TIME
GC
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
Waypoint (WAYPT)
73 This parameter displays the waypoint number at the centre of the anchor watch.
RANGE
74 This parameter displays the range between the selected waypoint and the displayed ownship’s
position. The decimal point automatically moves to suit the magnitude of the value. The range is
displayed as either a Rhumb Line or Great Circle range, depending on the setting of the MODE
parameter.
FREEZE DISPLAY
78 Pressing F1 freezes all data on the display, and changes the soft key legend to UNFREEZE
DISPLAY.
UNFREEZE DISPLAY
79 Pressing F1 starts the display updating again and changes the soft key legend to FREEZE
DISPLAY.
MARK POSITION
80 Pressing F2 stores the current position and time as a mark and freezes these parameters on the
display. If all nine marks are in use the oldest mark is overwritten. Pressing F2 also displays the WAYPT.
STORE and WAYPT. DIRCTORY soft function--keys as shown on the display at the bottom of Figure
8. The parameter is removed by pressing the CLR key. When marks are displayed, the POSITION and
TIME parameters show the position and time of the mark, not OWNSHIP’S position.
11 OWNSHIP DATA
11 OWNSHIP DATA
WAYPOINT
STATUS GPS (PPS) 046 MRK H
POSITION MARK
12 30.471S H
130 59.007E
DATUM: WGS 84 FIXING
2D
TFOM 3
TIME
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
Waypoint (WAYPT)
84 This parameter displays the waypoint number for a stored mark (excluding the range 900 to 999).
11 OWNSHIP DATA
WAYPOINT
STATUS GPS (PPS) MOB
POSITION BRG(TO)
12 30.471S 163.4
RANGE YD
130 59.007E 717
DATUM: WGS 84 FIXING
2D
TFOM 3 MODE
TIME
RL
07 1230: 171K
CMG HEAD DRIFT
047.5 045.0 205
SMG KT LOG KT KT
15.09 14.00 1.6
BRG to WAYPT
88 Pressing F1 changes the BRG FROM WAYPT parameter, to the BRG TO WAYPT parameter.
90 Pressing F5 changes the Great Circle mode to Rhumb Line mode for the BRG TO and RANGE
parameters.
NAUTICAL MILES
91 Pressing F6 changes the units for the RANGE parameter to nautical miles. This soft
function--key is only present if the UNITS parameter in the Receiver Set--Up page has been set to
nautical.
METRES
92 Pressing F6 changes the units for the RANGE parameter to metres. This soft function--key is only
present if the UNITS parameter in the Receiver Set--Up page has been set to metric.
YARDS
93 Pressing F6 changes the units for the RANGE parameter to yards.
Waypoint (WAYPT)
94 This parameter displays letters MOB.
RANGE
96 This parameter displays the range between the MOB position and ownship’s position. The
decimal point automatically moves to suit the magnitude of the value. The range is displayed as either
a Rhumb Line or Great Circle range, depending on the setting of the MODE parameter.
NOTE
The POSITION parameter displays the MOB position not OWNSHIP’S position.
MOTION DATA
97 Figure 10 shows the motion data page which is accessed from the main menu by keying F1
followed by F2, or from any other page by keying 12.
98 The motion data page displays the compass heading, log speed, roll and pitch raw motion inputs,
from the ship’s data distribution system. Known errors in these parameters may be entered. Computed
drift direction and speed is displayed and manual input of estimated drift is provided when no GPS fixes
are available.
12 MOTION DATA
ROLL O
ROLL ERR
+ 15.2 -- 0.7
O
PITCH O
PITCH ERR
-- 9.1 + 1.2
O
CALC DRIFT O
EP DRIFT
045.3 050.0
O
KT KT
1.72 1.50
Pitch
103 This parameter displays the raw pitch data, in the range - 180° (bow down) to +180° (bow up),
from the data distribution system. PITCH is blank if no data is available.
Calculated Drift (CALC DRIFT)
104 This parameter displays the calculated drift, in the range 0 to 359.9°, and speed, in the range 0
to 99.99 knots, derived from GPS position fixes and the corrected log and compass values (HEAD and
LOG parameters are dispalyed on the Ownship Data page).
Gyro compass Error (GYRO ERROR)
105 Accessed by pressing F1, this parameter, edited at the master only, displays the compass heading
error, in the range L9.9° (gyro compass reads low) to H9.9° (gyro compass reads high). Use F1 to enter
L and F2 to enter H.
Log Error
106 Accessed by pressing F2, this parameter, edited via the master only, displays the log speed error,
in the range --9.9 knots (log reads low) to +9.9 knots (log reads high).
Roll Error
107 Accessed by pressing F3, this parameter, edited via the master only, displays the roll error, in
the range --9.9° (roll readings low on starboard) to +9.9° (roll readings high on starboard).
Pitch Error
108 Accessed by pressing F4, this parameter, edited via the master only, displays the pitch error in
the range --9.9° (pitch readings low, bow up) to +9.9° (pitch readings high, bow up).
Estimated Position Drift (EP DRIFT)
109 Accessed by pressing F5, this parameter, edited via the master only, displays the estimated drift,
in the range 0 to 359.9°, and speed, in the range 0 to 99.99 knots. It may be loaded with the calculated
drift values (by pressing F1), reset to zero (by pressing F2) or entered using the keypad. If there are no
GPS fixes, the operator may opt, via the NAVIGATION mode, to use this drift value in the update of
ownship’s position.
NAVIGATION MODES
110 Figure 11 shows the Navigation Modes page which is accessed from the main menu by keying
F1 followed by F3, or by keying 13 when in any other page.
111 The navigation modes page enables the user to select modes of operation specific to the
navigation of the vessel, eg the earth datum, the mode in which the position is displayed, the differential
mode and the fall back mode of navigation for the receiver when no fixes are available.
13 NAVIGATION MODES
DATUM
USER DEFINED DATUM
HEADING REF
TRUE NORTH TRANSFORMATION
PARAMETERS
POSITION MODE
LAT/LONG nX - 0133 M
nF - 0.00081204 E4
CORRECTIONS
USING
NOTE
(1) When USER DEFINABLE DATUM is selected, transformation parameters nX, nY, nZ,
nA and nF are displayed, allowing the operator to create his own datum transformations.
(2) When the equipment is powered up (cold start) the nX, nY, nZ, nA and nF parameters
default to Datum AGD 66. Refer to Figure 11 for Datum AGD 66 Transformation Parameters.
113 Accessed by pressing F1. This parameter, edited at the master only, is used to select the required
earth model for use as the system datum, from the system datum list detailed in Paragraph 39.
nX
121 The DX parameter is accessed by pressing F6 followed by F1. This parameter, is only available
when the Datum parameter is set to User Defined Datum and access is available at the master only. The
parameter displays the X shift, in the range --9999 to +9999 metres, between the centres of the local
geodetic system and WGS’84 ellipsoids.
nY
122 The nY parameter is accessed by pressing F6 followed by F2. This parameter, is only available
when the Datum parameter is set to User Defined Datum and access is available at the master only. The
parameter displays the Y shift, in the range --9999 to +9999 metres, between the centres of the local
geodetic system and WGS’84 ellipsoids.
nZ
123 The nZ parameter is accessed by pressing F6 followed by F3. This parameter, is only available
when the Datum parameter is set to User Defined Datum and access is available at the master only. The
parameter displays the Z shift, in the range --9999 to +9999 metres, between the centres of the local
geodetic system and WGS’84 ellipsoids.
nA
124 The nA parameter is accessed by pressing F6 followed by F4. The parameter, is only available
when the Datum parameter is set to User Defined Datum and acess is available at the master only. The
parameter displays the difference, in the range --99 999 to +999.999 metres, between the semi--major
axis of the local geodetic system ellipoid and the WGS’84 elipsoid.
nF
125 The nF parameter is accessed by pressing F6 followed by F5. This parameter, is only available
when the Datum parameter is set to User Defined Datum and access is available at the master only. The
parameter displays the difference, in the range - 9.99999999 to +9.99999999 E4, between the flattening
of the local geodetic system ellipsoid and the WGS’84 ellipsoid.
Corrections
126 This parameter indicates the status of differential corrections. It will display NONE if no
corrections are available, RECEIVING if corrections are available and USING when the corrections are
being used. This parameter has no user access and is only displayed if the differential parameter shows
ENABLED.
POSITION PFOM 4
12 30.469S
130 59.013E
DATUM: WGS 84 ALTITUDE M
5.8
TIME
07 1230 : 051K STATUS
SATELLITE DATA
SPS
CH SAT L1/L2 CODE STATE AZIM ELEV C/NO J/S
1 16 L1 P C&C 160 +20 39 + 2
2 18 L1 P C&C 226 +29 40 + 1
3 03 L1 P C&C 097 +45 45 - 4
4 19 L1 P C&C 225 +60 38 + 3
5 07 L1 P ACQ 048 +17 43 - 2
CHANNELS
6 - 10
Status
134 This parameter displays the status (PPS, D--SPS or SPS) of the GPS data being displayed.
Satellite Data
135 This parameter displays the status of the GPS satellite data used to compute the last GPS fix. The
data is provided in tabular form and details the values for each of the GPS receiver channels under the
following headings:
(1) CHAN (GPS Channel 1 to 5 or GPS Channel 6 to 10)
(2) SAT (Satellite identification number)
(3) L1/L2 (Frequency L1 or L2)
(4) CODE (CA, Y or P code)
(5) STATE (Satellite status)
(6) AZIM (Satellite azimuth)
(7) ELEV (Satellite elevation)
(8) C/No (Carrier to Noise)
(9) J/S (Jamming to Signal)
(10) The remaining 5 channels (6--10) may be accessed by pressing F1.
Positional Figure Of Merit (PFOM)
136 This parameter displays the Positional Figure of Merit which indicates the accuracy of the
received position, where;
TABLE 5 POSITIONAL FIGURE OF MERIT
PFOM ACCURACY
0 Not Available
1 < 26 metres
2 26 - 50 metres
3 51 - 75 metres
4 76 - 100 metres
5 101 - 200 metres
6 201 - 500 metres
7 501 - 1000 metres
8 1001 - 5000 metres
9 > 5000 metres
15 ROUTE STEER
ROUTE NO.
5 LEG NO.
13
MODE
RL
FROM WAYPT TO WAYPT
512 513 PBL03
BEARING
TMG
175.5 180.4
RANGE
2.695
TIME-- TO-- GO (012 MINS EARLY)
0005 : 12
TRACK ERR NM
015.2 : 0.136 RIGHT
ROUTE LEG NEXT PREVIOUS STEERING
NO. NO. LEG LEG SEQUENCE
RENDEZVOUS
151 Figure 14 shows the Rendezvous page which is accessed from the Main Menu by keying F1
followed by F6, or by keying 16 when in any other page.
152 The Rendezvous page is used to define a rendezvous position between ownship’s position and
a waypoint. The position is determined by specifying the intended time of arrival or the speed made
good. The page operates dynamically, displaying the bearing and speed required to achieve the
rendezvous at the intended time of arrival. The rendezvous position, range to the rendezvous and
Time--To--Go are also displayed. The distance from the waypoint at which an alarm is activated may also
be defined.
16 RENDEZVOUS
TO WAYPT
513 PBL03
MODE
RL
ITA ALARM DIST
NM
29 0940Z 2.50
SMG KT
1O.40
BEARING POSITION
175.5 12 30.469S
RANGE NM
2.695 130 59.013E
DATUM: WGS 84
TIME-- TO-- GO
(012 MINS EARLY)
0005 : 12
TO ITA SMG ALARM
WAYPT DIST
WAYPOINT SETUP F1
ROUTE SETUP F2
WAYPT ROUTE
SETUP SETUP
WAYPOINT SET--UP
167 The Waypoint Set--Up page is accessed from the main menu by keying F2 followed by F1, or
by keying 21 when in any other page. Figure 16 shows the waypoint set--up page in the
BEARING/RNG/ELEV mode. The BRG (FROM), RANGE and ELEV parameters are not displayed
in the Lat/long or MGRS modes. This page has three sets of function keys, it is therefore necessary to
press the MORE (F6) until the required parameter is accessible.
168 The waypoint set--up page is used to create, edit and delete waypoints. The waypoint table
comprises 199 user defineable waypoints and 100 read only waypoints, any of which may be moving.
The waypoint position may be defined by latitude/longitude, or bearing with slant range and elevation
angle from another waypoint or ownship’s position. Any waypoints currently in use are protected from
deletion. Waypoints may have an identifier and a frequency associated with them if they are used as a
marine beacon. The Waypoint Directory is accessed by pressing F4.
169 Waypoint numbers 001 to 199 are user definable. Waypoint numbers 900 to 999 are read only
for the CDU but may be loaded from the Data Loader/Recorder device through the Data Load/Record
page. Waypoint number 000 is reserved for the Man--Over--Board function.
21 WAYPOINT SETUP
WAYPT NO. IDENT
205 PBL02
POSITION
12 12.694S MARK
1439.5
130 35.255E FIXING
045
DATUM: WGS 84
TFOM 3 KT
MODE
12.0
PBL03
BRG/RNG/ELV : 213
BRG(FROM) TIME
234.5 08 1508: 00K
RANGE NM
3.672 ELEV
+ 1.5
Position
172 Accessed by pressing F3, this parameter, only available in the Lat/Long mode, is used to enter
the position of the waypoint, in the range 0 to 90° N/S and 0 to 180° E/W. A prompt to enter time is also
displayed whenever a position is injected. Altering the Bearing\Range\Elevation or MGRS parameters
when not in the Lat/Long mode causes the position parameter to update. To add latitude/longitude press
the following keys:
NORTH F1
SOUTH F2
EAST F3
WEST F4
Datum
173 Accessed by pressing F2, this parameter is used to select the earth model to display the waypoint
position. On entry to the page the datum defaults to that currently used for the navigation mode. (If the
User Defined Datum is selected, either the User Defined Datum selected for the Navigation Modes page
or the default User Defined Datum (AGD 66), is used).
NEXT (F1) View next datum option
Mode
174 Accessed by pressing F1, this parameter displays the mode used to show the waypoint position.
On entry to the Waypoint Set--Up page the parameter defaults to the Lat/Long mode. To select the mode
of operation press the following keys:
LAT/LONG (F1) Select Lat/Long mode
178 The user is prompted to input bearing; elevation and time when a slant range is entered.
Elevation (ELEV) (BEARING/RNG/ELEV mode only)
179 Accessed by pressing the MORE soft key followed F5, this parameter, only available in the
Bearing/Range/Elevation mode, displays the elevation, in the range - 90° to +90°, from the waypoint
specified in the mode parameter.
180 The user is prompted to input bearing; slant range and time when an elevation value is entered.
Course
181 Accessed by pressing F3, this parameter is used to enter and display the course of the waypoint,
in the range 0 to 359°, relative to the selected heading reference. Course, Speed and Time parameters
are deleted from the display if the waypoint is specified as stationary.
182 The user is prompted to input speed; and time whenever a course value is injected.
Speed
183 Accessed by pressing F4, this parameter is used to enter and display the speed of the waypoint,
in the range 0 to 99.9 knots. Course, Speed and Time are deleted from the display if the waypoint is
specified as stationary
184 The user is prompted to input course; and time whenever a speed value is injected.
Time
185 Accessed by pressing F5, this parameter is used to enter the time, in hours, minutes, seconds and
zone, at which other parameters were true.
NEXT ZONE (F1) Change to next time zone
Identity (IDENT)
189 Accessed by pressing F1, this parameter is used to enter and display a non unique five character
identifier associated with the waypoint. If five spaces are entered the parameter is deleted from the
display. Alpha--numeric data is entered into the parameter as follows:
(1) Numeric values are entered using the numeric keys.
(2) Letters are highlighted from a row of letters at the bottom of the screen using the NEXT
(F1) and PREVIOUS (F2) keys, and selected via the F6 key.
(3) Space, Decimal point, plus sign or minus sign are entered using the SP, D, or +/-- keys.
Freq
190 Accessed by pressing F2, this parameter is for reference purposes only and is used to enter and
display the frequency of a marine beacon waypoint in the range 0 to 9999.9 kHz.
Mgrs
191 Accessed by pressing F3, this parameter is only displayed when the MGRS mode is selected and
is used to enter and display the position of a waypoint on the Military Grid Reference System.
Alpha--numeric data is entered into the parameter as follows:
(1) Numeric values are entered using the numeric keys.
(2) Letters are highlighted from a row of letters at the bottom of the screen using the NEXT
(F1) and PREVIOUS (F2) keys, and selected via the F6 key.
ROUTE SET--UP
192 Figure 17 shows the route set--up page which is accessed from the main menu by keying F2
followed by F2, or 22 when in any other page.
193 The route set--up page is used to define up to ten routes, each of up to 30 legs. Each leg may be
a Great Circle or a Rhumb Line. The bearing and distance between the start and end of the leg is
displayed, along with the cumulative distance along all preceding legs. The distance from the
end--of--leg--waypoint at which an alarm is activated may be defined and legs may be inserted or deleted
from a route. An example of how to set up a route is provided in Annex B.
194 In the Steering Sequence mode the sequence of waypoints constituting the route currently
selected is displayed (refer to Paragraph 305).
22 ROUTE SETUP
Mode
NOTE
This parameter defaults to the Rhumb Line mode.
200 Accessed by pressing F5, this parameter displays the mode used to show the bearing and distance
between the waypoints at the start and end of the leg. Two modes may be selected as follows:
GREAT CIRCLE (F1) Select Great Circle mode
RHUMB LINE (F2) Select Rhumb Line mode
Bearing
201 This parameter displays Great Circle or Rhumb Line bearing, in the range 0 to 359.9°, from the
waypoint at the start of the leg to the waypoint at the end of the leg.
Distance
202 This parameter displays the Great Circle or Rhumb Line range (0 to 99999 nautical miles) from
the waypoint at the start of the leg to the waypoint at the end of the leg. The decimal point automatically
moves to suit the magnitude of the value.
Total Distance (TOTAL DIST)
203 This parameter displays the cumulative distance along the route, in the range 0 to 99999 nautical
miles, from the waypoint at the start of leg 01 to the waypoint at the end of the current leg. The decimal
point moves to suit the magnitude of the value.
Alarm Distance (ALARM DIST)
204 Accessed by pressing F6 followed by F3, this parameter displays Rhumb Line or Great Circle
distance, depending on the mode selected, in the range 0 to 9999 nautical miles, for ownship from the
end of leg waypoint at which the APPROACHING NEXT WAYPOINT or APPROACHING END OF
SELECTED ROUTE alarms are activated. The alarms are disabled if this parameter is set to zero.
Start Time
205 This parameter is used to enter and display the starting time for the route. Time may be entered
for up to one year ahead. Four soft function--keys are provided:
REMOVE (F1) Remove the Start Time from the display.
UPDATE ITAs (F2) Update the ITAs for each leg, relative to the
Start Time entered.
206 A prompt to input the start time appears whenever the ‘From Waypoint’ is entered. If INJECT
is pressed after the start time has been altered, that time becomes the start time and any existing leg ITAs
remain unchanged. If the start time is altered and the UPDATE ITAs soft key is pressed instead of the
INJECT key, the entered time becomes the new start time, and the leg ITAs are updated relative to it,
allowing previously defined routes to be re--used without having to specify all leg times again.
Intended Time of Arrival (ITA)
NOTE
The time entered in this parameter is used on the Route Steer page to determine the number of
minutes early or late at the rendezvous.
207 This parameter is used to enter and display the intended time of arrival, in hours, minutes,
seconds and zone, at the TO WAYPT. Times may be entered for up to one year ahead. Three soft keys
are provided as follows:
REMOVE (F1) Remove the ITA from the display.
208 A prompt to input the ITA appears whenever a ‘To Waypoint’ is entered.
SATELLITE GEOMETRY 31
SATALLITE STATUS 32
03 SATELLITE DATA
SATELLITE GEOMETRY F1
SATELLITE STATUS F2
SATELLITE SATELLITE
GEOMETRY STATUS
SATELLITE GEOMETRY
210 Figure 19 shows the satellite geometry page which is accessed from the main menu by keying
F3 followed by F1, or 31 when in any other page.
211 The satellite geometry page displays the current satellite status and geometry data, and Dilution
Of Precision Data (GDOP) and current receiver mask angle.
SATELLITE GEOMETRY PAGE DESCRIPTION
212 The satellite geometry page provides the following parameters.
31 SATELLITE GEOMETRY
CHAN 1 2 3 4 5 6 7 8 9 10
SAT 16 00 03 19 07 12 18 06 29 00
FREQ L1 L1 L1 L1 L1 L1 L1 L1 L1 L1
CODE CA CA CA CA CA CA CA CA CA CA
STAT C&C FRE C&C C&C ACQ C&C C&C C&C ACQ FRE
ELEV +20 +00 +45 +60 +17 +20 +29 +45 +60 +00
AZIM 034 000 268 192 015 034 305 268 192 000
C/N 39 34 45 38 43 39 40 45 38 35
J/S +2 +1 -4 +3 -2 +2 +1 +4 +3 +0
Satellite Data
213 This parameter displays the status of the GPS satellite data used to compute the last GPS fix. The
data is provided in tabular form and details the values for each of the GPS receiver channels under the
following headings:
(1) CHAN - GPS Channel 1 to 10
(2) SAT - Satellite Identification Number
(3) FREQ -- Frequency messages are as follows:
a. L1
b. L2
c. ** (Not Used)
d. ER (Error)
(4) CODE-- Code messages are as follows:
a. P (P Code)
b. CA (CA Code)
c. Y (Y Code)
d. ** (Not Applicable)
(5) STAT - Satellite Status messages are as follows:
a. FRE (Free)
b. C&C (Code and Carrier Locked)
c. CDE (Code Locked)
d. ACQ (Acquiring)
SATELLITE STATUS
216 Figure 20 shows the Satellite Status is page which is accessed from the main menu by keying
F3 followed by F2, or 32 when in any other page.
217 The Satellite Status page displays information currently held for each of the satellite vehicles.
The satellites to be used by the receiver are edited via the USE parameter, selected by pressing F1.
32 SATELLITE STATUS
Tracked (TRK’D)
222 This parameter displays whether or not the satellite has been tracked for each of the satellite
vehicle numbers since the Receiver was last turned on, ie since its last warm start, and is indicated by
YES or NO appearing in the column.
USE
223 Accessed by pressing F1, this parameter, accessible on the master only, displays a list of entries
which indicate whether or not the satellite should be used to calculate position. Setting the parameter
to BAN completely bans the use of the satellite by the receiver. The master user may edit this list by using
the arrow keys to step through the table, and the soft keys to set the required entry. A limited number
of satellities may be banned.
BAN (F1) Set one USE entry to BAN
224 The master user can force up to 4 satellites. The receiver will use the ”forced” satellites to obtain
the PVT solution.
NOTE: When the Receiver is turned on, all entries default to YES.
Almanac Age
225 This parameter indicates the age of the almanac date in days. A receiver, when switched on after
a long period, will attempt to track satellites for which almanac date is available. Data over 150 days
old may be inaccurate and a INIT may be more appropriate (Para 253).
04 SYSTEM SETUP
RECEIVER SETUP F1
PLATFORM SETUP F2
DATA LOAD/RECORD F3
INTERFACE SETUP F4
CRYPTO SETUP F5
NOTE
The crypto setup page is only available for receivers capable of being authorised.
RECEIVER SET--UP
228 Figure 22 shows the receiver set--up page which is accessed from the main menu by keying F4
followed by F1, or 41 when in any other page.
NOTE
(1) When the receiver set- up page is selected the display defaults to the Default mode.
(2) All page modes display the Elapsed Time Interval since the last cold and warm
start- ups.
229 The receiver set--up page is used to specify the co--ordinate system to be used, the initial settings
for the GPS receiver and the operating parameters for the GPS user equipment. Two modes of operation
are available as follows:
(1) Default mode (shown in Figure 22)
(2) Position Initialise mode (shown in Figure 23), accessed from the Default mode page by
pressing F1
Default Mode
230 The default mode displays the co--ordinate systems to be used, comprising Units, North
Reference, Vertical Reference, Horizontal Reference, and depending on the horizontal reference chosen,
Grid Convergence and Central Meridian.
41RECEIVER SETUP
UNITS
NAUTICAL
NORTH REF
TRUE NORTH
VERTICAL
MEAN SEA LEVEL
HORIZONTAL
UTM
CONVERGENCE O
004. 7
C. MERIDIAN O TIMEOUT MINS
E177 10
ETI (COLD) 00123 ETI (WARM) 00057
UNITS
232 Accessed by pressing F2, this parameter, edited on the master only, is used to set the type of units
required for display of speed and distance parameters. Metric or nautical units are available.
NORTH REF.
233 Accessed by pressing F3, this parameter, edited on the master only, is used to select the heading
reference from True North, Magnetic North, or Grid North.
NEXT (F1) View next heading reference option
VERTICAL
234 Accessed by pressing F4, this parameter, edited on the master only, is used to select the reference
for altitude parameters from Mean Sea Level (Geoid) or the ellipsoid currently used.
NEXT (F1) View next vertical option
HORIZONTAL
235 Accessed by pressing F5, this parameter, edited on the master only, is used to select the reference
system for display of position from the following list:
(1) Geodetic Lat/Long (see Note 1)
(2) Universal Polar Stereographic (UPS)
(3) Universal Transverse Mercator (UTM)
(4) Military Grid Reference System (MGRS)
CONVERGENCE
236 The Grid Convergence parameter is displayed for all options with the exception of Geodetic
Lat/Long. This parameter displays the grid convergence in the range 0 to 180° E/W.
C. MERIDIAN
237 The Central Meridian parameter is only displayed when the Universal Transverse Mercator
Horizontal Reference system is selected. This parameter displays the current Central Meridian, in the
range E003 to E177 and W003 to W177 in steps of 6 degrees.
CLEAR RECEIVER
238 Accessed by pressing F6 followed by F1. This command will clear all satellite acquisition and
tracking data. This command need not generally be used unless it is suspected that the unit is not
navigating correctly due to corrupt data.
TIMEOUT
239 Accessed by pressing F6 followed by F3, this parameter is used to set the length of time between
the last keystroke and the display reverting to the Ownship Data page. The default is 10 minutes. A value
of zero will disable this function.
MASTER CDU
240 Accessed by pressing F6 followed by F4, this soft function--key is available at the slave CDU
only. When pressed, a confirmation of master status transfer appears.
241 This parameter (in all modes) displays the time in hours that have elapsed since the last cold start
of the GPS user equipment and is the sum total of all the warm starts. The case elapsed time indicator,
displayed on the Main Menu shown in Figure 3, is the sum total of all cold starts. A cold start is required
when all power, including internal battery power, has been removed.
242 This parameter (in all modes) displays the time in hours, that have elapsed since the last warm
start of the GPS user equipment. A warm start occurs when internal battery power has maintained stored
data and ship’s power is applied to the equipment usually at the start of a mission.
TRAINING MODE
41 RECEIVER SETUP
POSITION
12 29. 314S CMG
O
047.5
130 34. 267E
SMG KT
DATUM: WGS 84
3.50
DATE
05: 11: 91
TIMS ZONE
1450: 00 IK
POSITION
246 Accessed by pressing F1, this parameter, edited on the master only, is used to set the current
position of the vessel. The format used depends on the Horizontal Reference selected in the default mode
of this page. For example Lat/Long allows the position to be entered in the range 0 to 90° N/S and 0
to 180° E/W. Latitude and longitude are set by pressing the following keys:
NORTH (F1) Select latitude north
SOUTH (F2) Select latitude south
EAST (F3) Select longitude east
WEST (F4) Select longitude west
DATUM
247 Accessed by pressing F2, this parameter displays the current world datum being used to
display/enter the ownship position, where world datum is one of those listed in Paragraph. 39 Table 2.
On entry to the page the datum defaults to that currently used for the navigation mode. (If the User
Defined Datum is selected, either the User Defined Datum selected for the Navigation Modes page or
the default User Defined Datum (AGD 66), is displayed).
DATE
248 Accessed by pressing F3, this parameter, edited on the master only, displays the current day,
month and year and may be used to set the initial date used by the receiver.
TIME
249 Accessed by pressing F4, this parameter, edited on the master only, displays the current time in
hours, minutes and seconds and is used to set the initial time used by the receiver. Values are specified
in GMT/UTC (if the zone is set to Z) or local time, depending on the setting of the ZONE parameter.
ZONE
NOTE
Zone Z (GMT/UTC) is designated as the default zone.
250 Accessed by pressing F5, this parameter, edited on the master only, is used to display and enter
the date and time parameters, and may be specified in any of the whole hour or half hour time zones.
The default time zone is Z (GMT/UTC).
¬West GMT East®
YXWVUTSRQPON Z ABCDEFGHIKLMM+M*
251 The time zone may be changed in half hour increments using the NEXT (F1) and PREVIOUS
(F2) soft function--keys. Time zone M+ represents 12.5 hours ahead of GMT and time zone M*
represents 13 hours ahead of GMT,
INIT RECEIVER
254 When all parameters are set press F3 to send the time, position, heading and speed to the GPS
receiver.
PLATFORM SET--UP
255 Figure 24 shows the platform set--up page which is accessed from the main menu by keying F4
followed by F2, or by keying 42 when in any other page.
256 The platform set--up page is used to define parameters specific to the platform on which the GPS
receiver is mounted.
42 PLATFORM SETUP
ANTENNA HEIGHT M
8.5
OFFSET L/R M
1.4 LEFT
OFFSET F/A M
12.7 FWD
MOVING
YES
FIXING
2D
L1 DELAY NSEC L2 DELAY NSEC
175 213
Moving
262 Accessed by pressing F4, this parameter, edited on the master only, is used to specify whether
or not the platform is moving or stationary. If stationary is selected the filter characteristics of the
solution are adjusted to reduce the dynamic range of the receiver.
263 The parameter is set by pressing the following keys:
YES (F1) Platform is moving or is likely to move
Fixing
264 Accessed by pressing F5, this parameter, edited on the master only, is used to determine whether
the receiver will calculate a 2 dimensional fix based on the use of 3 satellites, or attempt to calculate a
3 dimensional fix based on 4 satellites. 2D is normally selected if there is a problem with satellite
visibility due to obscuration, jamming or available time. The 2D fix will assume the last calculated
altitude.
NOTE
L1 DELAY and L2 DELAY parameters are present but not used.
DATA LOAD/RECORD
265 Figure 25 shows the data load/record page which is accessed from the main menu by keying F4
followed by F3, or by keying 43 when in any other page.
266 The data load/record page is used to control the loading of data from the Data Loader/Recorder
and the recording of data to the external loading device.
43 DATA LOAD/RECORD
INTERFACE LOAD
DL/R DISABLED
RECORD
ENABLED
INFORMATION TO LOAD TO RECORD
267 The following types of data may be loaded from the Data Loader/Recorder:
(1) Waypoint and Routing data
(2) Antenna Offset data
(3) User defined datum (DATUM.20) parameters
(4) Ship unique parameters as required.
268 Data loaded from the Data Loader/Recorder has priority and overwrites existing equivalent
system data.
DATA LOAD/RECORD PAGE DESCRIPTION
269 The data load/record page provides the following parameters.
Interface
270 This parameter displays the title of the Data Loader/Recorder device used to load data from and
record data to. The data to load and record is specified using the Info to Load and Info to Record
parameters. Loading and recording are enabled/disabled using the Load and Record parameters.
Load
271 Accessed by pressing the F1 key, this parameter, edited on the master only, is used to enable and
disable the remote loading of data from the Data Loader/Recorder device. When enabled, the data
specified using the Info to Load parameter is up--loaded and stored. Up--loaded data has priority and
overwrites existing equivalent system data. Enable/disable is performed using the following keys:
F1 = ENABLE F2 = DISABLE
Record
272 Accessed by pressing the F2 key, this parameter, edited on the master only, is used to enable and
disable the remote loading of data to the Data Loader/Recorder device. When enabled, the data specified
using the Info to Record parameter is down--loaded. Enable/disable is performed using the following
keys:
F1 = ENABLE F2 = DISABLE
Info To Load
NOTE
When the equipment is powered- up all entries default to YES
273 Accessed by pressing the F3 key, this parameter, edited at the master only, displays whether or
not each class of loadable information should be up--loaded from the remote Data Loader/Recorder. The
master user may edit this list by using the arrow keys to step through the table, and the soft keys to set
the required entry. Four options are available as follows:
ALL YES (F1) Set all INFO TO LOAD entries to YES
Info To Record
NOTE
When the equipment is powered- up all entries default to YES
274 Accessed by pressing the F4 key, this parameter, edited at the master only, displays whether or
not each class of loadable information should be down--loaded to the remote Data Loader/Recorder. The
master user may edit this list by using the arrow keys to step through the table, and the soft keys to set
the required entry. Four options are available as follows:
ALL YES (F1) Set all INFO TO LOAD entries to YES
INTERFACE SET--UP
275 Figure 26 shows an interface set--up page which is accessed from the main menu by keying F4
twice, or keying 44 when in any other page.
276 The interface set--up page is used to set the characteristics and connection details for each of the
available interfaces.
44 INTERFACE SETUP
INTERFACE STATUS
RS422/3 OFF
DATA EXCHANGE
RADAR
BAUD RATE
2400
PARITY ODD
DATA BITS
7
Data Exchange
NOTE
The following parameter defaults are NOT USED on a cold start. The data exchange
parameters for each interface are set as part of the Preparation for Acceptance, refer to Volume
3. Attention is required only following a cold start (battery or electronics removed).
280 Accessed by pressing F2, this parameter is only available when the interface parameter is turned
off and is used to select the data exchange format required for the selected interface shown in Table 9.
TABLE 9 --- INTERFACE AND OPTIONS
INTERFACE
RS422/1 to 6 SYNCH/1 to 4 PULSE DGPS
O
P CDU1 LOG(S) LOG(400) RTCM 104
T CDU2 HEAD(S) LOG(200)
I DL/R ROLL(S) LOG(100)
O PITCH(S)
N GMDSS
S RADAR
DDU
NOTE
Other data exchange formats may be available in some variants.
Status
281 Accessed by pressing F3, this parameter displays the current status of the interface as ON or OFF.
The local CDU and the DGPS interface default to ON; all other interfaces default to OFF.
282 Each data exchange format may only be applied to one interface at a time, eg RS 422/1--CDU1,
RS 422/2--CDU2, SYNCH/3--HEAD. A confirmation prompt is displayed if an already used data
exchange format is specified for an interface. On confirmation of re--use of a data exchange format the
following occurs:
(1) The previously associated interface is reset so that the data exchange parameter is set to
NOT USED
(2) The STATUS parameter is set to OFF
283 To move through the list, press the following keys:
NEXT(F1) View next entry in list
PREVIOUS (F2) View previous entry in list
Baud Rate
284 Accessed by pressing F6 followed by F1, this parameter is only displayed when the RS 422 or
DGPS interface is in use, and is used to select the baud rate from 300 to 19200. To move through the
list, press the following keys:
NEXT(F1) View next entry in list
PREVIOUS (F2) View previous entry in list
Parity
285 Accessed by pressing F6 followed by F2, this parameter is only displayed when the RS 422 or
DGPS interface is in use, and is used to select the interface parity sense (ODD, EVEN or NONE). If a
parity setting of NONE is selected, no parity bit will be present in the data word. To move through the
list, press the following keys:
NEXT(F1) View next entry in list
Data BITS
286 Accessed by pressing F6 followed by F3, this parameter is only displayed when the RS 422
interface is in use, and is used to select the interface data rate (7 or 8). The number of data bits does not
include stop, start or parity bits. To move through the list, press the following keys:
NEXT(F1) View next entry in list
Scaling
287 Accessed by pressing F4, this parameter is only selected for use if Synchro Log present.
CRYPTO SET--UP
288 Figure 27 shows the crypto set--up page which is accessed from the main menu by keying F4
followed by F5, or by keying 45 when in any other page.
289 The crypto set--up page is used to set the mission duration and reset/clear key data (refer to --
Kelvin Hughes 1020 GPS Cryptographic Key Loading Procedures).
45 CRYPTO SETUP
DURATION DAYS
60
STATUS
RPU CONTAINS TODAY’S KEY
DURATION ZEROISE
Zeroise
293 Accessed by pressing F6, this parameter, edited on the master only, is used to clear the existing
crypto data ready for loading a new set of keys or to delete the crypto data immediately, rather than wait
for the automatic delete facility to operate. When Zeroise is pressed the message CONFIRM ZEROISE
Y/N appears. To select YES or NO press the following keys:
YES (F1) Crypto data zeroised
05 FAULT MONITORING
ERRORS F1
ALARMS F2
SELF TEST F3
ERRORS
295 Figure 29 shows the errors page which is accessed from the main menu by keying F5 followed
by F1, or by keying 51 when in other page.
296 The errors page has no parameters associated with it, and is used to display all the pending system
errors. Error messages are cleared by using the soft keys to highlight the message and then pressing F6.
Soft function--key F5 can be used to clear all the errors including any that may not be displayed due to
the screen being full.
Note: A list of errors is given in KH 1504 Section 2 Chapter 1.
51 ERRORS ERR 3
ALARMS
297 Figure 30 shows the alarms page which is accessed from the main menu by keying F5 followed
by F2, or by keying 52 when in any other page.
298 The alarms page has no parameters associated with it, and is used to display all the pending
system alarms. Alarm messages are cleared by using the soft keys to highlight the message and then
pressing F6. Soft function--key F5 can be used to clear all the alarms including any that may not be
displayed due to the screen being full.
52 ALARMS ALRM 3
SELF TEST
299 The self test page is used to initiate specific self test routines in addition to the automatic self test.
The tests detailed in Table 11 may be initiated by pressing the associated key. Only those interfaces
present are selectable for testing. A confirmation prompt, along with the duration of the test, appears
on the display when a self--test is selected. The test result is displayed as a pass or fail, after completion
of the test. Selection of self test routines temporarily interrupts the normal operation of the receiver but
it recovers shortly after the test is completed.
TABLE 11 --- SELF TEST ROUTINES
300 Figure 31 shows the self test page which is accessed from the main menu by keying F5 followed
by F3, or by keying 53 when in any other page.
53 SELF TEST
NAV COMP
PASS RS422
PASS
RECEIVER
PASS
SYNCHRO PASS
NOTE
The synchro test will fail in those installations where the synchro interface module is not fitted.
FAILURE PAGE
301 The ‘Failure Page’, Figure 32, is an addition to the Fault Monitoring Page. Significant errors,
i.e. those that may affect the accuracy of the position reported by the GPS receiver, are immediately
notified to the user by displaying the FAILURE page. The failure page gives the user the options to:
(1) Continue (CLR)
(2) Perform a Warm Start (F1)
(3) Perform a Cold Start (F6)
FAILURE ERR 1
WARM COLD
START START
302 Pressing CLR when the FAILURE page is displayed, returns the display to the page previously
displayed.
WAYPOINT DIRECTORY
WPT IDENT WPT IDENT WPT IDENT WPT IDENT
305 The waypoint directory page is used to view entries in the waypoint database which are currently
allocated. The page comprises four columns of data labelled WPT for the waypoint number and IDENT
for the associated identity. Data for allocated waypoints is presented in waypoint number order; non
allocated waypoints are not shown. To scroll through more than one screen of data press the following
keys:
SCROLL FWRD F1
SCROLL BWRD F2
STEERING SEQUENCE
306 Figure 34 shows the steering sequence page which is accessed from the route steer page by
pressing F5 and from the route set--up page by pressing F6 and F5.
STEERING SEQUENCE
ROUTE NO. 3
307 The steering sequence page is used to view waypoints visited on each leg of a specified route.
The page comprises the route number of the route currently selected, the start waypoint, the end
waypoint and three columns of data labelled LEG for the leg number and TO WAYPT for the associated
‘to waypoint’ of the leg. Data is presented in leg number order.
TRAINING MODE
INTRODUCTION
A.1 The Training mode is entered via the TRAINING MODE soft function--key on the Receiver
Set--Up page default mode. When the soft key is pressed a confirmation request appears.
A.2 The Training mode is only available on the slave CDU. If a request to enter the training mode
is made on the master CDU the message ”MASTER STATUS WILL BE LOST” appears with an
associated confirmation prompt.
A.3 If only one CDU is powered--up it is not possible to enter the training mode. The training mode
is exited as follows:
(1) By pressing the EXIT TRAINING soft function--key on the Receiver Set--Up page
default mode page.
(2) By pressing the MAN--OVER--BOARD soft function--key on the Ownship page.
(3) When the Master CDU fails.
(4) When the Master CDU is turned off via the front panel brightness switch.
A.4 When the Master CDU is turned off via the front panel brightness switch, master status is
transferred to the slave CDU and training is automatically turned off. There is no other indication on the
CDU other than the letters SIM being removed from the status line and the Master Status indicator being
added.
A.5 In the Training mode some previously available function keys are blanked and not accessible.
In other cases the soft function--key legends change to include the letters SIM to remind the user that
the page is operating with a simulated position.
Setting Simulated Position and Track
A.6 On the Receiver Set--Up Position Initialise mode page the SIM POSITION/SIM DATUM, SIM
COMP HEADING and SIM LOG SPEED parameters show the simulated ship’s track to be defined. The
simulated position is updated as for a GPS position, ie every second using the vector defined by the
course and speed.
NOTE
Entering a high value for speed allows the simulator to proceed at a rate greater than real time.
Affected Pages
A.7 Pages where the simulated position is used instead of the GPS position are.
Default mode
A.9 The position is simulated position and the STATUS and FIXING parameters show the letters
SIM. The CMG and SMG parameters are the same as the HEAD and LOG parameters, ie those entered
as the position vector.
NOTE: The waypoints themselves are actually in the waypoint database and are not simulated.
Any waypoints defined in the training mode remain in the database.
A.12 The FREEZE soft function--key works as normal. The MARK POSITION function is not
available, but previously defined marks (ie non simulated positions) may be recalled.
Man--Over--Board mode
A.13 Pressing the Man--Over--Board soft function--key immediately exits the training mode and
provides the normal MOB functionality.
Rendezvous Page
A.15 Any previously defined waypoint may be used. The appropriate rendezvous alarm includes the
additional letters ”SIMULATION”.