nav data repeater · 2014-10-30 · fig. 3 nav data repeater as speed log/gyro converter. nav data...

Raytheon Anschütz GmbHPostfach 1166D -- 24100 KielGermanyTel +49--4 31--30 19--0Fax +49--4 31--30 19--501Email [email protected]

3661/133--812.DOC010002 Edition: June 23rd, 2003

Revision: July 21st, 2003

Revision: Oct. 8, 2003

Revision: July 20, 2004

Revision: November 19, 2004

Revision: Sept. 12, 2006

Revision: April 16, 2007

Revision: November 21, 2007

Revision: January 31, 2008

Revision: April 09, 2013

NAV DATA REPEATER

Digital Navigation Data Recorderor

AIS and VDR Gyro Interface

Type 133--812 NG001/002Type 133--812 NG003

1 Description2 Operation3 Care, Maintenance and Shipboard Repair

Weitergabe sowie Vervielfältigung dieser Unterlage, Verwertung undMitteilung ihres Inhaltes nicht gestattet, soweit nicht ausdrücklichzugestanden. Zuwiderhandlungen verpflichten zu Schadenersatz.

Copying of this document, and giving it to others and the use orcommunication of the contents thereof, are forbidden without expressauthority. Offenders are liable to the payment of damages.

Toute communication ou reproduction de ce document, touteexploitation ou communication de son contenu sont interdites, saufautorisation expresse. Tout manquement à cette règle est illicite etexpose son auteur au versement de dommages et intérêts.

Sin nuestra expresa autorización, queda terminantemente prohibida lareproducción total o parcial de este documento, así como su usoindebido y/o su exhibición o comunicación a terceros. De los infractoresse exigirá el correspondiente resarcimiento de daños y perjuicios.

Intentionally left blank

NAV DATA REPEATER REPEATER/INTERFACE

I 3661/133--812.DOC010002Edition: Oct. 8, 2003

CONTENTS Page

Declaration of Conformity

1. General 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Application of Nav Data Repeater

-- AC Synchro conversion

-- DC Synchro conversion

-- 1/6 Step common +

-- 1/6 Step common -- 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Nav Data Repeater used as AIS and VDR Gyro Interface (Gyro/Log Interface) 7.

1.3 Nav Data Repeater used as Navigation Data Indicator 7. . . . . . . . . . . . . . . . . . . . . .

1.3.1 Principle of Operation 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Technical Data 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.1 General Information 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.2 Digital Indication 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.3 Serial Input Interface 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.4 Analog Input Interface

Compass heading and puls log 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.5 Serial Output Interface

heading, speed, rate of turn 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4.6 Data conversion of GLL/VTG telegrams and analog compass heading data 13. . . .

1.4.7 RMG CAN--bus application (version NG003 only) 14. . . . . . . . . . . . . . . . . . . . . . . . . .

2. Operation Instructions 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Synchronization of Nav Data Repeater and connection at Gyro Compass 15. . . . .

2.2 Brightness Adjustment 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Alarm Reset 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Change--over of the Indication 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Display Test 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. Care, Maintenance, Shipboard Repair 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Behaviour in Case of Errors (Failures) 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Troubleshooting Table for the Operating Mode of Data Transmission

via the Serial Interface 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Troubleshooting Table for the Operating Mode of Data Transmission

via the Analog Interfaces 20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Test of Indications 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

NAV DATA REPEATER

II Edition: July 20, 20043661/133--812.DOC010002

4 Setting into Operation 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Installation hints 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Installation hints desk mounting 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Table--top mounting (housing) 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Practicable Configurations 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Terminal Connections 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Jumper, Switches and LED‘s 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Connection, Jumper and DIP--Switch setting according to

selected Gyro Compass 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Overview: Connections, Jumper and DIP--Switch settings 28. . . . . . . . . . . . . . . . . . .

5.1.1 Terminal connections 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.1 Power supply 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.2 Alarm Output 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.3 Puls Log input 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.4 Log direction 28. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.5 Serial Input: RS232/RS422 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.6 Heading/Speed output RS422 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.7 RMG CAN--bus application (only for NG003) 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.8 Synchro/Step input

Common input for step or synchro applications 29. . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1.9 Flash Program Download 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Jumper settings 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3 DIP switch settings 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3.1 DIP switch settings for Nav Data Repeater as Speed Log/ Gyro Converter

(VDR application) 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3.2 DIP switch settings for Nav Dtat Repeater as Gyro/Position VTG Converter

and heading converter 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.3.3 DIP switch settings for Nav Data Repeater as Indicator 37. . . . . . . . . . . . . . . . . . . . .

5.1.4 Display indications: Gyro compass or magnetic compas 40. . . . . . . . . . . . . . . . . . . . .

5.2 Synchronisation procedure 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 RMG CAN--bus application (Navigation Data Repeater Type 133--812 NG003) 42.

6.1 RMG CAN--bus 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Connection and jumpering of RMG CAN--bus application 43. . . . . . . . . . . . . . . . . . . .

Annex:

Drawings: Dimensional Drawing Nav Data Repeater 133 D 812.HP005

Dimensional Drawing Nav Data Repeater (swivel frame) 133 D 812.HP007


1Edition: July 20, 2004 3661/133--812.DOC010002

1 General

This Nav Data Repeater can be used either as an Digital Navigation Data Indicator or as

an AIS and VDR Interface for:

-- Older Gyro Compasses and Speed Logs.

or

Conversion of older NMEA position and speed telegrams

see section 1.4.6

If applied as an AIS or VDR interface, than the selected navigation data are also dis-

played at the Nav Data Repeater (AIS = Automatic Identification System; VDR = Voyage

Data Recorder).

The version NG003 serves for RMG CAN--bus application (see section 6). This version

converts, independent of the input format, heading an RoT information to a RMG CAN--

bus output.

In this manual mainly the application of the operational features for the navigation data

indication are described, the application for the AIS and VDR Interface is basically de-

scribed as connection hints and basic--settings of DIP--Switches and jumpers.

Nav Data Repeater

Speed Log200p/nm

Gyro CompassSynchro or Step

NMEAheadingrate of turnspeedset headingposition

15--36VDC12W

NMEAheadingspeedRoT

Alarm contactssystem failurede--synchronizationNG003

RMG CAN--busHeadingRoT

Fig. 1 Blockdiagram Nav Data Repeater

NAV DATA REPEATER

23661/133--812.DOC010002 Edition: July 20, 2004

1.1 Application of Nav Data Repeater (Overview)

-- AC Synchro conversion

-- DC Synchro conversion

-- 1/6 Step common +

-- 1/6 Step common --

Actually there are 3 applications of this Nav Data Repeater.

-- Indicator

-- Speed Log/ Gyro Converter

-- Gyro/Position VTG Converter

Power Supply15--36VDC12W

Data for indication

NMEA 0183 (Dip switch 3+4 on-- Heading: $HE/HCHDT

$----HDM; $----HDT-- Rate of Turn: $----ROT-- Speed: $----VTG; $----VHW-- Set Course: $----HSC-- Course to steer: $----CTS

Gyro Interface:Nav Data RepeaterType: 133--812

Display: Heading orRate of Turn orSpeed orSet Course orCourse to steer

Alarm (relay contacts):System failure alarmoptical alarm

NMEA--Data in:

Fig. 2 Nav Data Repeater as Indicator


3Edition: November 19, 2004 3661/133--812.DOC010002



Display: Heading orRate of Turn orSpeed

Alarm (relay contacts*):System failure alarm*de--synchronization alarm*optical alarm (flashing)acoustic alarm (buzzer)

Data for conversion:

Speed Log200p/nm

Gyro CompassSynchro: 10--120V, 50--500HzDC Synchro: +/--20 -- +/--70VCDStepper: 7--70VDC 1/6Ratio: 360:1, 180:1 or 90:1

NMEA 0183 V2.3Heading $HEHDTSpeed $IIVTG or $IIVHWRoT $TIROTCourse--Bus

Output signals:

Speed & Gyro Compass heading in:

NG003

RMG CAN--bus:HeadingRoT

See also Fig. 5

Fig. 3 Nav Data Repeater as Speed Log/Gyro Converter

NAV DATA REPEATER

43661/133--812.DOC010002 Edition: April 09, 2013



Display: Heading orRate of Turn

Alarm (relay contacts*):System failure alarm*de--synchronization alarm*optical alarm (flashing)acoustic alarm (buzzer)

Data for conversion:

Gyro CompassSynchro: 10--120V, 50--500HzDC Synchro: +/--20 -- +/--70VCDStepper: 7--70VDC 1/6Ratio: 360:1, 180:1 or 90:1

NMEA 0813 before V2.3Position data: $GPGGA

Course and speedover ground: $GPVTG

NMEA 0183 V2.3Heading $HEHDTSpeed $GPVTGPosition $GPGLLRoT $TIROTCourse--Bus**

Output signals:

Gyro compass heading & NMEA in:

DIP switch 6 on

NG003

RMG CAN--bus:HeadingRoT

** Only with synchro or step input

See also Fig. 5

Fig. 4 Nav Data Repeater as Gyro/Position VTG Converter


5Edition: July 20, 2004 3661/133--812.DOC010002

AC Synchro connection

see DIP switch B9for ratio and serial out

Synchro phases

6

78

AC referenceJumper B8 all openJumper B2 all open

9

10

DC Synchro connection


Synchro phases

6

78

not connectedJumper B8 2 and 3 inJumper B2 1 and 2 in

9

10

1/6 Step common +


6

78

910

S1S2

S3

R1

R2

S1S2

S3

R1

R2

S1S2

S3

+35V R1

0V R2Jumper B8 1 and 2 inJumper B2 1 and 2 in

1/6 Step common --


6

7

8

9

10

Jumper B8 2 and 3 inJumper B2 1 and 2 in

S1S2

S3

R1 (free)

--35V R2

0V (not connected to Nav Data Repeater)

Actually usedfor RMGCAN--busapplicationNG003

Fig. 5 Connection, Dip switch and Jumper

Please note:

Location of jumper B8 and jumper B2 see sections 4.4 and 5.1.2

NAV DATA REPEATER

63661/133--812.DOC010002 Edition: Oct. 8, 2003


7Edition: Oct. 8, 2003 3661/133--812.DOC010002

1.2 Nav Data Repeater used as AIS and VDR Gyro Interface (Gyro/Log--Interface)

The task of this Nav Data Repeater (as AIS and VDR Interface) is, to transform analog

heading information in that manner, that the heading can be used as a serial NMEA 183

format for an AIS or VDR equipment.

Compass information can be transformed as synchro signal (Ratio 360:1, 180:1 or

90:1) with different voltages and frequencies as well as step signal

(6 steps/ 7...70 VDC).

If there are speed information (200 pulses per nautical mile), this speed information will

be converted into a NMEA telegram format and transferred serially together with the

heading information to the AIS or VDR.

There is a status input for the speed direction information.

Heading, speed or RoT information is indicated at the display.

For conversion of older NMEA position and speed telegrams see section 1.4.6

1.3 Nav Data Repeater used as digital Navigation Data Indicator

The Digital Navigation Data Indicator makes available the following indications:(input serial NMEA sentences).

-- Heading (by degrees), actual ship’s heading

-- Set heading (by degrees) desired ship’s heading

-- Speed (knots), ship’s speed

-- R.o.T (degrees/min), turn rate of the ship.

Priority is given to the Heading indication in connection with tendency indication of theship’s direction of turn by means of a LED bar moving to the left or to the right,

resp.

As regards the indications of Heading and Speed, the device is to be activated bymeans of analog interfaces or via a digital serial interface.

As far as the indications of R.o.T. and Set heading are concerned, the device is to be

activated via the digital serial interface only.

If there exists no serial data transmission circuit, the device ascertains the R.o.T. indica-

tion from the analog compass signal (by differentiation of the heading signal).

The Digital Navigation Data Indicator can be incorporated as a module according tothe unitized system

-- into desks and steering stands

-- into a casing intended for bulkhead and ceiling mounting.

NAV DATA REPEATER

83661/133--812.DOC010002 Edition: 23. July 2003

1.3.1 Principle of Operation

Tendency indication ( LED bar ) Luminous indication

Fig. 6 Nav Data Repeater (Frontview)

The luminous indication provides an accuracy of indication of a tenth of a degree.

The tenth--of--a--degree (kn) digit has been made smaller in order that wrong readings

might be avoided.

A tendency indication in the form of a LED bar is intended to indicate course changes.

The luminous marks move to the left or to the right in accordance with the ship’s direc-

tion of turn. The velocity of motion is proportional to the ship’s rate of turn.

The key gives the possibility of changing over the digital indication to the indi-

cating functions arranged above it.

The keys ensure synchronization of the heading indication in case

of analog course transmission.


9Edition: Oct. 8, 2003 3661/133--812.DOC010002

By means of the , a display test can be performed and the tendency indication

can be switched off.

For further details, see chapter 2, Operating Instructions.

The electronics system comprises the following subassemblies:

-- Computer PCB with single chip Controller incl. power supply

-- Indicator PCB

Information for the processor--supported Nav Data Repeater can be received via severalinterfaces:

a) By serial data transmission from modern gyro compasses or navigation com--

puters. The data transmission comprises the Heading, SetHeading, Speed and

R.o.T. information. The transmission is absolutely unambiguous.

A synchronization of the heading transmission to the gyro compass is, therefore,

not required.

or

b) By analog signals from conventional systems

-- for heading indication with electro--mechanical transmission procedures

-- for speed indication with incremental pulses per nautical mile.

With this type of heading transmission, a non--repetitive synchronization to the

gyro compass is required, as the transmission is ambiguous.

It is to be defined by means of jumpers and DIP--switches whether the heading input is

activated by

-- Synchro signal (ratio setting) or step signal (ratio setting and common + or common --

setting)

NAV DATA REPEATER

103661/133--812.DOC010002 Edition: Oct. 8, 2003

The Nav Data Repeater permits the connection of 3 analog interfacesfor the actual heading ( see 1.3.3.2 )

The analog interface for speed is 200p/nm ( pulses/nautical mile ).

If there is no information transmission by means of serial data transmission, the rate of

turn ( R.o.T. ) is formed in the computer of the Nav Data Repeater from the analog

compass signal ( by differentiation of the actual heading ).

Both with serial and with analog input data, the information can be transmitted via a se-

rial output to further indicating units.

R1

R2

Step

DigitalNavigation

DigitalNavigation

DigitalNavigation

Repeater 1 Repeater 2 Repeater 3

serial headingNMEA

15--36VDC

orSynchro

out in in

NMEA NMEA

Fig. 7 Example of connecting further Nav Data Repeater

For monitoring functions, see section 3.1 “Behavior in Case of Errors”.


11Edition: June 23rd, 2003 3661/133--812.DOC010002

1.4 Technical Data

1.4.1 General Information

Power supply: 24V DC ( 15...36V ), protected

against reverse polarity,

EMC: see declaration of conformity

Power consumption: 12W

Temperature range: Operation --15C... 55C

Storage --25C ... 75C

Ambient condition: Test acc. to specification

EN 60945

Size of casing : see Dimensional Drawings

Weight

for desk mounting: appr.1.3 kg

with casing: appr. 3.7 kg

Type of enclosure : IP 23

1.4.2 Digital Indication

Digital Indication: Character height 30mm

Recognizable with sunlight

Resolution: max. 1/10

NAV DATA REPEATER

123661/133--812.DOC010002 Edition: Oct. 8, 2003

1.4.3 Serial Input Interface

Serial interface according NMEA with the information for

-- Heading, absolute actual course

-- Set Heading, absolute desired course

-- Speed, ship’s speed

-- R.o.T., rate of turn

-- position, CMG, SMG input (see section 1.4.6).

Values can be selected and displayed.

The impedance automatically accepts RS232 or RS422 levels.

1.4.4 Analog Input Interface

Compass heading and puls log

Input information will be transformed as serial output NMEA telegram.

Analog interface for

-- Heading a) Synchro transmission

Voltage ratio 10...120VAC; 50...500Hz

Adjustable 360:1; 180:1; 90:1

b) DC--Synchro (Yokogawa)

Voltage +/-- 20V....+/-- 70V

c) Step transmission

(6 steps/1 ), 7....70VDC

Adjustable 6 steps/2 ; 6 steps/4

common + or common --

-- Speed Pulse log

200p/nm ( pulses/nautical mile )

15....36V DC

1.4.5 Serial Output Interface

heading, speed, rate of turn

(depends on kind of input source)

Output signals are selectable by DIP--Switches.

Analog heading input / Serial output:

$HEHDT ..... see DIP switch settings (section 5.1.3).

$TIROT....... see DIP switch settings (section 5.1.3)

Speed input 200p/nm -- serial output:

$VDVHW, $----VTG... see DIP--switch Setting (section 5.1.3).



1.4.6 Data conversion of GLL/VTG telegrams and analog compass heading data

Only from Software version E00.01

There are older GPS--receivers, with a telegram--output (GPGLL and GPVTG) according

NMEA 1.5 or 2.0. Normally telegrams according NMEA 1.5 or 2.0 are not recognized by

actual AIS--equipment. With this option it is possible to operate an AIS--equipment also

with those older GPS--receivers.

The GPGGA telegram is used to convert the data into a GPGLL position--telegram ac-

cording NMEA 2.3. This format is accepted by an AIS--equipment.

The GPVTG speed--telegram is read in and extended by the respective mode--flag ac-

cording NMEA 2.3. This mode indicator is filtered out of the GGA data.

Both input telegrams (...GGA and ...VTG) are necessary for a proper use.

Mode indicators:

A = Autonomous

D = Differential

N = Not valid

Application and Configuration of this data--conversion

This option is only allowed, if there is a NMEA telegram version less than 2.3.

Telegrams were automatically detected and converted, if the GPS--receiver is connected

to the serial input of the Nav Data Repeater.

NAV DATA REPEATER


Interface: Nav Data Repeater

INPUT Data converter:

-- Heading analog STEP or SYNCHRO with a ratio--setting 1:1

-- Input serial: GPGGA, GPVTG (NMEA version less than 2.3)

(these telegrams are absolutely necessary)

-- Puls Log not connected

OUTPUT Data converter AIS--connection

-- Heading serial as HEHDT--telegram

-- GPGLL serial according NMEA 2.3

-- GPVTG serial according NMEA 2.3

-- Course--Bus (RAYTHEON specific)*

* Only with synchro or step input

1.4.7 RMG CAN--bus application (version NG003 only)

Heading and RoT information are fed to the RMG CAN--bus if available.



2 Operation Instructions

2.1 Synchronization of Nav Data Repeater and connection at Gyro Compass

When the keys Test Sync. + and Sync. -- are

actuated (first Sync. -- and then Test Sync. +) the

indicator changes over to the Sync. mode.

Activation of the synchronization mode is indicated

by continuous, alternating flashing of

the right and left sides of the luminous bar.

Error messages or warnings -- that might be ap-

plied -- are cancelled and the instantaneous course

is indicated.

By means of the two keys, the course value can

now be increased ( + ) or decreased ( -- )

step by step.

At first, the change is brought about slowly; then --

with the key permanently pressed -- the

change comes about faster.

The connection to the master compass is not inter-

rupted, i.e. the adjusting procedure is superposed

by instantaneous course changes.

By pressing the ”Dim/Enter” key, the synchroniza-

tion will be terminated and the flashing luminous--

bar indication goes out.

NAV DATA REPEATER

163661/133--812.DOC010002 Edition: 23. July 2003

2.2 Brightness Adjustment

The Dim. key permits the brightness to be adjusted.

With any key depression, the brightness is alternately

increased or decreased with a constant speed.

This key can always be operated independent from

the operating state.

2.2.1 Alarm Reset

The acoustic alarm in case of heading

de--synchronization can be cancelled by

operating the “DIM ENTER” key or any of

the 3 other keys.

or

or

2.3 Change--over of the indication

If -- via the serial interface -- the device is connected e.g. with a

navigation computer, the set heading, speed and the rate of turn

can be displayed in addition to the actual course.

Change--over is to be performed by means of the ”” key.One of the four luminous marks arranged above it shows the

momentarily adjusted mode.

If the selected quantity sensor information has not been trans-

mitted to the Nav Data Repeater, two minus signs ”-- --” appear

in the indication.

After some seconds, the indication automatically changes to the

Heading indication.

The luminous bar is always switched of heading serial transmis-

sion.

Set Hdg



2.4 Display Test

In order to activate the display test, the key is to be pressed and held in the

pressed condition.

After pressing the Test key, the status of the rate--of--turn indicator changes-- from ON to OFF, or-- from OFF to ON

Test procedure:

Checking the luminous indication for defective segments:

All indicating elements are switched on one after another from the left to the right

until all segments of the luminous indication are alight.

Checking the luminous bar

After the indicating elements have been checked, the same procedure takes

place for the luminous bar.

The 4 segments of the luminous bar light up one after another and from the left

to the right, until the complete bar is alight.

Checking the luminous marks

Simultaneously with the luminous bar test, all luminous marks are switched on

one after another according to the same rhythm and from above to below.

Set Hdg

Dimmer test

The illumination of the lettering of the keys with luminous panels is dimmed

according to the rhythm of the luminous--bar or luminous--marks test as well.

NAV DATA REPEATER

183661/133--812.DOC010002 Edition: 23. July 2003

The indicating elements go out again in the same order of switching them on.

The display test is continued as long as the key is being pressed.



3 Care, Maintenance, Shipboard Repair

For cleaning, no etching means must be used. No special maintenance of the indicator

is required.

The complete Nav Data Recorder is to be exchanged in case of need.

3.1 Behavior in case of Errors (Failures)

-- The electronics signalizes a possible non--synchronization ( LED bar indication

rhythmically flashing ), if the processor has recognized a too high rate of turn or an

interruption in voltage supply.

-- The processor electronic has a watchdog monitoring which -- in case the software

routine is interrupted -- causes alarm signalling ( flashing of the complete display

with the last--valid indication ).

-- The processor electronics shows fault signalling ( ”Con” ), if the serial input is

interrupted or if one of the analog inputs has no signal.

-- The processor generates two minus signs (”----” ) on the display, if the data

transmitter adds an error message ( interrogation point ) to the protocol

transmitted via the serial interface (missing or invalid data).

The data transmitter is e.g. a navigation computer or the master device

(master/slave operation of Nav Data Repeater, see also sections 1.3.1 and 4.2).

-- “Err” = internal PCB--failure (e.g. internal voltage missing).

Relays output

-- In case of heading de--synchronization the electronic generates an acoustic alarm

and the corresponding relays indicates the failure state.

-- in case of system failure the corresponding relays indicates the failure state.

NAV DATA REPEATER

203661/133--812.DOC010002 Edition: 23. July 2003

3.2 Troubleshooting Table for the Operating Mode of Data Transmission via the

Serial Interface

No. Trouble Probable Cause Correction1 “Con” Serial data transmission

interruptedCheck the connectionsRX to RX GND (see printon device cover).

2 2 minus signs onthe display“----”

Transmitted data includeerror messages(missing or invalid data)(interrogation point)

Check transmitter

(e.g. compass)

3 Flashing of thecomplete display

Failure of the processor Replace the Nav DataRepeater

4 “Err” Internal voltage missing Replace the Nav DataRepeater

3.3 Troubleshooting Table for the Operating Mode of Data Transmission via the

Analog Interfaces

No. Trouble Probable Cause Correction1 LED bar indication

flashingacoustic alarm ON

-- rate of turn too high

-- Supply voltageinterrupted

Synchronization

Synchronization

2 “Con” indicationand LED bar indi-cation flashingacoustic alarm ON

Synchro signal lines in-terrupted

Re--establish connec-tions and synchronize

3 Flashing of thecomplete display

Failure of the processor Replace the Nav DataRepeater

4 “Err” Internal voltage missing Replace the Nav DataRepeater



3.4 Test of Indications (see Chapter 2.4)

NAV DATA REPEATER

223661/133--812.DOC010002 Edition: 23. July 2003

4 Setting into Operation

4.1 Installation hints

4.1.1 Installation hints desk mounting

-- Prepare the desk according to the drawing 133 D 812. HP005 “Dimensional Drawing”

(DRILLING SCHEME)

-- Remove both plugs (B11 and B12) at the rear of the Nav Data Repeater

-- Connect respective cables according to: Fig. 9 and/or Fig. 10

-- Insert the plugs and fix them with the respective screws.

Earth--connections:

-- Connect the Cable screens to the cable clip (throwing pull)at the housing designated with:

-- Connect ship‘s ground to the flat--plug designated with:

-- Insert the Nav Data Repeater into the desk and fix it with 4 screws.



4.1.2 Table--top mounting (housing)

-- Prepare the table according to 133 D 812. HP007 “Dimensional drawing for swivel

frame”.

-- Remove the upper and lower cover plates by removal 4 screws (each) on the

left and right side of the housing.

-- Remove 4 hexagonal screws (behind the frontplate) and draw the Nav Data Repeater

out of the table top frame.

-- Remove both plugs (B11 and B12) at the rear of the housing.

-- Set the drilling holes for the table top frame. Observe for space at the cable laying.

-- Lead the cables through the rear panel of the table top frame.

Remove the blind--caps and use the cable inlets (part of delivery) according to the

amount of cable cores.

-- Connect respective cables according to: Fig. 9 and/or Fig. 10

-- Insert the plugs and fix them with the respective screws.

Earth--connections:

-- Connect the Cable screens to the cable clip (throwing pull)at the housing designated with:

-- Connect earthing cables of the table top frame to the flat--plugsdesignated with:

-- Insert the Nav Data Repeater into the table top frame and fix it with the 4 hexagonal

nuts.

-- Draw the connection cables through the cable inlets (as far as possible) and fix

the cable inlets.

-- Set the upper and lower cover plates onto the housing and fix them with 4 screws

(each) at the left and right side of the housing.

-- Connect a cable (not part of delivery) from the rear side of the table top frame

(hexagon nut) to ship‘s ground.

NAV DATA REPEATER

243661/133--812.DOC010002 Edition: 23. July 2003

4.2 Practicable Configurations

If there exists no customer--specific interface configuration of the Nav Data Repeater, on

delivery the jumpers for the analog input interface are inserted in accordance with the

ANSCHÜTZ synchro standard.

As regards the serial interfaces, the jumpers are inserted according to

-- RS 422/RS232 (serial input)

-- RS 422 (NMEA 183) (serial output)

The baud rate is set to 4800 baud (for Pilotstar D 9600 Baud).

If the interface configuration is intended to be changed, the adequate jumper and

DIP--Switch assignment is to be found in the

Assembly drawing with configuration 133 D 812 HP100 , sheets 1 and 2

24VDC

R1

R2Synchro

Digital

Navigation

Repeater 1

NMEA NMEA NMEANMEA

Digital

Navigation

Repeater 2

Digital

Navigation

Repeater 3

S1

S2

S3

input/output configuration

UREF

10...120VAC

(50...500Hz)

outin in

Fig. 8 Configuration with Slave Nav Data Repeaters


25Edition: July 20, 2004 3661/133--812.DOC010002

4.3 Terminal Connections

B11123

+ (15...36) VDC0VPE

Power

supply

Power down 45Sys Fail out

6

7

+(15...36)VDC89

10

+(15...36)VDC11

12

13

Puls Log in

Speed direction in

Desyn.

Fig. 9 Terminal connections terminal board B11

B1212

3

45

678910

Serial INRX+RX--

Serial OUTTx+Tx--GND

S1S2S3R1R2

Synchro IN Step IN

10....120VAC50...500Hz

R1R2 UREF

7...70VDC

R1 +(15..70V)R2 0V

+/--20V...+/--70V

DC Synchro IN

N.C.N.C

actually usedfor RMG CAN--busapplication NG003

Fig. 10 Terminal connections terminal board B12

NAV DATA REPEATER

263661/133--812.DOC010002 Edition: 23. July 2003

B7

23

1

4

5

nc

Flash downlod(factory use only)

Rx+Tx+ncGND

Fig. 11 Terminal connections Flash connector B7

Flash connector B7Terminal board 12

Terminal board 11

Fig. 12 Location of Terminal boards


27Edition: Oct. 8, 2003 3661/133--812.DOC010002

4.4 Jumper, Switches and LED‘s

Terminal board B12 Terminal board B11

Jumper B8

Jumper B2

LED H15

DIP--Switch B9

Push button B10

LED H10

LED H12

LED H9

LED H13

LED H14

Jumper B14 Jumper B13Flash connector B7

Jumper B3

Fig. 13 Location of jumper, switches and LED‘s

Short description of jumper, switches and LED‘s

Jumper B2 Step GND selection and DC Synchro selection

Jumper B3 Responsible for Flash Download (Flash download in)

Jumper B8 Synchro input and selection of Common plus and common minus

Jumper B13 Puls Log input, GND selection

Jumper B14 Puls Log direction, GND selection

DIP switch B9 Selection of data operation modes

Push button B10 CPU restart

LED H9 Galvanically decoupled 15VDC available

LED H10 Galvanically decoupled 5VDC available

LED H12 Flashing, if Nav Data Repeater o.k.

LED H13 Does not light, if system fails

LED H14 Lights up on synchronization error

LED H15 Flash download ON

NAV DATA REPEATER

283661/133--812.DOC010002 Edition: July 20, 2004

5 Connection, Jumper and DIP--Switch setting according to selected

Gyro compasses

Note: Below mentioned settings of DIP--switches and jumpers do not affect the

Nav Data Repeater version NG003.

5.1 Overview: Connections, Jumper and DIP--Switch settings

5.1.1 Terminal connections (see Fig. 12)

5.1.1.1 Power supply

Terminalboard B11 Pin 1 +(15...36)VDC

Terminalboard B11 Pin 2 0V

Terminalboard B11 Pin 3 PE (Case)

5.1.1.2 Alarm Output

System failure and Power down

Terminalboard connection alarm output

Terminalboard B11 Pin 4 active (open/close) no alarm contact closed

Terminalboard B11 Pin 5 common

Synchronization alarm

Terminalboard connection synchr. alarm

Terminalboard B11 Pin 6 active (open/close) no alarm contact open

Terminalboard B11 Pin 7 common

5.1.1.3 Puls Log input

Terminalboard B11 Pin 8 15...36VDC internal source

(voltage depends on power supply)

Terminalboard B11 Pin 9 Pulslog input positive signal

Terminalboard B11 Pin 10 external GND Jumper B13 open

internal GND Jumper B13 closed

5.1.1.4 Log direction

Terminalboard B11 Pin 11 15...36VDC internal source

(voltage depends on power supply)

Terminalboard B11 Pin 12 Direction input positive signal

(open forward direction)

Terminalboard B11 Pin 13 external GND Jumper B14 open

internal GND Jumper B14 closed


29Edition: July 20, 2004 3661/133--812.DOC010002

5.1.1.5 Serial Input: RS232/RS422

NMEA 183 IN

Terminalboard B12 Pin 1 Rx +

Terminalboard B12 Pin 2 Rx --

5.1.1.6 Heading/Speed output RS422

NMEA 183 OUT

Terminalboard B12 Pin 3 Tx +

Terminalboard B12 Pin 4 Tx --

Terminalboard B12 Pin 5 GND

5.1.1.7 RMG CAN--bus application (only for NG003)

Terminalboard B20 Pin 1 CAN low

Terminalboard B20 Pin 2 CAN high


5.1.1.8 Synchro/Step input

Common input for step or synchro applications

Terminalboard B12 Synchro DC Synchro Step

Terminalboard B12 Pin 6 S1 S1 S1



Terminalboard B12 Pin 9 R1 N.C. R1 (Uref positive voltage)

Terminalboard B12 Pin 10 R2 N.C. R2

5.1.1.9 Flash Program Download (factory use only)

Terminal connections USB plug (RS232C compatible)

Terminalboard B7 Pin 1 not connected

Terminalboard B7 Pin 2 Rx +

Terminalboard B7 Pin 3 Tx +

Terminalboard B7 Pin 4 not connected


NAV DATA REPEATER

303661/133--812.DOC010002 Edition: Oct. 8, 2003

5.1.2 Jumper settings (Fig. 13)

Jumper B3

Jumper B8

Jumper B2

Jumper B14 Jumper B13

2 1

2 11 2

1 2 3

1

2

Fig. 14 Pin--location of jumpers

Jumper B2 For step inputJumper between 1 and 2: GND as reference is selected

For DC Synchro inputJumper between 1 and 2

For synchro inputno jumper between 1 and 2

Jumper B3 For flash program downloadjumper between 1 and 2

For normal operationno jumper between 1 and 2

Jumper B8 For step inputcommon plus a jumper between 1 and 2 (3=open)common minus a jumper between 2 and 3 (1=open)

For DC Synchro inputjumper between 2 and 3 (1=open)

For synchro inputno jumper between 1, 2 and 3

Jumper B13 For Puls log inputinternal GND and internal voltage a jumper between1 and 2

external GND and external voltage no jumperinserted

Jumper B14 For puls log direction inputinternal GND and internal voltage a jumper between1 and 2



31Edition: Oct. 8, 2003 3661/133--812.DOC010002

5.1.3 DIP switch settings

5.1.3.1 DIP switch settings for Nav Data Repeater as Speed Log/ Gyro Converter

(VDR application)

(see also section 1.1)

Heading inputs can be:

Synchro signal

DC Synchro signal

Step signal

Speed Log input with 200 pulses per nm

Concerned jumpers:


For DC Synchro inputJumper between 1 and 2



For DC Synchro inputjumper between 2 and 3 (1=open)


Jumper B13 For Puls log inputinternal GND and internal voltage a jumper between1 and 2


Jumper B14 For puls log direction inputinternal GND and internal voltage a jumper between1 and 2


DIP--switch B9 (all switches shown in closed position = lower position)

OPEN

1 2 3 4 5 6 7 8

Fig. 15 Dip--switch positions

NAV DATA REPEATER


All DIP--switches not underlayed haveno function. They must set to position“close” (down), otherwise a not selectedapplication will be called--up.

DIP--Switch B9 Synchro/Step inputOPEN

1 2 3 4 5 6 7 8

360:1 Analog input

Switches 1 and 2 in down position = preselection “Synchro“

No jumpers B2 and B8 are inserted!!!

OPEN

1 2 3 4 5 6 7 8

180:1 Analog input


No jumpers B2 and B8 are inserted!!

OPEN

1 2 3 4 5 6 7 8

90:1 Analog input



OPEN

1 2 3 4 5 6 7 8

not applicable

OPEN

1 2 3 4 5 6 7 8

6 steps per degree DC input (Step) andDC Synchro input 360:1

Switch 1 in down position and switch 2 in up position = prese-lection “Step“Jumper B2 is inserted, Jumper B8 is inserted depending onCommon+ or common--

OPEN

1 2 3 4 5 6 7 8

6 steps per 2 degree DC input (Step)



33Edition: Sept. 12, 2006 3661/133--812.DOC010002

OPEN

1 2 3 4 5 6 7 8

6 steps per 4 degree DC input (Step)


OPEN

1 2 3 4 5 6 7 8

not applicable

NAV DATA REPEATER

343661/133--812.DOC010002 Edition: November 19, 2004

DIP--Switch B9 Output serialOPEN

1 2 3 4 5 6 7 8

$HEHDT 100ms; $TIROT 100ms

OPEN

1 2 3 4 5 6 7 8

$HEHDT 1sec; $TIROT 1sec; $IIVHW 1sec

OPEN

1 2 3 4 5 6 7 8

$HEHDT 1sec; $TIROT 1sec; $IIVTG 1sec

OPEN

1 2 3 4 5 6 7 8

$HEHDT 100ms; $TIROT 100mswith 9600 Baud (PilotstarD)

OPEN

1 2 3 4 5 6 7 8

Course--Bus Output

DIP--Switch B9 Acoustic AlarmOPEN

1 2 3 4 5 6 7 8

Acoustic Alarm ON

OPEN

1 2 3 4 5 6 7 8

Acoustic Alarm OFF


35Edition: Oct. 8, 2003 3661/133--812.DOC010002

5.1.3.2 DIP switch setting for Nav Data Repeater as Gyro/Position VTG Converter

and heading converter

(see also sections 1.1 and 1.4.6)

Heading inputs can be:

Synchro signal

DC Synchro singnal

Step signal

There is no Speed Log input

Concerned jumpers:


For DC Synchro inputjumper between 1 and 2



For DC Synchro inputjumper between 2 and 3 (1 = open)



OPEN

1 2 3 4 5 6 7 8

B9


NAV DATA REPEATER

363661/133--812.DOC010002 Edition: Oct. 8, 2003

All DIP--switches not underlayed haveno function. They must set to position“close” (down), otherwise a not selec-ted application will be called--up.

DIP--Switch B9 Synchro/Step input andGGA/VTG NMEA conversion

OPEN

1 2 3 4 5 6 7 8

1:360 Analog input

Switches 1 and 2 in down position = preselection “Synchro“Switch 6 in up position = GGA/VTG conversion

No jumpers B2 and B8 are inserted!!!

OPEN

1 2 3 4 5 6 7 8

1:180 Analog input



OPEN

1 2 3 4 5 6 7 8

1:90 Analog input



OPEN

1 2 3 4 5 6 7 8

not applicable

OPEN

1 2 3 4 5 6 7 8

6 steps per degree DC input (Step) and

DC Synchro input 360:1Switch 1 in down position and switch 2 in up position = prese-lection “Step“Switch 6 in up position = GGA/VTG conversion

Jumper B2 is inserted, Jumper B8 is inserted depending onCommon+ or common--

OPEN

1 2 3 4 5 6 7 8

6 steps per 2 degree DC input (Step)DC Synchro input 360:1

Switch 1 in down position and switch 2 in up position = prese-lection “Step“Switch 6 in up position = GGA/VTG conversion



37Edition: Oct. 8, 2003 3661/133--812.DOC010002

DIP--Switch B9 Synchro/Step input andGGA/VTG NMEA conversion

OPEN

1 2 3 4 5 6 7 8

6 steps per 4 degree DC input (Step)DC Synchro input 360:1

Switch 1 in down position and switch 2 in up position = prese-lection “Step“Switch 6 in up position = GGA/VTG conversion


OPEN

1 2 3 4 5 6 7 8

not applicable

DIP--Switch B9 Output serialOPEN

1 2 3 4 5 6 7 8

GGA input and VTG input are automatically detected and con-verted.

DIP--Switch B9 Acoustic AlarmOPEN

1 2 3 4 5 6 7 8

Acoustic Alarm ON

OPEN

1 2 3 4 5 6 7 8

Acoustic Alarm OFF

NAV DATA REPEATER

383661/133--812.DOC010002 Edition: 23. July 2003

5.1.3.3 DIP switch settings for Nav Data Repeater as Indicator

(see also section 1.1)

Concerned jumpers: No jumper has to be inserted!!


OPEN

1 2 3 4 5 6 7 8


All DIP--switches not underlayed haveno function. They must set to position“close” (down), otherwise a not selec-ted application will be called--up.

DIP--Switch B9 Input serialOPEN

1 2 3 4 5 6 7 8

Preselection: Input serial(this setting will change the task of switches 1, 2, 5 and 6)


39Edition: Jan. 31, 2008 3661/133--812.DOC010002

DIP--Switch B9 Display/IndicationOPEN

1 2 3 4 5 6 7 8

Decoding of $HEHDT (Gyro) and$----ROT

OPEN

1 2 3 4 5 6 7 8

Decoding of $----HDM (Magnet) and$----ROT

OPEN

1 2 3 4 5 6 7 8

Decoding of $HCHDT (STD22, Magnet) and$----ROT

OPEN

1 2 3 4 5 6 7 8

Decoding of $----VHW (Speed in water)

OPEN

1 2 3 4 5 6 7 8

Decoding of $----VTG (Speed over ground)

OPEN

1 2 3 4 5 6 7 8

Decoding of $----HSC (Setcourse according NMEA)

OPEN

1 2 3 4 5 6 7 8

Decoding of $----CTS (Properity Setcourse)

NAV DATA REPEATER

403661/133--812.DOC010002 Edition: 23. July 2003

DIP--Switch B9 HDT Decoder/Acoustic AlarmOPEN

1 2 3 4 5 6 7 8

Decoding of $HEHDT or HCHDT(Talker identifier will be decoded for 3/4 digt indication)

OPEN

1 2 3 4 5 6 7 8

Decoding of $----HDT or HCHDT(Any Talker identifier for 4 digit indication)

OPEN

1 2 3 4 5 6 7 8

Acoustic Alarm ON

OPEN

1 2 3 4 5 6 7 8

Acoustic Alarm OFF



5.1.4 Display indications: Gyro compass or magnetic compass

GYRO COMPASS(HEHDT, HDT)

MAGNETIC COMPASS(HCHDT, HDM)

NAV DATA REPEATER

423661/133--812.DOC010002 Edition: Oct. 8, 2003

5.2 Synchronization procedure

(only for Synchro or Step input)

6

1 2 3

4

5

Fig. 18 Operating elements for synchronization

To perform synchronization is only allowed after

the follow--up procedure of the respective gyro

is completed!

After switching on the Nav Data Repeater (switching on the supply voltage)

shows following:

-- Display (Fig. 18/1) indicates 000.0

-- LED Heading (Fig. 18/2) lights up

-- Luminous--bar (Fig. 18/6) flashes

A. m. combination indicates, that a synchronization procedure must be performed.

Synchronization procedure:

Operate button Syn-- (Fig. 18/4) first, hold it down and operate Sync+” (Fig. 18/3) sec-

ond.

Operate button “Sync--” (Fig. 18/4) -- together with “button “TestSync+” .

By this, the synchronization mode is activated.

An activated synchronization mode is indicated by swapping LED--row of

the luminous--bar.

Now the buttons “Test Sync+” or “Sync--” have to be operated dependent on the

direction of the heading value (“Test Sync+) to higher values, “Sync--” to lower values).

When the synchronization value is indicated, the button “Dim/Enter” (Fig. 18/5) has to be

operated to enter the selected value.

By operating the “Dim/Enter” button the synchronization procedure is completed.



6 RMG CAN bus application (Navigation Data Repeater Type 133--812 NG003)

This application converts input synchro (step) signals to a RMG CAN--bus format.

The RMG CAN--bus output contains heading and RoT information. The RoT value is cal-

culated by the Nav Data Repeater derived from the heading input.

6.1 RMG CAN--bus

(CAN = Controller Area Network)

The RMG CAN--bus is a Multi--Master--Bus allowing the connection of all devices and

systems regardless of their task and function. This means that any number of devices

can be connected. These devices must be designed for RMG CAN--bus technology.

For the RMG CAN--bus it is essential that every bus user is addressable via a unique

address. This address is set within each bus user.

The usable address range is from 01(16) to 3F(16) (address 00(16) is reserved for devel-

opment purposes only).

Please note: The device address for Nav Data Repeater 133--812 NG003 is 3F(16).This device address is only changeable by flashing a changed software.

Each bus user can send and receive data via this RMG CAN--bus. In this application

(NG003) the RMG CAN--bus is used to send data only.

The RMG CAN--bus must be terminated at both ends via an ohmic resistor (120 ohms).

This terminating resistor is activated by a jumper on the CAN--bus Adapter PCB in the

Nav Data Repeater.

NAV DATA REPEATER

443661/133--812.DOC010002 Edition: July 20, 2004

6.2 Connection and jumpering of RMG CAN--bus application

1 2 3

Jumper B202 LED H200

Terminalboard B20

Jumper B202 = Activates termination resistorwhen inserted

LED H200 = Lights up, if supply voltage (5VDC)is available)

Terminalboard B20 = Connection of RMG CAN--bus cable

Fig. 19 RMG CAN--bus Adapter PCB (Nav Data Repeater opened)

Jumper inserted

without RMG CAN--bustermination

with RMG CAN--bustermination

1 2 3

1 CAN low for CAN IN and CAN OUT2 CAN high for CAN IN and CAN OUT3 GND for CAN IN and CAN OUT

1 2 3

1 CAN low for CAN OUT2 CAN high for CAN OUT3 GND for CAN OUT

Fig. 20 RMG CAN--bus connection at terminarboard B20

11.07.08

nav data repeater · 2014-10-30 · fig. 3 nav data repeater as speed log/gyro converter. nav data...

Documents