CodaOctopus F180R Series Product information sheet

Copyright © 2015 Coda Octopus Products Ltd
F180R series
User & Reference Guide
Version: 2.0.0
/F180R series
very accurate positioning
and motion data
™

F180R series
User & Reference Guide
This guide describes the installation and
configuration of the F180R™ series hardware
and software developed by CodaOctopus that
allows to produce highly accurate positioning
and motion data in the most dynamic offshore
conditions.
™

F180R MOTION Sensor User and Reference Guide
Copyright © 2015 Coda Octopus Products Ltd
Version: 2.0.0 (16/06/2015)
All rights reserved. No part of this manual, including the products and software described in it, may be
stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to
photocopy, photograph, digitizing, or otherwise - without the written permission of the publisher.
Coda®, Octopus®, F180®, F180R™, F170™ and F175™ are registered trademarks (Reg. U.S Pat & TMOff) or
trademarks of Coda Octopus Group Inc.
Other products that are referred to in this document may be either trademarks and/or registered
trademarks of the respective owners. The publisher and the author make no claim to these trademarks.
Specifications and information contained in this manual are furnished for informational use only, and
are subject to change at any time without notice, and should not be construed as a commitment by Coda
Octopus Products. Coda Octopus Products assumes no responsibility or liability for any errors or
inaccuracies that may appear in this manual, including the products and software described in it.
While every precaution has been taken in the preparation of this document, the publisher and the
author assume no responsibility for errors or omissions, or for damages resulting from the use of
information contained in this document or from the use of programs and source code that may
accompany it. In no event shall the publisher and the author be liable for any loss of profit or any other
commercial damage caused or alleged to have been caused directly or indirectly by this document.

4
Contents
Copyright © 2015 Coda Octopus Products Ltd F180R MOTIONSensor User and Reference Guide
Table of Contents
Chapter 1 Export Policy 9
Chapter 2 Introduction 11
................................................................................................................................... 12
2.1 General Description
......................................................................................................................................................... 13
Inertial Measurement Unit2.1.1 ......................................................................................................................................................... 13
GNSS System2.1.2 ......................................................................................................................................................... 13
Software2.1.3 ................................................................................................................................... 14
2.2 Warranty
................................................................................................................................... 14
2.3 Calibration
Chapter 3 Hardware 16
................................................................................................................................... 16
3.1 Communication
......................................................................................................................................................... 16
Ethernet3.1.1 ......................................................................................................................................................... 17
Serial Outputs3.1.2 .................................................................................................................................................. 18
MCOM
3.1.2.1 .................................................................................................................................................. 18
NMEA
3.1.2.2 ........................................................................................................................................... 18
GGA ........................................................................................................................................... 19
GGK ........................................................................................................................................... 20
GSA ........................................................................................................................................... 21
GSV ........................................................................................................................................... 21
GST ........................................................................................................................................... 22
HDT ........................................................................................................................................... 22
PASHR ........................................................................................................................................... 22
PPS ........................................................................................................................................... 23
PRDID ........................................................................................................................................... 23
PTCF ........................................................................................................................................... 25
RMC ........................................................................................................................................... 26
ROT ........................................................................................................................................... 26
UTC ........................................................................................................................................... 26
VTG ........................................................................................................................................... 27
ZDA .................................................................................................................................................. 27
TSS1
3.1.2.3 .................................................................................................................................................. 28
TSS HHRP
3.1.2.4 .................................................................................................................................................. 28
EM1000 (Tate-Bryant)
3.1.2.5 .................................................................................................................................................. 29
EM3000 (Tate-Bryant)
3.1.2.6 ......................................................................................................................................................... 29
RTK and Differential Corrections3.1.3 ......................................................................................................................................................... 30
PPS3.1.4 ................................................................................................................................... 30
3.2 Technical Specification
......................................................................................................................................................... 31
Model Specifications3.2.1 ......................................................................................................................................................... 32
Interfaces3.2.2 ......................................................................................................................................................... 33
Reference Frames3.2.3 ................................................................................................................................... 34
3.3 Hardware Installation
......................................................................................................................................................... 34
Component Identification3.3.1 ......................................................................................................................................................... 36
Antenna Installation3.3.2 ......................................................................................................................................................... 40
IMU Installation3.3.3 ................................................................................................................................... 41
3.4 Measure Installation Parameters
......................................................................................................................................................... 42
IMU Orientation3.4.1 ......................................................................................................................................................... 43
Antenna Offset3.4.2 ......................................................................................................................................................... 44
Antenna Separation3.4.3

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Copyright © 2015 Coda Octopus Products Ltd F180R MOTIONSensor User and Reference Guide
......................................................................................................................................................... 45
Antenna Orientation3.4.4 ......................................................................................................................................................... 45
Remote Lever Arms3.4.5 ................................................................................................................................... 46
3.5 Communication
......................................................................................................................................................... 47
Ethernet3.5.1 ......................................................................................................................................................... 48
Serial Outputs3.5.2 .................................................................................................................................................. 49
MCOM
3.5.2.1 .................................................................................................................................................. 49
NMEA
3.5.2.2 ........................................................................................................................................... 49
GGA ........................................................................................................................................... 50
GGK ........................................................................................................................................... 51
GSA ........................................................................................................................................... 51
GSV ........................................................................................................................................... 52
GST ........................................................................................................................................... 53
HDT ........................................................................................................................................... 53
PASHR ........................................................................................................................................... 53
PPS ........................................................................................................................................... 54
PRDID ........................................................................................................................................... 54
PTCF ........................................................................................................................................... 55
RMC ........................................................................................................................................... 56
ROT ........................................................................................................................................... 57
UTC ........................................................................................................................................... 57
VTG ........................................................................................................................................... 57
ZDA .................................................................................................................................................. 58
TSS1
3.5.2.3 .................................................................................................................................................. 59
TSS HHRP
3.5.2.4 .................................................................................................................................................. 59
EM1000 (Tate-Bryant)
3.5.2.5 .................................................................................................................................................. 60
EM3000 (Tate-Bryant)
3.5.2.6 ......................................................................................................................................................... 60
RTK and Differential Corrections3.5.3 ......................................................................................................................................................... 61
PPS3.5.4
Chapter 4 Operation 63
................................................................................................................................... 63
4.1 Quick Start
................................................................................................................................... 63
4.2 Power-on the System
................................................................................................................................... 65
4.3 Calibration
......................................................................................................................................................... 65
Pre-Calibration Checks4.3.1 ......................................................................................................................................................... 66
Calibration Procedure4.3.2 ......................................................................................................................................................... 68
Calibration Specification4.3.3 ......................................................................................................................................................... 69
Invalid Calibration4.3.4
Chapter 5 Software 72
................................................................................................................................... 72
5.1 Installation / Uninstallation
......................................................................................................................................................... 72
Software Installation5.1.1 ......................................................................................................................................................... 73
Software Uninstallation5.1.2 ................................................................................................................................... 74
5.2 Main Interface
......................................................................................................................................................... 74
Ribbon Bar Tabs5.2.1 .................................................................................................................................................. 75
Data Source - Ethernet
5.2.1.1 ........................................................................................................................................... 76
Ethernet Source - Live Tab
...................................................................................................................................... 76
RD Files ...................................................................................................................................... 77
Change IP Address
...................................................................................................................................... 78
Update Firmware
...................................................................................................................................... 80
Rebroadcast MCOM
...................................................................................................................................... 80
Calibration
........................................................................................................................................... 83
Ethernet Source - Logging Tab
.................................................................................................................................................. 85
Data Source - Replay
5.2.1.2 ......................................................................................................................................................... 86
Real Time Data5.2.2 .................................................................................................................................................. 87
Setup Real Time Data Display
5.2.2.1 ......................................................................................................................................................... 88
System Status5.2.3

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Copyright © 2015 Coda Octopus Products Ltd F180R MOTIONSensor User and Reference Guide
......................................................................................................................................................... 95
Message Log5.2.4 ......................................................................................................................................................... 96
System Indicator5.2.5 ................................................................................................................................... 96
5.3 MOTION Settings Wizard
......................................................................................................................................................... 97
Introduction5.3.1 ......................................................................................................................................................... 98
Orientation5.3.2 ......................................................................................................................................................... 98
Advanced Orientation5.3.3 ......................................................................................................................................................... 100
Primary Antenna Mounting5.3.4 ......................................................................................................................................................... 101
Secondary Antenna5.3.5 ......................................................................................................................................................... 102
Remote Lever Arms5.3.6 ......................................................................................................................................................... 103
Output Frame of Reference5.3.7 ......................................................................................................................................................... 103
Correction Type5.3.8 ......................................................................................................................................................... 106
Altitude5.3.9 ......................................................................................................................................................... 107
GNSS Environment5.3.10 ......................................................................................................................................................... 108
Outputs5.3.11 ......................................................................................................................................................... 109
Advanced Options5.3.12 ......................................................................................................................................................... 110
Upload Settings5.3.13 ......................................................................................................................................................... 111
Save Wizard Settings5.3.14 ......................................................................................................................................................... 112
Finish5.3.15................................................................................................................................... 112
5.4 Motion Data
................................................................................................................................... 113
5.5 Diagnostics
......................................................................................................................................................... 114
Graphical QC5.5.1 ......................................................................................................................................................... 116
Heading Initialisation5.5.2 ......................................................................................................................................................... 119
Connection Properties5.5.3 ......................................................................................................................................................... 119
System Properties5.5.4 ......................................................................................................................................................... 122
Help About5.5.5 ................................................................................................................................... 123
5.6 iHeave
......................................................................................................................................................... 123
Description5.6.1 ......................................................................................................................................................... 124
iHeave Data Files5.6.2 ......................................................................................................................................................... 125
iHeave Data Logging5.6.3 ......................................................................................................................................................... 127
iHeave Status Area5.6.4 ......................................................................................................................................................... 128
iHeave Alarm Setup5.6.5 ......................................................................................................................................................... 129
iHeave Alarm Log5.6.6
Chapter 6 Appendices 131
................................................................................................................................... 131
6.1 Technical Specification
......................................................................................................................................................... 131
Physical6.1.1 ......................................................................................................................................................... 132
Electrical6.1.2 ......................................................................................................................................................... 132
Performance6.1.3 ......................................................................................................................................................... 134
Environmental6.1.4 ......................................................................................................................................................... 134
Data Logging Rate & Latency6.1.5 ......................................................................................................................................................... 134
Antenna Cable6.1.6 ................................................................................................................................... 135
6.2 Inertial Attitude and Position System Theory
......................................................................................................................................................... 135
Global Positioning System (GPS)6.2.1 ......................................................................................................................................................... 138
Inertial Navigation System (INS)6.2.2 ......................................................................................................................................................... 138
GPS-INS Integration6.2.3 ................................................................................................................................... 139
6.3 Rotation Convention
................................................................................................................................... 140
6.4 Troubleshooting
......................................................................................................................................................... 140
System Troubleshooting6.4.1 .................................................................................................................................................. 140
Shock Watch
6.4.1.1 .................................................................................................................................................. 140
Antenna
6.4.1.2 .................................................................................................................................................. 142
Differential / RTK Correction Input
6.4.1.3 .................................................................................................................................................. 142
System Operation
6.4.1.4 ......................................................................................................................................................... 143
Network Troubleshooting6.4.2 .................................................................................................................................................. 144
Physical Connection
6.4.2.1 .................................................................................................................................................. 144
PC LAN Connection
6.4.2.2 .................................................................................................................................................. 146
Testing The Network Connection
6.4.2.3

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.................................................................................................................................................. 147
Changing the IP Address
6.4.2.4 .................................................................................................................................................. 148
Network Q & A
6.4.2.5
................................................................................................................................... 149
6.5 System Dimensions
......................................................................................................................................................... 153
F180R Reference Point6.5.1 ......................................................................................................................................................... 153
Antenna Reference Points6.5.2 ................................................................................................................................... 156
6.6 Measure Installation Worksheet
................................................................................................................................... 156
6.7 Corrosion Prevention
158
Index

Chapter 1
Export Policy

Export Policy
Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTIONSensor User and Reference Guide
1 Export Policy
The F180R System Precision Attitude and Positioning System is subject to Export control under
the dual-use item list. Dual-use items are goods, software, technology, documents and
diagrams which can be used for both civil and military applications. It is important when
exporting a F180R System that you always keep a full record of all export destinations, dates
and export documents.
This document aims to provide basic guidance and advice for all users and includes links to
further sources of information where required.
USA
In the US, the F180R System is export controlled under ECCN: 7A103a1of the Commerce
Control List (CCL) (Supplement No. 1 to Part 774 of the EAR). The Department of Commerce’s
Bureau of Industry and Security (BIS) is responsible for implementing and enforcing the Export
Administration Regulations (EAR).
For further information in the USA visit: http://beta-www.bis.doc.gov/index.php/licensing/
commerce-control-list-classification/export-control-classification-number-eccn
UK and European Union
The main legal basis for controls on dual-use goods is the European Union Dual-Use Regulation
(Council Regulation (EC) No 428/2009 and associated legal amendments). This legislation is
directly applicable in all EUcountries, including the UK.
The F180R System is restricted under entry 7A103a1of the EU Dual-Use List and the UK
Consolidated list.
From the UK, the F180R System may be exported:
Within the EU providing that export documents state that the items require a licence if
exported outside the EUand keep appropriate records.
To CGEA countries: Australia, Canada, Japan, New Zealand, Norway, Switzerland and USA
providing according registration has been done and records are kept
To other destinations by applying for a Standard Individual Export Licence
To other destination by using OGELs (Open General Export Licence). They remove the
need to apply for a Standard Individual Export Licence providing a registration has been
done and are subject to conditions. More information available at: https://www.gov.uk/
dual-use-open-general-export-licences-explained
There are also a number of countries where trade embargoes are imposed. These are
constantly changing. For further information on embargoes please visit: https://www.gov.uk/
current-arms-embargoes-and-other-restrictions
For further information in the UK visit: https://www.gov.uk/uk-strategic-export-control-lists-
the-consolidated-list-of-strategic-military-and-dual-use-items
The information contained herein is provided for guidance only. CodaOctopus believes this
information to be correct as of October 2012; however, it is the sole responsibility of the
exporter to ensure that they comply with Export Regulations within the country of export.
CodaOctopus accepts no responsibility for any failure to comply with regulations.
Please contact [e-mail] for further details and assistance with export
guidelines.

Chapter 2
Introduction

Introduction
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F180R MOTIONSensor User and Reference Guide
2 Introduction
The F180R System Inertial Attitude and Positioning System from CodaOctopus is an instrument
for making precision measurements of vessel attitude (including heading), dynamics and
geographical position for use in any marine hydrographic survey application. The F180R
System is light in weight, compact in size and can be installed and uninstalled easily and
quickly. The F180R System Inertial Attitude and Positioning System requires none of the
complicated post-installation setup and configuration procedures demanded by other similar
systems, yet provides all the functionality required within hydrographic survey applications.
The F180R System is a multi-sensor system consisting of an inertial measurement unit (IMU),
built up of three solid-state gyros and three inertial-grade accelerometers, and two survey
grade GPS receivers. The F180R System is delivered with the IMUcomponents in a separate
waterproof pod (wetpod) in order to allow the IMUto be located close to a transducer head.
WARNING: Although selected for their ruggedness, the solid–state accelerometers
and rate sensors used in the IMU are susceptible to excessive shock and vibration.
Refer to the environmental specifications for details. Treat the IMU with care when
you handle it—store it in the transit case until you are ready to install it. Never drop
the IMU or subject it to shocks. A 'Shockwatch' label attached to the IMU casing will
show a red central vial if the unit is subjected to severe shock. If this occurs, return the
unit to CodaOctopus Limited for test and repair. The solid–state inertial measurement
components are not field repairable.
The F180R System integrates the information provided by the attitude and position sensors
and takes advantage of their complimentary attributes in order to yield a position and attitude
solution more stable than either system in operating in isolation. This blended navigation
solution gives the F180R System several key advantages:
Measurement of position, attitude and heading that exhibit the long-term stability of a
GNSS navigation system with the short term accuracy of the inertial navigator.
Precise position and attitude information at a high 100Hz update rate ideal for high-
dynamic applications.
Automatic system calibration compensating for IMU bias, drift and scale factor errors.
Robust navigation output capable of maintaining a useful degree of accuracy during
GNSS signal blockage and degradation.
Recognises and ignores anomalous transient jumps in the GNSS position solution.
This guide describes the F180R System Inertial Attitude and Positioning System in detail and is
an important part of the system. You should retain the guide so that it is available to all those
who will install, operate and maintain the system.
Although installation and operation of the F180R System are not complex tasks, you should
spend time to familiarise yourself with the contents of this manual before you start to install
or use the system. The time that you spend in identifying the task sequence now will help you
to have your system operational with minimal delay.

Introduction
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F180R MOTIONSensor User and Reference Guide
NOTE: Hints and tips are sparsed through the user guide to help you speed up a
process of carrying out an action, or to provide reminders. These are formatted like
this.
WARNING: It is strongly recommended that the instructions given in warnings should
be followed and important information should be heeded. These are formatted like
this.
Unless otherwise stated, all measurements throughout this manual conform to the SI system
of units.
2.1 General Description
The F180R System Inertial Attitude and Positioning System comprises four separate sub-
systems:
Figure 1: F180R System Unit, Antennas and Interfacing Cables
the Inertial Measurement Unit with the interconnection cables
two GNSS antennas and their signal cables
software supplied on a Disc with the system
IMU components mounted in a separate water-proof housing
Figure 2: F180R System IMU component (wetpod)

Introduction
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F180R MOTIONSensor User and Reference Guide
2.1.1 Inertial Measurement Unit
The F180R System Box unit includes:
dual GPS receiver cards that accept and process data from each GNSS antenna
the interface electronics that process signals from the IMUand communicate the
blended position, attitude and heading measurements to the receiving PC
four LEDs to indicate the system status
The F180R System IMU unit includes:
an array of accelerometers and rate sensors to measure accelerations and rotations that
affect the unit.
The standard system operates from a DC supply in the range 9to 18V (nominally 12V DC). This
is normally supplied through a 110 – 240V mains powered supply.
2.1.2 GNSS System
Two GNSS systems supply the information required by the F180R System to produce a heading
solution. The antennas and the dual GNSS receiver cards are all designed for use in harsh
marine environments where vibration and extremes of temperature are the norm. Low–loss
antenna cables connect the antennas to their ports on the integrated electronics unit and
ensure optimal reliability of operation.
Novatel OEMV cards are the standard receivers integrated in the F180R System. Included are
also a matching pair of GNSS antennas. (Novatel GPS 701 for L1 enabled receivers and Novatel
GPS 702 for receivers enabled in L1/L2 mode.
The system comes with a standard set of 15m (Novatel CO16) antenna cables with options for
5m (Novatel C006) and 30m (Novatel C031). Refer to Antenna Cable Appendix for further
technical information on antenna cables.
2.1.3 Software
The MOTION Control software supplied with the system runs on an IBM–compatible PC under
a Microsoft® Windows™ Vista, 7 and 8 both 32 bit and 64 bit environments and provides
several important and useful functions:
configuration and real–time data display
system calibration and QC diagnostics
long period heave processing (iHeave)
interface capabilities with external receiving equipment
data acquisition and playback

Introduction
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F180R MOTIONSensor User and Reference Guide
2.2 Warranty
Coda Octopus Products Ltd warrants the F180R System Inertial Attitude and Positioning System
to be free of defects in materials or workmanship for one year. The warranty period begins on
the date when the equipment was shipped from CodaOctopus or from their authorised
distributor.
NOTE: To ship the units between installation sites or to return them to CodaOctopus
for repair, package them with care. You should retain the original transit packing cases
for this purpose. The use of improper packing for shipping any part of this equipment
will invalidate the warranty.
For information concerning the proper return location and procedure, contact CodaOctopus or
their authorised distributor. The How To Get Support sections list contact details for
CodaOctopus. The responsibility of CodaOctopus in respect of this warranty is limited solely to
product replacement or product repair at an authorised location only. Determination of
replacement or repair will be made by CodaOctopus personnel or by personnel expressly
authorised by CodaOctopus for this purpose. This warranty will not extend to damage or
failure resulting from misuse, neglect, accident, alteration, abuse, improper installation, non-
approved cables or accessories, or operation in an environment other than that intended. A
'Shockwatch' label attached to the IMU casing will show a red central vial if the unit is
subjected to severe shock. If this occurs, contact CodaOctopus technical support for test
instructions.
The solid–state inertial measurement components are not field repairable.
NOTE: In no event will CodaOctopus be liable for any indirect, incidental, special or
consequential damages whether through tort, contract or otherwise. This warranty is
expressly in lieu of all other warranties, expressed or implied, including without
limitation the implied warranties of merchantability or fitness for a particular
purpose. The foregoing states the entire liability of CodaOctopus with respect to the
products described herein.
2.3 Calibration
We recommend to factory calibrate the F180R System hardware every 2 years to ensure
maximum accuracy. The calibration can't be performed in the field so please get in touch with
the CodaOctopus Support team to arrange a hardware calibration.

Chapter 3
Hardware

Hardware
Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTIONSensor User and Reference Guide
3 Hardware
3.1 Communication
So far you have installed and interconnected the components of the F180R System Inertial
Attitude and Positioning System so that they are ready for use. This chapter of the manual
describes the various interface options and data output formats that you may use with the
F180R System.
The F180R System system communicates with the controlling PC and with external equipment
over various protocols using five interface ports: Ethernet, COM1, COM2, COM3 and PPS:
Port type
Description
Available Data protocols
Ethernet
(100 Base T)
For control, configuration,
acquisition and QC of the
F180R System system using
the supplied Windows–based
application software
MCOMbinary data output string
COM1 / COM2
(RS232)
Configurable ports
outputting data at rates up to
115200 baud
Attitude data using the TSS1,
EM1000, EM3000 and TSS
HHRPdata strings
NMEA data strings for reporting
of position, fix, heading,
velocity, date, time and error
statistic using NMEA GGA, GGK,
GSA, GSV, GST, HDT, PASHR,
PPS, PRDID, PTCF, RMC, ROT,
UTC, VTG and ZDA strings
MCOMbinary data output string
COM3
(RS232)
Differential correction input
at rates up to 115200 baud
RTCM
RTCA
CMR
PPS
(BNC Plug)
The system also supplies a 1
pulse per second (PPS)
output synchronised with
GPS time
3.1.1 Ethernet
The Ethernet connection allows you to make maximum use of the F180R System system. The
system outputs data using a UDP (User Datagram Protocol) broadcast on port 3000 that allows
all PCs connected to the network to receive the transmitted MCOMdata. It provides
significantly greater data transfer capacity than a serial RS232 connection. To receive data from
the F180R System system on a PC, the PC must have an Ethernet card fitted and be connected

Hardware
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F180R MOTIONSensor User and Reference Guide
to the same 100 Base T local area network (LAN) over which the system is broadcasting. The PC
must be running the supplied MOTION Control software.
WARNING: For optimal performance you should use a direct exclusive connection
between your PC and the F180R System, thus avoiding potential data latencies and
interference that would otherwise be caused by other traffic existing on the network.
WARNING: Any firewalls between the F180R System and the control computer must
be either disabled or allow all traffic to and from the MOTION Control software to
pass.
F180R System Default Network Settings
IP Address
195.0.0.180
User configurable
Subnet Mask
255.255.255.0
User configurable
You do not need to know details of the output packet format for the UDP broadcast to work
effectively. However, if you require a detailed description of the MCOMformat, please
contact [e-mail].
There is an RJ–45 connector, J6, on the user interface cable that allows direct connection
between the F180R System system and a network hub/switch. You may extend the cable if
necessary by using commercially available network cables connected to the system through an
RJ–45direct in–line coupler that has a straight–through configuration. You may also connect
the F180R System system directly to an Ethernet card in a PC. To do this the Ethernet link must
be a crossover connection.
NOTE: The F180R System kit contains an in-line coupler and a CAT5Ethernet crossover
cable which can be used for direct F180R System-to-PC connection.
3.1.2 Serial Outputs
The F180R System sends attitude (heave, pitch and roll) information using the TSS1 data
string format through a serial RS232 link updated at 100 Hz.
NOTE: Definitions of Heading, Pitch and Roll that are output by the F180R System can
be found in Rotation Convention.
The F180R System sends attitude, heave and heading information using the binary Simrad
EM3000 format through a serial RS232 link updated at up to 100 Hz.
The F180R System outputs NMEA 0183 ASCII text sentences for position (GGA), true heading
(HDT), velocity (VTG) and Date/Time (ZDA) information through a serial RS232link updated
at up to 50 Hz.

Hardware
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F180R MOTIONSensor User and Reference Guide
Once you have defined the serial output settings, after power–on and initialisation, receiving
equipment connected to the serial ports will continue to receive the TSS1or EM3000 data
packets and/or NMEA sentences even with the Ethernet port disconnected. The heave data is
processed onboard the F180R System for a 16second period.
NOTE: If you have specified a Remote Lever Arm then the position, velocity, heading
and attitude data are for the remote lever arm location.
NOTE: If you have entered a IMU Alignment/Orientation but you have not set a
Remote Lever Arm, the position, velocity, attitude data are relative the IMU and the
heading data are for the vessel.
NOTE: If you have not set either a Remote Lever Arm or a IMUAlignment/Orientation,
then the position, velocity, attitude and heading data are for the IMU.
3.1.2.1 MCOM
Binary data output string that include position, attitude, heading, velocity, track and speed,
acceleration, status and performance and raw data.
The MCOMformat is a proprietary format defined by CodaOctopus. The format description is
available to third parties who wish to implement libraries for decoding the MCOMdata
stream. Contact CodaOctopus Support for further information.
3.1.2.2 NMEA
3.1.2.2.1 GGA
The NMEA - GGA string contains time, position and fix related data for a GPS receiver.
Figure 3: NMEA - GGA Format

Hardware
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F180R MOTIONSensor User and Reference Guide
1. GPS Quality Indicator:
0 = Fix not available or invalid
1 = GPS SPS Mode, fix valid
2 = Differential GPS, SPS Mode, fix valid
3 = GPS PPS Mode, fix valid
4 = Real Time Kinematic. System used in RTK
mode with fixed integers
5 = Float RTK. Satellite system used in RTK
mode with floating integers
6 = Estimated (dead reckoning) mode
7 = Manual Input mode
8 = Simulator mode
The GPS Quality indicator shall not be a null
field.
2. Horizontal dilution of precision:
The system adds leading digits as required.
3. Reference Point Altitude:
Which will be the IMUsensing centre or a
remote position depending on how the system
has been configured. The Altitude output will
be to the datum that you have chosen in the
Settings Wizard.
4. Age of Differential GPS data:
Time in seconds since last SC104Type 1 or 9
update, null field when DGPS is not used. The
system also adds leading digits as required
Also, note that commas separate all items, including null fields.
If no differential corrections are being received, the Age of Differential GPS data and Digital
reference station ID fields are also null.
3.1.2.2.2 GGK
The GGK string is a Trimble proprietary data string that provided time, position, position type,
and DOP. It is considered a "pseudo-NMEA" string, because it looks similar to a standard NMEA
string, but does not quite adhere to the NMEA specification.

Hardware
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F180R MOTIONSensor User and Reference Guide
Figure 4: NMEA - GGK Format
3.1.2.2.3 GSA
The NMEA - GSA string identifies the GPS position fix mode, the ID of the Satelite Vehicles
used for navigation, and the Dilution of Precision (DOP) values.
Figure 5: NMEA GSA String
Field
Description
a
Mode
M= Manual, forced to operate in 2D or 3D mode
A = Automatic, allowed to automatically change between 2D or 3D
m
Mode
1 = Fix not available
2 = 2D
3 = 3D
ss
IDs of the satellites used in the solution. This field is repeated 12 times. (null
for unused fields)
p.p
PDOP