MRU D

Motion Reference Unit

Installation Manual

MRU-D-207 /5.0
17.11 2014 © Kongsberg Seatex AS
Document history
Document number: MRU-D-207 / Revision 5.0
Rev. 1.0 31.05 2012 First issue of this manual
Updated to correspond with MRC+ version 5.03.00. Description of the
Rev. 2.0 26.10 2012
MRU binary protocol is included in this version.
Updated to correspond with MRU software 5.01.05 which included
Rev. 3.0 29.05 2013
additional commands to the MRU binary protocol.
Documentation of DIP switch positions in junction box. Updated
Rev. 4.0 24.1 2014 parts list, product restrictions, electrical installation and environmental
specification of junction box.
Updated to correspond with MRU sw. version 5.02.00 and MRC+
Rev. 5.0 17.11 2014 version 5.04.00. Appendix A Digital Interface is updated with new
UDP ports

Copyright
©Kongsberg Seatex AS
All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise
copied without prior permission from Kongsberg Seatex AS.

Disclaimer
The information contained in this document is subject to change without prior notice. Kongsberg Seatex
AS shall not be liable for errors contained herein or for incidental or consequential damages in connection
with the furnishing, performance, or use of this document.
Kongsberg Seatex AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.

Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Seatex AS disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.

Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: [Link]@[Link]

Kongsberg Seatex AS
[Link]
 Installation Manual

Table of contents
Glossary..................................................................................................................6
1 INTRODUCTION............................................................... 9
1.1 About the reader .....................................................................................................9
1.2 Notations used in this manual.................................................................................9
1.3 Product restrictions...............................................................................................10
1.3.1 Restrictions in guarantee .......................................................................... 10
1.3.2 Restrictions in use.................................................................................... 10
1.4 Disposal ................................................................................................................10
1.5 Equipment handling..............................................................................................10
2 PRODUCT DESCRIPTION................................................ 12
2.1 Purpose and application........................................................................................12
2.2 System components ..............................................................................................13
3 TECHNICAL SPECIFICATIONS ........................................ 14
3.1 Performance data ..................................................................................................14
3.1.1 Orientation output .................................................................................... 14
3.1.2 Angular rate sensors................................................................................. 14
3.1.3 Acceleration sensors ................................................................................ 14
3.1.4 Internal processing ................................................................................... 15
3.2 Physical dimensions .............................................................................................15
3.2.1 MRU Unit ............................................................................................... 15
3.2.2 MRU floor mounting bracket .................................................................... 15
3.2.3 MRU wall mounting bracket..................................................................... 15
3.2.4 MRU protected mounting bracket ............................................................. 16
3.2.5 MRU junction box ................................................................................... 16
3.3 Power....................................................................................................................16
3.3.1 MRU Unit ............................................................................................... 16
3.3.2 MRU junction box ................................................................................... 16
3.4 Environmental specification .................................................................................17
3.4.1 MRU Unit ............................................................................................... 17
3.4.2 MRU junction box ................................................................................... 17
3.5 External interfaces ................................................................................................17
3.6 Data outputs..........................................................................................................18
3.7 Data inputs............................................................................................................18
3.8 MRU cable............................................................................................................18
3.9 LED indicator MRU .............................................................................................19
3.10 Power requirements ..............................................................................................19
3.11 Cable lengths ........................................................................................................20
3.12 Cable wiring schematics.......................................................................................20

MRU-D-207 /5.0 3
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3.13 RS-422 A and B signal definition.........................................................................21

3.14 Hardware I/O description .....................................................................................21
4 INSTALLATION .............................................................. 23
4.1 Logistics ...............................................................................................................23
4.2 Location of MRU Unit .........................................................................................24
4.3 Survey of sensors on vessels ................................................................................24
4.3.1 Vessel reference system ............................................................................ 25
4.3.2 MRU....................................................................................................... 27
4.3.3 Survey accuracy....................................................................................... 27
4.4 MRU mounting orientation ..................................................................................28
4.5 Axis direction for surge, sway and heave measurements.....................................31
4.6 Use of lever arms..................................................................................................31
4.7 Installation procedures..........................................................................................33
4.8 Mechanical installation.........................................................................................33
4.9 Electrical installation ............................................................................................41
4.10 Calibrating the MRU axis ....................................................................................45
5 CONFIGURATION........................................................... 47
5.1 MRC+ installation ................................................................................................47
5.2 Starting the MRC+ configuration program...........................................................48
5.3 General user interface...........................................................................................53
5.3.1 Top bar.................................................................................................... 53
5.3.2 Configuration menu.................................................................................. 53
5.3.3 Sensor menu ............................................................................................ 54
5.3.4 Tools menu.............................................................................................. 54
5.3.5 Help menu............................................................................................... 55
5.4 Configuration tab ..................................................................................................55
5.5 Vessel configuration..............................................................................................55
5.5.1 Vessel geometry....................................................................................... 56
5.5.2 Vessel shape from file............................................................................... 58
5.5.3 Vessel description .................................................................................... 60
5.6 Sensors configuration ...........................................................................................60
5.6.1 MRU geometry........................................................................................ 60
5.6.2 Mounting wizard...................................................................................... 61
5.6.3 Description.............................................................................................. 63
5.6.4 Heave configuration ................................................................................. 63
5.6.5 Special .................................................................................................... 65
5.6.6 GNSS geometry....................................................................................... 66
5.7 Monitoring points configuration...........................................................................67
5.8 Communication interface configuration ...............................................................70
5.8.1 Network .................................................................................................. 70
5.8.2 Input/output communication ..................................................................... 70

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 Installation Manual

5.9 Status tab ..............................................................................................................76

5.10 Data presentation tab ............................................................................................78
6 DRAWINGS .................................................................... 81
6.1 MRU mechanical dimensions...............................................................................82
6.2 MRU floor mounting bracket ...............................................................................83
6.3 MRU wall mounting bracket ................................................................................86
6.4 MRU protected mounting bracket ........................................................................87
6.5 MRU junction box dimensions.............................................................................88
7 PARTS LIST ................................................................... 89
8 REFERENCES.................................................................. 91
A DIGITAL INTERFACE...................................................... 92
A.1 Interfacing philosophy..........................................................................................92
A.2 Formats .................................................................................................................92
A.3 MRU binary protocol ...........................................................................................93
A.3.1 Communication scheme ........................................................................... 93
A.3.2 Defined sensor unit commands.................................................................. 94
A.3.3 Legacy MRU commands ........................................................................ 100
A.4 Data message formats.........................................................................................100
A.4.1 MRU normal format............................................................................... 100
A.4.2 NMEA Proprietary................................................................................. 102
A.4.3 Sounder................................................................................................. 103
A.4.4 Simrad EM3000..................................................................................... 104
A.4.5 ATLAS.................................................................................................. 105
A.4.6 TSS1..................................................................................................... 106
A.4.7 RDI ADCP ............................................................................................ 107
A.4.8 Seapath Binary 23.................................................................................. 108
A.4.9 Seapath Binary 26.................................................................................. 110
A.4.10 PFreeHeave ............................................................................................111
A.4.11 Cyclic redundancy check algorithm......................................................... 112
A.5 Other messages ................................................................................................... 114
A.5.1 Get current data set message ................................................................... 114
A.5.2 Welcome message.................................................................................. 115
A.5.3 Abnormal mode message........................................................................ 115
A.6 External time and time synchronisation input .................................................... 116
A.7 Simple software driver ....................................................................................... 116
B OUTPUT VARIABLE LIST .............................................. 118
C STATUS BITS ............................................................... 124
D EVENT NUMBERS ......................................................... 125

MRU-D-207 /5.0 5
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Glossary

Abbreviations
AHRS Attitude and Heading Reference System
AP Aft perpendicular. The vertical intersection of the design waterline
at the stern, alternatively the center line of the rudder stock.
BL Base Line. Is the same as the keel for a vessel with horizontal
keel line.
CG Centre of Gravity. The mass centre of a vessel. This is normally
the location with least linear acceleration, and hence the best
location for measurements of roll and pitch.
CGND Communication ground.
CL Centre line. Is the longitudinal axis along the centre of the ship.
CRP Common Reference Point.
GA General Arrangement drawing.
GGND The MRU ground.
GNSS Global Navigation Satellite System
GUI Graphical user interface
HPR Hydroacoustic Positioning Reference system.
IMU Inertial Measurement Unit
INS Intertial Navigation System.
LGND Logic ground
MEMS Micro-Electro-Mechanical-Structure.
MP Monitoring Point
MRC MRU configuration software. Runs on a PC under Microsoft
Windows.
MRU Motion Reference Unit. A MRU consists of gyros and
accelerometers.
NMEA National marine electronics association. NMEA 0183 is a standard
for interchange of information between navigation equipment.
PGND Power ground
PPS Pulse per second
RMS Root mean square
UDP User Datagram Protocol
UTC Universal Time Coordinated. This is the official time in the world
and has replaced GMT (Greenwich Mean Time) as the official
time.

6 MRU-D-207 /5.0
 Installation Manual

WEEE Waste Electrical and Electronic Equipment

Definitions
Alignment Is the process of adjusting the current internal navigation frame in
the instrument to the true external frame.
Attitude The orientation relative to the vertical axis of a vehicle. Heading
is not included. If heading is included, the word "orientation"
is used for the vehicle.
Origin The zero point in the coordinate system. The origin location can
be configured by the user. Typical origin locations are CRP in a
survey report, CG, MRU or the intersection point between AP,
BL and CL.
P-axis This axis is fixed in the vehicle and points in the starboard
direction horizontally when the roll angle is zero. Positive rotation
about this axis is bow of the vehicle up.
Pitch A rotation about the pitch axis is positive when the bow moves
up. Normally, pitch means the dynamic pitch angle motions.
R-axis This axis is fixed in the vehicle and points in the forward direction
horizontally when the pitch angle is zero. Positive rotation about
this axis is starboard side of the vehicle down.
Roll A rotation about the roll axis is positive when starboard side of
the vehicle moves down. Normally, roll means the dynamic roll
angle motion.
Starboard When looking in the bow direction of a vehicle, this is the right
hand side of the vehicle.
Y-axis Yaw axis. This axis is fixed in the vehicle (b-frame), and points in
the downward direction when the vehicle is aligned horizontally.
Positive rotation about this axis is turning the bow of the vehicle
to starboard.
Yaw A rotation about the vertical axis is positive when turning
Eastward (Clockwise) when the vehicle cruises in North direction.
Normally, yaw means the dynamic yaw motion.

MRU-D-207 /5.0 7
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8 MRU-D-207 /5.0
 Introduction

1 Introduction

1.1 About the reader

This installation manual is intended as a reference manual for the personnel installing the
MRU and it contains the necessary information to install and set up the equipment on
a vessel.

1.2 Notations used in this manual

The following notations are used in this manual:
Bold text is used for all menu names. A series of menu selections is indicated by File→
New
Italics is used for manual names and for information that needs your attention.
Note
A note is used to draw attention to special features or behaviour of the equipment.

Caution
Caution is used to make the user aware of procedures and operational
practice which, if not followed, may result in degraded performance or
damage to the equipment.

WARNING
Warning is used when it is necessary to warn personnel that risk of
injury or death exists if care is not exercised.

MRU-D-207 /5.0 9
MRU D

1.3 Product restrictions

1.3.1 Restrictions in guarantee
Changes or modifications to the product not explicitly approved by Kongsberg Seatex
AS will void the guarantee.
The liability of Kongsberg Seatex AS is limited to repair of this system only under the
given terms and conditions stated in the sales documents. Consequential damages such
as customer's loss of profit or damage to other systems traceable back to this system's
malfunctions, are excluded. The warranty does not cover malfunctions of the system
resulting from the following conditions:
• The MGC is not shipped in the original transport box.
• The MGC has been exposed to extreme shock and vibrations.
• The MGC housing has been opened by the customer in an attempt to carry out repair
work.
• Over-voltage or incorrect power connection.

1.3.2 Restrictions in use

The MRU function is based on an inertial sensor to operate. It is designed for use on
board marine surface operated vehicles with linear acceleration less than ±50 m/s2 (±5g)
and an angular rate range less than ±100°/s.

1.4 Disposal
All electrical and electronic components have to be disposed
of separately from the municipal waste stream via designated
collection facilities appointed by the government or local
authorities. The correct disposal and separate collection
of your old appliance will help prevent potential negative
consequences for the environment and human health. It is
a precondition for reuse and recycling of used electrical and
electronic equipment. For more detailed information about
disposal of your old appliance, please contact your local
authorities or waste disposal service.
The equipment may be returned to Kongsberg Seatex AS if
there is no local WEEE collection. The equipment is marked with this pictogram.

1.5 Equipment handling

Observe the following when handling the equipment:

10 MRU-D-207 /5.0
 Introduction

• All units must be handled with care.

• The case containing the unit must be kept dry at all times and must be sheltered
from the weather.
• It must not be subjected to shocks, excessive vibration or other rough handling.
• The equipment must be preserved and stored in such a way that it does not constitute
any danger to health, environment or personal injury.
• The unit must, whenever possible, be stored and transported in its original
transportation box.
• The transportation box must not be used for any purpose for which it was not intended.
• The storage area's mean temperature must not be lower than – 25 ºC and not warmer
than + 70 ºC.
• Once unpacked, the equipment must be kept in a dry, non-condensing atmosphere,
free from corrosive agents and isolated from sources of vibration.
Note
After the installation please save the transportation container. To maintain warranty
validity, the sensor unit must be shipped in this container for service or repair.

MRU-D-207 /5.0 11
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2 Product description

This manual describes the 5th generation MRU products. This generation motion sensing
products is both mechanically and electrically compatible with the previous MRU
generations. The 5th generation MRU products are identified by serial numbers above
20000, titanium coloured housing and Ethernet communication.

2.1 Purpose and application

This cost-effective MRU model is specially designed for use in marine applications and
is the ideal sensor for roll and pitch measurements on board ships. The unit incorporates
2-axis MEMS sensors for both linear acceleration and angular rate.
This unit has to be mounted in a fixed direction relative to the ship and that is with the
connector pointing up or down. The MRU D is best suited for applications with limited
range in roll and pitch. If unlimited mounting orientation and/or unlimited mounting
range is required, we recommend one of the MRU models with sensors in all three axis.
Typical applications for this MRU D model are roll and pitch measurements in dynamic
positioning systems, GNSS antenna compensation and motion damping systems on
high speed crafts.
The MRU D outputs roll and pitch angles and corresponding angular rate vectors fixed to
the vehicle frame. The unit outputs surge and sway accelerations.

12 MRU-D-207 /5.0
 Product description

2.2 System components

The MRU models are supplied with the following standard
parts:
• The MRU motion sensor.
• Three-metre Ethernet configuration cable for connection
to a PC.
• Power supply 24 V for Ethernet configuration cable.
• USB memory stick including the MRU configuration
software MRC+, manuals, configuration and calibration
file.
• Transportation box.
In addition comes a mounting bracket, a junction box and
cables according to the customer's requirements.

MRU-D-207 /5.0 13
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3 Technical specifications

3.1 Performance data

3.1.1 Orientation output
Angular orientation range ±25°
Resolution in all axes 0.001°
Static accuracy[1] roll, pitch 0.3° RMS
Dynamic accuracy[1] roll, pitch 0.35° RMS
(for a ±5° amplitude)

3.1.2 Angular rate sensors

Number of rate sensors 2
Angular rate range ±100 °/s
Angular rate noise[2] roll, pitch 0.5 °/s RMS
Scale factor error 0.8 % RMS

3.1.3 Acceleration sensors

Number of sensors 2
Acceleration range all axes ±50 m/s2
Acceleration noise[1] 0.01 m/s2 RMS
Acceleration accuracy 0.05 m/s2 RMS
Scale factor error 1.0 % RMS

1. When the MRU is exposed to a combined two-axis sinusoidal angular motion with 10 minutes duration.
2. When the MRU is stationary over a 30–minute period.

14 MRU-D-207 /5.0
 Technical specifications

3.1.4 Internal processing

Main processing cycle 200 Hz
frequency
Orientation erection time Max 15 minutes
(from power on)

3.2 Physical dimensions

3.2.1 MRU Unit
Type 5th generation MRU
Height 140 mm (5.525”)
Diameter 105 mm (4.134”)
Weight 2.4 kg
Colour Titanium
Connector Souriau 851-36RG 16-26S50 (MIL. spec.)

3.2.2 MRU floor mounting bracket

Type MRU-M-MB5
Length 160 mm
Width 140 mm
Height 26.7 mm
Weight 0.8 kg
Colour Black
Material Aluminium

3.2.3 MRU wall mounting bracket

Type MRU-M-MB4
Length 123.5 mm
Width 110 mm
Height 140 mm
Weight 0.8 kg
Colour Black
Material Aluminium

MRU-D-207 /5.0 15
MRU D

3.2.4 MRU protected mounting bracket

Type MRU-M-MB6
Length 134.5 mm
Width 130 mm
Height 300 mm
Weight 2.4 kg
Colour Black
Material Aluminium

3.2.5 MRU junction box

Type MRU-E-JB3
Length 226 mm
Width 126 mm
Height 90 mm
Weight 2.0 kg
Colour Black
Material Aluminium
Enclosure protection IP-65

3.3 Power
3.3.1 MRU Unit
Voltage input 10 to 36 V DC
Recommended voltage 24 V DC
Power consumption Max 3 Watts
Power rise speed Not critical
Batteries None; connection to UPS recommended

3.3.2 MRU junction box

Type MRU-E-JB3
Voltage input 85 to 264 V AC
Voltage output 15 Watt 24 V DC Mains power

16 MRU-D-207 /5.0
 Technical specifications

3.4 Environmental specification

3.4.1 MRU Unit
Enclosure material Anodised aluminium
Enclosure protection IP-66
Operating temperature range -5 °C to +55 °C (all MRU models except MRU E)
Operating humidity (max) Sealed, no limit
Storage temperature range -25 °C to +70 °C
Storage humidity Sealed, no limit
Electromagnetic compatibility IEC 60945/EN 60945
(immunity/emission)
Vibration IEC 60945/EN 60945
Max shock non-operational 1000 m/s2
(10 ms peak)
MTBF (computed) 50000 h

3.4.2 MRU junction box

Type MRU-E-JB3
Enclosure material Aluminium
Operating temperature range -25 °C to +70 °C
Storage temperature -25 °C to +70 °C
Ingress protection IP 65

3.5 External interfaces

Serial ports COM1: Bidirectional RS-422
COM2: Bidirectional RS-232. From junction box
user configurable RS-232/RS-422
COM3&4: Input only. User configurable
RS-232/RS-422
Baud rate Max. 115200 Baud
Ethernet UDP/IP (3 output 10/100 Mbps
ports and one input port)
Data output variables Max. 24 (serial line or Ethernet port)
Data output rate Max. 200 Hz

MRU-D-207 /5.0 17
MRU D

Analog output channels (from 4, ± 10 V with 14 bits resolution

junction box only)
Timing accuracy 1 ms
Data delay Typical 3.5 ms plus transmission delay
Data output Cyclic output of data or by request from host computer

3.6 Data outputs

Output protocols MRU Normal. The MRU proprietary binary format
NMEA Proprietary
Sounder
Simrad EM3000
Atlas Fansweep
TSS1
Seapath binary 23
Seapath binary 25 (Raw IMU)
Seapath binary 26
PFreeHeave
RDI ADCP

3.7 Data inputs

Input protocols MRU commands
NMEA format HDT, HDM, VBW, VHW, VTG, ZDA

3.8 MRU cable

Type MRU-E-CS8, Heavy duty screened, 14 x 2 x 0.25 mm2
Length 3m
Diameter 13.5 mm
Weight 0.27 kg/m
Flame retardation IEC 60332–1

18 MRU-D-207 /5.0
 Technical specifications

Insulation ETFE
Screen Cu-braid

3.9 LED indicator MRU

A LED indicator is located next to the connector of the sensor unit. This LED indicates
status on operation, software and configuration. The LED function is described with a
sequence of colours. Each second is divided into 4 slots.
• Time sync: the first slot in the sequence shows information about time synchronisation.
• Blank: the second slot is always blank.
• Aiding: the third slot in the sequence shows status on external inputs.
• Status: the fourth slot in the sequence shows the sensor unit status.
The meaning of the colour in each slot is illustrated in the table.
Note
One column in the table represents one second.

1 second flash per column

Time sync Blank Aiding Status
NO PPS NO AID OK
PPS OK HEAD AID
PPS & DATE OK SPEED AID
HEAD & SPEED

If default IP is selected, every 4th second the LED is yellow.

If there is something wrong with the sensor unit, a flashing red light flashing at
4 Hz is observed.
Pressing the ALERT button changes the light to blue. By holding the ALERT
button for more than 8 seconds, a red light indicates that the unit is reset to default
IP.

3.10 Power requirements

The sensor unit is to be powered by a clean 10 to 36 V DC source. However, the
recommended power source is 24 V DC which is also the design power source. The
sensor unit power lines are galvanically isolated from the signal circuits inside the unit.
The maximum isolation voltage inside the sensor unit is 200 V DC.

MRU-D-207 /5.0 19
MRU D

The sensor unit should be protected by an external slow fuse rated at 2 A. There is
a fuse in the MRU-E-JB3 junction box.
Caution
Permanent damage to the sensor unit may occur if power is applied to the
Ethernet or digital conductors. Therefore, it is imperative to check the power
connection by measuring the power voltage at the connector before the
sensor unit is connected. Damage resulting from incorrect connection and
power is not covered by the Kongsberg Seatex AS warranty.

3.11 Cable lengths

If a long ship cable (> 30 m) is used, please consider the following:
• At 24 V DC, the maximum allowable DC resistance in the cable (sum of the forward
and back resistance) is RDC < 10 Ω. This means max. 200 m cable at 0.75 mm2.

3.12 Cable wiring schematics

The wiring schematics for the MRU-E-CS8 heavy duty cable.

Table 1 Cable wiring schematics

Souriau 26–pin Signal description Conductor

Signal conn. Pair no. Colour
PWR+ R Power supply (+24 V) 1a White
PWR- B Power supply (0 V) 1b Blue

COM1_OUT_B C RS-422B+ output data from MRU 2a White

COM1_OUT_A T RS-422A- output data from MRU 2b Orange

COM1_IN_B S RS-422B+ input data to MRU 3a White

COM1_IN_A P RS-422A- input data to MRU 3b Green

RJ_1 G TD+, Ethernet 4a White

RJ_2 H TD-, Ethernet 4b Brown

ALERT X MRU alert 5a White

GGND A MRU ground 5b Grey

RJ_3 J RD+, Ethernet 6a Red

RJ_6 K RD-, Ethernet 6b Blue

COM2_IN c RS-232 data to MRU 7a Red

20 MRU-D-207 /5.0
 Technical specifications

Table 1 Cable wiring schematics (cont'd.)

Souriau 26–pin Signal description Conductor

Signal conn. Pair no. Colour
COM2_OUT M RS-232 data from MRU 7b Orange

COM3_IN_A E RS-422A- or RS-232 input signal to MRU 8a Red

COM3_IN_B Y RS-422B+ or RS-232 return signal to MRU 8b Green

COM4_IN_A V RS-422A- or RS-232 input signal to MRU 9a Red

COM4_IN_B L RS-422B+ or RS-232 return signal to MRU 9b Brown

CGND a Communication ground 10a Red

XIN U Signal to MRU, 5 Volt or RS-232 level 10b Grey

XOUT b Signal from MRU, 5 Volt level 11a Black

EXT0 F Signal from MRU, 5 Volt level 11b Blue

Z Internal control, do not connect 12a Black

W Internal control, do not connect 12b Orange

D Internal control, do not connect 13a Black

5V N 5 Volt out, max. 20 mA 13b Green

Not connected 14a Black

Not connected 14b Brown

3.13 RS-422 A and B signal definition

According to the following standard the signal state definitions are:
• IEC 61162-1. The idle, marking, logical 1, OFF or stop bit states are defined by a
negative voltage on line A with respect to line B. The active, spacing, logical 0, ON
or start bit states are defined by a positive voltage on line A with respect to line B.
It should be noted that the above A with respect to B levels are inverted from the
voltage input/output requirements of standard UARTs and that many line drivers
and receivers provide a logic inversion.

3.14 Hardware I/O description

The digital communication lines COM1_OUT, COM1_IN, COM2_OUT, COM3_IN,
COM4_IN, XIN, XOUT and EXT0 share a common ground (CGND) and are isolated
from the sensor unit power system.

MRU-D-207 /5.0 21
MRU D

The Ethernet connection pins RJ_1, 2, 3 and 6 are isolated from the sensor unit power
system.

COM1
Is an RS-422 input and output line. Transmit is on OUT and receive on IN.

COM2
Is an RS-232 input and output line. Transmit is on OUT and receive on IN. In the
MRU-E-JB3 junction box this signal is also available as RS-422.

COM3
Is an RS-422 or RS-232 input line.

COM4
Is an RS-422 or RS-232 input line.

XIN and XOUT lines

These lines are general purpose I/O lines, programmable by the MRU software.
• XIN. The XIN accepts RS-232 levels. The line is considered HIGH if left open or
driven by 3 to 15 V, and LOW for 0 to -15 V.
• XOUT. Sensor unit ready/not ready. Zero or 5 V out.

EXT0 line
Internal use only. In use for output of analog signals from the MRU junction box and to
activate the relay when analog data are valid.

Ethernet ports
Through the Ethernet connection, three output ports and one input port are available in
the MRC+ configuration software for I/O setup.

22 MRU-D-207 /5.0
 Installation

4 Installation

This chapter describes a typical ship installation of the MRU for use together with, for
example, an Hydroacoustic Positioning Reference system (HPR).
The sensor unit is shipped in a specially designed transportation container. Keep the
sensor unit in this container until ready to install the unit in the mounting bracket.
Note
After the installation, please save the transportation container. To maintain warranty
validity, the sensor unit must be shipped in this container for service or repair.

In addition to the MRU unit itself, the following additional equipment is required for
installation:
• The heavy duty screened MRU-E-CS8 cable with the MRU connector at one end and
marked conductors at the other.
• The MRU-M-MB5 floor-mounting bracket or the MRU-M-MB4 wall mounting bracket
complete with four M4.0 screws and three M6.0.
• The MRU-E-JB3 junction box for connecting the MRU output signals to the HPR
system and to supply the MRU with 24 V DC power. A ship cable to be supplied for
connecting the MRU junction box with the HPR system. This cable can be delivered
by Kongsberg Seatex AS, although normally it is delivered by the HPR system
supplier, the shipyard or others.

4.1 Logistics
Safety
None.

Personnel qualifications
Trained electricians.

Minimum number of personnel

1.

MRU-D-207 /5.0 23
MRU D

Special tools required

A PC.

4.2 Location of MRU Unit

When installing the MRU, note the following:
• The unit is designed for installation in an indoor environment and for operation within
the temperature range.
• For units that outputs heave it is important to mount the unit close to the user
equipment of which it is supposed to measure the motion. This is to avoid errors in
alignment with the user equipment and to eliminate errors due to ship hull torsion.
• For best roll, pitch, surge and sway measurements, place the MRU as close to
the centre of gravity (CG) of the ship as possible, unless lever arm from the MRU
location to the CG location is entered in the MRC configuration program. Alternately,
try to mount it along the R-axis of the ship, low in the ship and amidships. Roll is
usually the most dominant angular motion; avoid mounting the MRU high up or out
to the side of the ship.
Caution
Be aware of vibrations. Direct mounting onto the main hull structure
is preferable.
The worst mounting positions are thin walls that may come in resonance
with vibrations driven by machinery, propellers, pumps or motors. Avoid
mounting the MRU close to hydraulic pumps and valves where there are
high frequency vibrations. The MRU function may be disturbed if strong
vibrations around 14 kHz are present. It is some sensitivity to vibrations
around sequences of 100 Hz (100, 200, 300 Hz and so on). Such vibrations
should not exceed 0.5 m/s2 in any direction.
Be aware of temperature changes. For safe mounting of the sensor unit, place the unit in a
location where the temperature is low and where changes in temperature are slow. A location
directly on the hull far away from the heat of the machinery, heaters and air conditioning
systems is preferable.
Be aware of corrosion problems. Place the sensor unit in a location where no direct splashing
sea water is present.

4.3 Survey of sensors on vessels

In order to achieve the specified accuracy of the sensor unit, the installation has to be
surveyed.
The reference systems in use for this system are:

24 MRU-D-207 /5.0
 Installation

• The vessel reference system

• The MRU sensor point and axes system
A survey has to be performed to determine the offsets in angle and position from the
vessel reference system to the sensor unit.

4.3.1 Vessel reference system

The following has to be surveyed:
• All vessels have a defined Cartesian coordinate system that all sensors can be
referenced to. In this right hand system, the X-axis is positive forwards, which is
parallel to the centre line of the vessel, the Y-axis, positive towards starboard, and
the Z-axis, which is positive downward.
• The origin in the vessel reference system is typically frame 0 at keel level or the
surveyed origin in a survey report, i.e. where X, Y and Z are all 0.
• The coordinate reference point (CRP) is defined to be in the intersection between
stern, longships center line and keel. In case the keel is not parallel with the base
line, the reference for CRP is where the keel crosses the vertical section amidships.
The location of CRP vs the origin is configurable, and is typically set based on the
survey report.
• The reference plane in this system must be well defined and described. This can be a
Best Fit Plane on main deck, or a Best Fit Plane through the draught marks on the
hull. This is particularly important on a floating vessel, as it is not possible to project
the horizontal plane from land.
• The chosen convention must be made clear to all parties involved, both survey
personnel performing the survey and the users of the survey results. Any deviation
from the defined coordinate system, shown in the figure Definition of Origin on vessel
and positive X, Y and Z axes directions on page 26, should be well described in both
text and drawings to avoid common misunderstandings.

MRU-D-207 /5.0 25
MRU D

Figure 1 Definition of Origin on vessel and positive X, Y and Z axes directions

26 MRU-D-207 /5.0
 Installation

4.3.2 MRU
Figure 3 Sensor point on the wall mounting bracket Figure 2 Sensor point and
position (0, 0, 0) for all MRU
units

Figure 4 Sensor plane on the floor mounting bracket

over the deck

For the sensor unit the following should be surveyed:

• Position (X,Y,Z) of sensor point. The axis cross centre on the MRU top.
• Mounting angles in Roll, Pitch and Yaw (heading).
Pitch and Roll mounting angles should be checked for correctness against sensor unit
readings after configuration of the offset angles values found during survey, for instance
during Gyro calibration.

4.3.3 Survey accuracy

The MRU product must be surveyed to the following accuracy level. If not, the
performance of the product will be degraded.
• Distance vector from the Origin to MRU (X, Y, Z): <0.1 metre

MRU-D-207 /5.0 27
MRU D

• Distance vector from the Origin to the user defined monitoring points (X, Y, Z):
<0.1 metre
• Distance vector from the Origin to the Centre of Gravity (CG) location (X, Y, Z):
<1 metre
• Yaw misalignment angles with the vessel axes: < 0.5°
• Misalignment angles (Roll, Pitch) with the vessel axes: < 0.1°

4.4 MRU mounting orientation

The default mounting position is defined with the MRU connector facing downward, the
x-axis pointing forward and the y-axis pointing starboard. The illustrations show the
mounting orientation of the x, y and z indexes at the top of the MRU according to the
axes of the ship as well as the default mounting position. The directions marked on the
MRU housing (x, y, z) should be aligned with the ship axes in the following way:
• The x-axis (x arrow) points in the bow (forward) direction of the ship.
• The y-axis (y arrow) points horizontally and starboard.
• The z-axis points in the downward direction.

Figure 5 Top view of MRU with x, y and z direction

28 MRU-D-207 /5.0
 Installation

Figure 6 Default MRU mounting position

Positive (+) output signals from the MRU include:

• Positive pitch means bow up, or a clockwise rotation about the y-axis.
• Positive roll means starboard (right) side facing downward, or a clockwise rotation
about the x-axis.
• Positive yaw (heading, azimuth) means a turn to starboard (right), or a clockwise
rotation about the z-axis.
The MRU is best mounted with the logical axes in the direction described above to
avoid confusion and problems with the definition of the roll, pitch, yaw output angles.
However, the MRU can be mounted in any orientation relative to the above mentioned
logical axes. In this case, the offset angles between the MRU axes (x, y, z) and the
ship axes (R, P, Y) are simply entered in the MRU configuration software, MRC+. See
Configuration tab on page 55 for a description on how to configure the MRU and set
the mounting angles.
In the MRC+ a mounting wizard is available to assist in determining the MRU mounting
angles. This mounting wizard starts with applying the main rotation which means
to change the mounting angles in steps of 90° for each axis. After applying the main
rotation of the MRU, the bracket offset angles are defined as the remaining offset angles
of the MRU axes (x, y, z) relative to the ship axes (R, P, Y). The roll and pitch bracket
offset angles can be interpreted as the bracket’s tilt angles relative to the ship deck plane
(horizontal plane). Be aware that these angles are not exactly the same as the MRU roll
and pitch mounting angles. The MRC+ mounting angle wizard will convert the measured
offset bracket angles into the corresponding roll, pitch and yaw mounting angles (Euler
angles) that are used in the MRU. The bracket offset angles are defined as:
• Roll offset angle. The angle between the ship Y-axis and the projection of the MRU
z-axis in the ship’s PY-plane.

MRU-D-207 /5.0 29
MRU D

• Pitch offset angle. The angle between the ship Y-axis and the projection of the MRU
z-axis in the ship’s RY-plane.
• Yaw offset angle. The angle between the ship R-axis and the projection of the MRU
x-axis in the ship’s RP-plane.

Figure 7 MRU bracket misalignment offset angles. Positive roll offset angle if the
bracket tilts to starboard. Positive pitch offset angle if the bracket tilts to stern. Positive
yaw offset angle if bracket is rotated clockwise

Note
Mounting of the MRU with the x-axis (x arrow) pointing up (90, 0, 0) or down (-90, 0, 0)
should be avoided due to that there is a singularity in the Euler angle representation
for a 90 degree pitch angle. Therefore, the wizard for mounting angles in the MRC+
software doesn’t support these orientations.

Note
If the bracket offset angles exceed 45°, another main rotation should be selected.

In Calibrating the MRU axis on page 45 it is described to which accuracy the mounting
angles have to be calibrated to ensure that the MRU functions are according to
specifications. The MRU software automatically corrects the mounting angles back to
the default orientation when these angles are set in the MRC+ software.
See MRU User Manual in References on page 91 for details on the different frames
which are used, like the MRU/sensor frame (x, y, z), ship/body frame (R, P, Y), heading
frame (F, S, D) and geographical frame (N, E, D).

Related topics
• Configuration tab on page 55

30 MRU-D-207 /5.0
 Installation

• Calibrating the MRU axis on page 45

4.5 Axis direction for surge, sway and

heave measurements
The default axis directions for the linear motion are defined as follows:
• Surge is defined positive in a horizontal axis direction pointing forward (F-axis).
• Sway is defined positive in a horizontal axis direction pointing starboard (S-axis).
• Heave is defined positive pointing downward (D-axis).

Figure 8 Axis directions for surge, sway and heave

4.6 Use of lever arms

Setting up lever arms in the MRC+ configuration software simplifies the installation
of some applications like heave compensation of cranes. The sensor unit can then be
located some distance away from the location of the monitoring points.
Note
The sensor unit linear acceleration measurements can only be transferred a few metres
else the accuracy of these measurements will be degraded.

MRU-D-207 /5.0 31
MRU D

The sensor unit achieves its best roll and pitch accuracy when the unit is mounted at the
vessel's centre of gravity (CG). Although it is often not possible to mount the sensor unit
at precisely the CG, it is possible to compensate for this and achieve the same roll and
pitch accuracy as if the sensor unit was mounted at the vessel's CG by inputting the lever
arm CG vector in the sensor unit configuration.
When lever arm corrections are used, the following lever arm co-ordinates must to be
defined in the MRC+ configuration software:

Figure 9 Location of MRU, CG and MPs on vessel

Definition of the Centre of Gravity (CG) lever arm

This is the lever arm vector (the components along the R, P, Y axes) from the sensor
unit to the vessel's Centre of Gravity (CG). The components must be measured in metres
from the sensor unit location with an accuracy better than one metre.

Definition of the Monitoring Point lever arm (MP)

In the sensor unit two individually configurable monitoring points are available. Typical
vector (R, P, Y) from the sensor unit to a desired MP is illustrated. The components must
be measured in metres from the sensor unit location with an accuracy better than 0.1
metre. In systems where the MPs are not a fixed point relative to the sensor unit location
(crane, for instance), the sensor unit is designed to receive input co-ordinates for the
lever arm MP from a computer through the digital interface. The command Set Lever
Arm Vector is used to continuously update the sensor unit with the correct MP values.
See MRU binary protocol on page 93 for more information on this command.

32 MRU-D-207 /5.0
 Installation

Note
The sensor unit position is the origin of the co-ordinate system from which the CG and
MP lever arms are to be measured. A component is positive when moving in the positive
axis direction from the sensor unit position. Be aware that the vertical axis is positive
down. Use the graphical view in MRC+ to ensure the MPs are correctly positioned.
When using long lever arms, any vessel vibration sensed by the sensor unit will increase
the noise level of the measurements, because angular velocity and numerically derived
angular acceleration are used in these computations.

Caution
Use caution when selecting a location for the sensor unit. Incorrect use of
lever arms will result in degraded performance.

Related topics
• See Configuration tab on page 55 for additional details on how to configure the sensor
unit and set up the CG and MP lever arms.

4.7 Installation procedures

The installation is performed in two steps:
• Mechanical installation of the mounting bracket, the MRU and the junction box.
• Electrical installation of the MRU cable connectors and power to the junction box at
one end, and cable connectors for the HPR system at the other end.
In addition, the user can modify the standard MRU configuration.

4.8 Mechanical installation

The MRU can be mounted on board by use of the floor mounting bracket (MRU-M-MB5),
the wall mounting bracket (MRU-M-MB4) or the protected mounting bracket
(MRU-M-MB6). Choose the appropriate installation procedure for the Bracket delivered
with your product.

How to install the MRU — floor mounting bracket

1 Identify the best mounting location for the MRU. The best location is on the floor
or on a steel table.
2 When the mounting location has been identified, place the mounting base plate in
the preferred orientation. If the orientation of the bracket can be freely selected,
mount the base plate with the x arrow pointing in the bow direction. The figure
MRU with floor mounting bracket on page 34 shows the different components for
mounting the MRU on the floor.

MRU-D-207 /5.0 33
MRU D

Figure 10 MRU with floor mounting bracket

3 Mark and drill three M6 holes in the foundation for the base plate screws.
4 Place a plastic bushing between the floor and the base plate for each of the three
holes. This is done for electrical and mechanical insulation of the MRU from the
foundation due to earthing and to prevent corrosion.
5 For each base plate hole, enter a plastic bushing, then a washer and finally enter the
M6 screw. In the other end, enter a nut for each screw. The nut should be secured
with a washer or by using a self-locking nut.
6 Mount the adapter plate to the MRU, as shown in the figure Adapter plate mounting
on MRU on page 34. Ensure that the x and y arrow directions are the same on
the adapter plate and the MRU. Enter the four M4 screws and fasten the adapter
plate to the MRU. It is recommended to apply Loctite 242 glue or equivalent on
the four MRU screws.

Figure 11 Adapter plate mounting on MRU

7 Place the MRU with the adapter on top of the base plate, as shown in the figure MRU
mounted in bracket on page 35. Ensure that the MRU enters the steering pins on the
base plate properly and that the orientation of the MRU is the same as indicated (x
and y arrows) on the base plate, as shown in the figure Base plate on page 35.

34 MRU-D-207 /5.0
 Installation

8 Enter the three M4 screws with washers from the adapter plate to the base plate. It is
recommended to apply Loctite 242 glue or equivalent on these three screws.
The base plate has steering pins and x and y arrow indication.
Figure 12 Base plate Figure 13 MRU mounted in bracket

Note
The MRU mounting angles have to be modified by use of the MRU configuration
to correspond with the actual mounting orientation of the MRU in the Bracket.
Precise MRU orientation is important to ensure that high quality and accurate
measurements are available to the host system.

9 Mount the junction box on the floor or wall in a suitable location within the length
of the 3-metre MRU-E-CS8 cable, as shown in the figure MRU junction box
mounting on page 36.
10 The screws for mounting the junction box should be secured with washers or
self-locking nuts.

MRU-D-207 /5.0 35
MRU D

Figure 14 MRU junction box mounting

How to install the MRU with wall mounting bracket

1 Identify the best mounting location for the MRUl. Preferably mount the Bracket on
longitudinal or transversal bulkheads of the hull structure, this to assist alignment
and to prevent vibration.
2 Preferably mount the MRU with the opening pointing downwards, as illustrated.
3 Reserve sufficient space below the Bracket for the MRU and the cable.
4 Mount the Bracket to the wall with the screws, pos. 5, before the MRU is mounted
to the Bracket.
5 Clean the surface between the MRU and the Bracket carefully prior to assembly.
Connecting surfaces between MRU and Bracket must in no way be damaged before
mounting.
6 Mount the MRU to the Bracket with the screws, pos. 6.

36 MRU-D-207 /5.0
 Installation

Figure 15 MRU with wall mounting bracket

7 When disassembling the MRU from the Bracket for service purposes, only remove
the screws, pos. 6. Do not remove the Bracket from its position.

How to install the MRU with protected mounting bracket

1 Identify the best mounting location for the MRU on the wall. Preferably mount
the Bracket on longitudinal or transversal bulkheads of the hull structure, this to
assist alignment and to prevent vibration.
2 Mount the Bracket with the opening pointing downwards, as illustrated. Reserve
sufficient space below the Bracket for the MRU and the cable.

MRU-D-207 /5.0 37
MRU D

Figure 16 Wall mounting with the Bracket opening pointing down

3 Mark and drill an M8 hole for the top screw, pos. 1, and enter the screw without
tightening it completely. Align the bracket vertically using its own weight or by
aligning it in relation to the wall. Drill two holes for the lower screws, pos. 2, and
insert and securely tighten all three screws, using lock washers and nuts.

Figure 17 Wall mounting with the Bracket opening pointing down

4 Unscrew the cover on the bottom of the Bracket, as illustrated.

38 MRU-D-207 /5.0
 Installation

Figure 18 Bracket with cover Figure 19 Bracket without cover

5 Fasten the MRU cable (MRU-M-CS8) to the MRU connector and insert the MRU
into the bracket.

Figure 20 Bracket with the MRU and cable inserted

MRU-D-207 /5.0 39
MRU D

Note
The MRU mounting angles have to be modified by use of the MRU configuration
to correspond with the actual mounting orientation of the MRU in the Bracket.
Precise MRU orientation is important to ensure that high quality and accurate
measurements are available to the host system.

6 Fasten the MRU to the Bracket with the four M4 screws, pos. 1, with lock washers
and push down the cover caps , pos. 2, at the top of the screw holes, as illustrated, to
ensure that water is not entering the holes.
Figure 21 The four mounting screws Figure 22 The cover caps entered
for the MRU above the screws

7 Mount the cover on the bottom of the Bracket with the three M4 screws, as
illustrated..

40 MRU-D-207 /5.0
 Installation

Figure 23 MRU with wall mounting bracket

8 When disassembling the MRU from the Bracket for service purposes, do not remove
the Bracket from its position only the MRU inside.

4.9 Electrical installation

Follow the procedure in order to carry out the electrical installation of the MRU.

How to carry out the electrical installation

1 Insert the connector on the MRU-E-CS8 cable into the sensor unit and insert the
other end of the cable into the junction box.
2 Ensure that the cable shield is in contact with the nipple for grounding before the
cable is fastened to the box. Use the required number of clips to fasten the cable to
the wall.
3 Insert each of the cable wires into the correct terminal on the P1 side (sensor unit)
within the box.

MRU-D-207 /5.0 41
MRU D

4 Insert the ship cable and the power cable through one of the free nipples on the
junction box.
5 Ensure that the cable shield is in contact with the nipple for grounding before the
cable is fastened to the box. Use the required number of clips to fasten the cable to
the wall.
Note
Cable with shield has to be used in order to fulfil the sensor unit power and EMC
requirements. The cable shield must be connected to earth only on one end (open
in the other).
Fill the nipples not used with self-bounding tape. Press the self-bounding tape
together as ball and fill it into the nipple. Screw in the nipples properly afterwards
to ensure it is watertight. This to fulfil the enclosure protection specification.
The junction box housing is grounded to earth through the screws for mounting the
box to the wall or floor. Please note that if the foundation on which the junction
box is mounted is NOT connected to earth, one of the junction box mounting screws
has to be connected to earth by connecting a wire from the screw to an object that
is connected to earth.

6 Insert each of the cable wires into the correct terminal on the P2 side (user) within
the box.

42 MRU-D-207 /5.0
 Installation

7 Check that the DIP switches in the upper left corner of the junction box are in the
correct position according to the communication on COM3 and COM4. For RS-422
the DIP switch should be in the right position and a termination resistant of 120
Ohm will then be connected.
Correct position of these DIP switches are only important with RS-422
communication when using long cables.
Figure 24 DIP switch position for Figure 25 DIPS switch position for
RS-422 communication (default) RS-232 communication

8 If a ready signal for the analog output signals is required, insert the ship cable wires
for this signal into the terminals on the P3 side within the box. This is done by
feeding +24 V DC into RL_C pin and running a wire back into the host system from
RL_NO pin. This will give the host system a +24 V DC signal from RL_NO pin
when analog output signals are ready.

MRU-D-207 /5.0 43
MRU D

Note
After finishing the wiring of the junction box, ensure that the unused nipples are
watertight by inserting Duct tape into these nipples.

9 Optional, insert the power cable with 100 to 240 V AC into the terminal on the P4
side within the box if 24 V DC is not available.

Note
It is possible to input both 24 V DC on User P2 side and 100 to 240 V AC on the
User P4 side simultaneously.

10 When all cable wires are connected, apply power to the junction box.
• The MRU PWR light diode in the junction box should then shine green indicating
that the sensor unit receives power.
• The AC PWR will shine red if AC power is connected to the AC 100 - 240 V
terminal; else AC PWR light diode is off.
• The COM light diode will flash red if digital data are sent from the sensor unit on
COM1.
• The MRU light diode will shine green if the sensor unit is running, else off.
• The DAC diode will shine yellow if analog output is used, else off.

44 MRU-D-207 /5.0
 Installation

11 If the lights in the LEDs are according to your connections, the installation is now
finished, unless the standard configuration delivered with the sensor unit needs to be
modified for the specific installation.

4.10 Calibrating the MRU axis

After the mechanical installation is completed, the MRU x, y and z axes must be aligned
to the corresponding vessel axes or the axes of the system to be compensated. To achieve
the MRU's specified roll and pitch accuracy, any misalignment of the MRU axes with
the vessel axes must be precisely calculated and accounted for. The MRU axes, and
particularly the yaw axis, must be aligned with the vessel axes with an accuracy better
than 0.5 degrees to ensure that the MRU functions are according to specifications.
WARNING
If the MRU is not calibrated and corrected for misalignment in yaw,
the performance of the product will be degraded.

A typical alignment process consists of Figure 26 Alignment of MRU yaw axis

aligning the MRU axes to an external to vessel longitudinal axis
reference. Type of reference must be
determined according to the required
accuracy.
The reference for roll and pitch alignment
must be carefully selected depending on
the intended application. It may be the
hull, a sensor such as a multibeam echo
sounder or a USBL acoustic system. Some
sensors have internal alignment routines,
and accurate alignment of the MRU is
not required.
An accurate alignment of the MRU x arrow
towards the vessel's longitudinal axis (yaw
orientation) is of special importance. If
not properly aligned, the performance of
the roll and pitch measurements from the
MRU will be degraded. The plot illustrates
that a misalignment of 1 degree of the MRU in yaw will result in a roll error of ±0.09
degrees if the vessel is pitching ±5 degrees. To determine the misalignment of the MRU
axis to an accuracy of 0.5 degrees or better is not easy and requires use of an accurate
external reference.

MRU-D-207 /5.0 45
MRU D

Figure 27 Value of roll error as a function of vessel pitch angle, displayed at 0.5°, 1°
and 1.5° MRU yaw misalignment

Related topics
• Mounting wizard on page 61

46 MRU-D-207 /5.0
 Configuration

5 Configuration

The configuration software, MRC+, is used to set configuration parameters in the sensor
unit. It runs under Microsoft Windows XP, Vista and 7 (32 and 64 bit). The MRC+
communicates with the sensor unit through the Ethernet.
The MRC+ software is a part of the standard delivery. The software has the following
main functions:
• Configure the sensor unit for specific applications
• Check the internal status of the sensor unit (status log file)
• Load new software to the sensor unit
• Plot data to the screen and log data on file

5.1 MRC+ installation

Follow the procedure to install the MRC+ software on the local PC (standard Windows
procedure).

How to install the MRC+ software

1 Insert the memory stick with the software in the USB port on the local PC.
2 Start up the Explorer program if not already done.
3 Open the Removable Disk drive to which the memory stick is connected.
4 Open the file MRC+[Link] in the SW\MRC folder .
5 Follow the instructions on the screen in order to complete the installation of the
MRC+ program.
6 Observe that the window illustrated appears when the installation of files is finished.

MRU-D-207 /5.0 47
MRU D

7 It is recommended to select the Run MRC+ now check box.

8 Click Finish and the setup is completed.
9 Terminate the Explorer program and remove the USB memory stick from the
local PC.

5.2 Starting the MRC+ configuration

program
How to start the software
1 Power up the PC with the MRC+ installed if not already running.
2 Connect a cable from a free Ethernet port or switch on the PC to the Ethernet
connector on the MRU-T-015 box. Connect the Ethernet configuration cable
MRU-T-015 to the sensor unit. Normally, the Ethernet configuration cable
MRU-T-015 and MRU-E-CE1 are delivered with the sensor unit for this purpose.
Insert the power connector on the power inlet on the MRU-T-015 box. Use the
delivered power supply MRU-E-P24 to supply the sensor unit with 24 V DC.
Alternatively, connect the sensor unit to the junction box MRU-E-JB3 and an
Ethernet cable between the PC and the junction box.

48 MRU-D-207 /5.0
 Configuration

3 The LED on the sensor unit will start flashing green and blue indicating that the
sensor unit is powered and its software is running.
4 The sensor unit is set up with a default Ethernet address [Link]. Then the PC
with the MRC+ installed has to be set up with the address in the range [Link],
except for the same address as the sensor unit. For instance if the sensor unit has
the Ethernet address [Link] (default), then the address on the PC could be
set to [Link].
To configure the PC to use local area connection, enter Settings and Network
Connections on the PC. Observe that the Network Connections dialog box appears.

5 Click on the Local Area Connection and select the Properties button in the General
tab.

MRU-D-207 /5.0 49
MRU D

6 In the Local Area Connection Properties dialog box select the Internet Protocol
(TCP/IP) item in the list of items and click on Properties button.

7 In the Internet Protocol (TCP/IP) Properties dialog box select the Use the following
IP address and Use the following DNS server addresses option buttons exactly as
illustrated. Click OK to exit the dialogues.

50 MRU-D-207 /5.0
 Configuration

8 When the LED is flashing green, start up the MRC+ software by double-clicking
the MRC+ icon. First time the MRC+ is started the Windows Firewall dialogue
appears. Ensure to hock off both on Private and Public networs as shown on the
illustration below.

9 After allowing access form the firewall theMRC+ will start up.

MRU-D-207 /5.0 51
MRU D

10 Click on the Sensor menu and select Connect. Enter

the IP address and port number and click the Connect
button. The selection Factory IP address includes the
default sensor unit IP address ([Link]).

11 The MRC+ receives configuration from the sensor unit and observe that a
Configuration tab appears on the screen. You are now connected and are free to
configure according to your purpose.

12 If connection with the sensor unit is not establish, check if the IP address and port
number are correct.
To get back to the default IP and port number for the sensor unit, press the small
connector pin in the connection box on the configuration cable. Hold it in until the

52 MRU-D-207 /5.0
 Configuration

blue light turns red. A yellow flash will then appear on the LED indicating that
default IP is used. Repeat the connection from step 10 above.

5.3 General user interface

The MRC+ software consists of a top bar with application menus and information bar.
The menus have sub-menus offering various operational options.

5.3.1 Top bar

The top bar consists of the following menus and information:

Configuration
Includes sub-menus for handling of configuration information, such as Open, Save,
Revert and Send configuration file to sensor unit.

Sensor
Includes sub-menus to connect to the sensor unit, restart the sensor unit, send calibration
file, synchronize clock and to upgrade software.

Tools
At the moment empty.

Help
Includes help and system details.

Info bar
Includes sensor unit type, serial number, software version, user annotation, status and
mode.

Windows size/Exit
To scale the MRC+ size and to exit the software.

5.3.2 Configuration menu

The Configuration menu includes the following sub-menus:

MRU-D-207 /5.0 53
MRU D

Open
Opens a configuration from file.

Save
Saves the configuration to file.

Revert changes
Reverts all changes performed since the file was open.

Send to sensor unit

The edited configuration parameters in the MRC+ screen are sent to the connected sensor
unit.

Exit
Exits the software.

5.3.3 Sensor menu

The Sensor menu includes the following sub-menus:

Connect
Connects MRC+ to the sensor unit.

Restart sensor unit

Restarts the sensor unit. The alignment time after a restart is approximately 15 minutes.

Send calibration set

Opens a calibration file and sends it to the connected sensor unit.

Demo
Runs MRC+ without a sensor unit connected.

Synchronize clock
Synchronises the clock within the sensor unit to local or UTC time.

Upgrade software
Sends new MRU software to the unit.

5.3.4 Tools menu

The Tools menu includes so far no sub-menus.

54 MRU-D-207 /5.0
 Configuration

5.3.5 Help menu

The Help menu includes the following sub-menus:

MRC+ Help
A PDF-file with description of how to configure the unit with MRC+ is available.

Compatibility
Lists the MRU SW versions that can be used with this MRC+ version.

Legacy Source IDs

Lists the variables that have been given new Source IDs in the 5th generation MRU.

About MRC+
List MRC+ SW version, contact information and details on this software.

5.4 Configuration tab

The following parameters can be set in the Configuration tab:
• Vessel geometry and description
• Sensor data, including
– MRU geometry, description, heave configuration and
special
• Monitoring points geometry
• Communication interface, including:
– Network
– Input/output

5.5 Vessel configuration

Vessel configuration consists of two views: Geometry and Description.

Geometry
For later configuration of sensor and monitoring point locations it is an advantage that
the background vessel (vessel shape) is as equal as possible to the vessel on which the
system is installed. The background vessel is scaled on the screen to be equal to the
installed vessel. To scale the vessel shape on the screen, the actual vessel dimensions
have to be input.

Description
Vessel data for the specific installation.

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5.5.1 Vessel geometry

In the Vessel Geometry view, information for help to specify correct location of sensor
unit and monitoring points on a vessel is entered. The drawing has to be correctly scaled
based on the vessel dimensions to ensure correct indication of the various points.

Figure 28 Vessel geometry view — default vessel shape

Select the check boxes Show sensors or Show monitoring points to display objects defined
in other views.

Shape type
The Shape type section defines the shape of the vessel hosting the system. The list
contains some general shape outlines: Ship, Rig, Jackup (3 leg) and Jackup (4 leg).
These are all scaled according to the dimensions given in the Shape dimension section.
The general shape outline can be overridden by an actual shape defined in a drawing
file. Supported file extensions are Vessel models(*.svm), Vessel vector images (*.svi) and
Old vessel images (*.txt). This file can be created or edited in a text editor. Select the Use
vessel drawing check box, and browse for the wanted drawing file by clicking the Browse
button. When a valid drawing file has been loaded, the dimensions are defined by the
loaded shape and the Shape dimension fields are locked.

Shape dimensions
In the Shape dimensions section it is possible to set the following parameters:

Overall length
The overall length of the vessel, i.e. from stern to bow.

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Overall width
The overall width of the vessel.

Overall height
The distance from the highest point of the vessel to the keel.

Origin location in drawing

All point locations in the configuration refer to the origin. The location of the origin is
defined using distance from stern, center line and keel (often referred to as the CRP
(coordinate reference point) in survey reports).

From stern
The distance from the aft point of the ship to origin along the X axis.

From CL
The distance from the vessel’s centre line, positive towards starboard.

From keel
The distance from the keel, positive downwards.

Figure 29 Different dimensions and location of Origin

Centre of gravity
The Origin to CG fields in the Centre of gravity section defines the location of CG related
to origin. The CG is the center of rotation in the vessel.

Related topics
• Vessel shape from file on page 58.

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5.5.2 Vessel shape from file

The pre-defined scalable vessel shapes represent the actual vessel outline only in rare
cases. In order to configure the accurate location of various sensors, equipment and
monitoring points, it is recommended to load a separate vessel model from file.
Select the Use vessel drawing check box, then click the Browse... button to browse for
an image file. Three file types are available: Vessel models(*.svm), Vessel vector images
(*.svi) and Old vessel images (*.txt).
The system supports two types of two dimensional outlines: side view (towards
starboard) and top view.
The vessel image file has to obey the following requirements:
1 The vessel data have to be in an ASCII file generated by Excel, Notepad or similar
tools.
2 The file head includes Overall length (LOA), Overall width, Overall height and
Stern to Origin data in metres.
3 Profile (side view) data in X and Z coordinates in metres, related to the origin.
Coordinates are specified clockwise from a point aft of the origin, and the last
coordinate has to equal the first coordinate to form a closed polygon.
4 The top view data in X and Y coordinates in metres. The first coordinate has
to be aft of the origin along the centre line. Successive coordinates are specified
clockwise, and the last coordinate has to equal the first to form a closed polygon.
Vessel image files may be created by Kongsberg Seatex AS upon customer request. GA
drawings or similar is required to create vessel image files.
A typical example of a vessel data file is illustrated.

Figure 30 Example GA drawing of multi-purpose vessel

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Figure 31 Example of vessel shape in user text file

Figure 32 Example vessel shown in Vessel Geometry view

In the example, only the port side of the vessel top view is defined in the file. Symmetry
is assumed, so this is sufficient to draw a symmetric vessel shape. If the vessel is not
symmetric, use the section code %Top view coordinates in (X,Y) [m]
Complete and give the coordinates along the complete shape, defined clockwise.

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It is possible to define cutouts within the profile or top view polygons. For profile cutout,
use %Profile cutout n, where n identifies the cutout.

5.5.3 Vessel description

The Vessel Description view contains information about the vessel needed for
identification purposes, for example finding the correct configuration file at a later stage.

Vessel name
The name of the vessel. An empty name field is not allowed. The default value is
VESSEL.

Vessel owner
The name of the vessel owner (optional).

Country of origin
The name of the vessel's country of origin (optional).

MMSI
The MMSI assigned to the vessel. Default value is 0.

IMO Number
The IMO ID assigned to the vessel. Default value is 0.

5.6 Sensors configuration

5.6.1 MRU geometry
The lever arm vector from the Origin to the MRU location has to be measured or
calculated based upon drawings or previously measured points, and entered into the
software. Look at the sketch of the MRU geometry on the screen in order to enter correct

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signs on the co-ordinates. Check also that the MRU has been located on the expected
spot in the vessel shape. If not, check the signs and the co-ordinates input for the MRU,
the vessel dimension, the entered location of Origin and CG.
The sensor unit mounting angles can either be input manually or determined by use
of the Mounting wizard.

Sensor location
Enter the position of the MRU in X, Y, Z coordinates from Origin. The sensor unit
location has to be measured or calculated based upon drawings or previously measured
points. The default location of the sensor unit is in the vessel Origin. If a survey report is
available the vessel Origin should be located in the CRP used in the report.

Lever arm from sensor to CG

The section is for information only and shows the relative position between the sensor
unit and CG. It is recommended that none of the coordinates in this exceeds more than
150 metres, else the sensor unit measurements can be unstable and start to oscillate.

Mounting angles
The mounting angles of the sensor unit in roll, pitch and yaw have to be input to the
sensor unit. The mounting wizard can be used to determine these mounting angles.

5.6.2 Mounting wizard

How to use the mounting wizard
1 Press the Mounting wizard button in the Geometry view.
2 In Step 1 Orientation, click the << or >> buttons in the lower left part of screen to
turn the sensor unit around in 90-degree steps, axis by axis. Click until correct

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mounting orientation of the sensor has been found. The right part of this dialog box
is automatically updated with the actual main rotation of the unit. Click Next to
proceed to Step 2.

Figure 33 Step 1 Sensor unit axis orientation

3 At the top right in the window the main rotation angles of the sensor unit are
displayed. Enter the offset angles for Roll, Pitch and Yaw from the main rotation
angles. Click the Help button (question mark) to get more help on the sign of the
offset angles. A positive offset angle rotation is:
a Positive roll offset means starboard (right) side facing downward, or a
clockwise rotation about the x-axis.
b Positive pitch offset means bow up, or a clockwise rotation about the y-axis.
c Positive yaw offset (heading, azimuth) means a turn to starboard (right), or a
clockwise rotation about the z-axis.

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Figure 34 Step 2 Offset angle inputs

4 Click Finish to finish the setting of the MRU axis.

Note
The new MRU mounting angles are only valid in the MRU after entering the Configuration
menu and selecting Send to MRU.

5.6.3 Description
The Description view includes user annotation. This information is helpful to identify the
correct configuration file at a later stage. The user annotation should be a text describing
the specific configuration for a vessel or installation. This text will be displayed in the
Top bar and on status information

5.6.4 Heave configuration

When using real-time heave measurements, it is important to tune the heave parameters
(heave period and damping) to the vessel motion characteristics for the actual weather
conditions. The default settings for heave period and damping have to be tuned for the

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actual vessel and weather conditions in order to achieve optimum heave performance.
Therefore, before a survey and/or during operation check the heave performance and
tune the heave parameters until the best heave performance is achieved. An alternative is
to select Automatic and let the system automatically choose the best settings.
The following should be considered when selecting the different heave filter modes
and parameters:

Option for filter mode

• Hydrographic survey
To be selected when the heave phase and amplitude have to be output correctly in real
time. This mode is typically selected when the heave output signal from the system is
to be used for heave compensation of echo sounders and offshore crane systems.
• Automatic
To be selected when the vessel is operating in various sea states or when the average
heave period is unknown. The Automatic filter mode estimates the average heave
period and automatically sets the filter period in real time during operation. The
Automatic filter mode uses the Hydrographic survey filter structure.
• General purpose
Is selected when the heave phase is of no importance. This mode is typically
selected when the system is to be used for measuring the heave height and period
on oceanographic buoys.

Period
• An expected average heave period has to be set to the heave filter. This period can be
determined by measuring the time between two wave-tops by using a watch.
• The settling time for the heave measurements from power-on or after a turn will
be about 10 times the selected period, T0. By selecting an unnecessary long heave
period, the settling time will be slower than it has to. For vessels performing surveys
with frequent turns, the period should be set as low as possible to minimise the heave
settling time after turns.

Damping
• The heave damping factor is usually set to 0.7. Only for special occasions should this
parameter be changed.
For more details on selection of heave filter mode and parameters, see the User Manual
referred in References on page 91.

How to select the heave configuration

1 Enter the settings for heave filter in the Heave config dialog box.
The Option drop-down menu has the following options; Automatic, Hydrographic
survey or General purpose. In Hydrographic survey and General purpose mode, the
filter parameter for Period can be set to a value between 1 and 25 seconds, and the
Damping value between 0.3 and 1.3.

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5.6.5 Special
The Special view includes configuration of the following parameters:

External Heading Age

A parameter for correction of delay in the external heading signal input to the sensor
unit. This parameter should be set to 0 [ms] unless a more precise value is available.

Latitude Angle
The approximate latitude for operation of the MRU is positive north, zero at equator and
negative south. This parameter influences the built-in gravity estimation model of the
MRU. A correct setting will slightly improve the performance on roll and pitch of an
MRU. Accuracy in the latitude parameter of approximately 5 degrees is sufficient.

Surge and sway filter

For these filters the option is fixed to General purpose. The user can set the Period in
the range 1 to 25 seconds. The recommended period for surge and sway motion is in
the range 2 to 4 seconds. The default value is 2.5 seconds. The damping factor can be
selected in the range 0.3 to 1.3 by adjusting the Damping parameter. This parameter
influences the phase and amplitude response of the motion measurements. A low
damping factor of 0.3 to 0.45 improves the phase and amplitude response when the
motion frequency is close to the cutoff frequency in surge/sway, but oscillations in
position and velocity may occur. The damping factor should normally be set to 0.6.

Integrated heave filter

For this filter the user can select between No aiding or Height aiding mode. In addition
the user have to select in which Monitoring point the heave shall be output. In Height
aiding mode the height is input from the GNSS receiver.

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5.6.6 GNSS geometry

The lever arm vector from the Origin to the GNSS antenna has to be measured or
calculated based upon drawings or previously measured points, and entered into the
configuration.

How to set up antenna location

1 Set the antenna location coordinates for the GNSS antenna.
2 Check that the antenna has been located on the expected spot in the vessel shape.
If not, check the signs and the co-ordinates entered for the GNSS antenna, the vessel
dimensions and the entered location of Origin.

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5.7 Monitoring points configuration

The system supports up to two user definable monitoring points. These are defined
in the Monitoring Points view.
As soon as a monitoring point has been defined, its location is indicated in the vessel
outline for easy visual verification. The monitoring points are given relative to Origin
(positive forward, towards starboard and down). The position of a monitoring point
relative to the Origin is indicated in the drawing when the cursor is over the monitoring
point.
If a monitoring point appears incorrect, check the signs and the coordinates input for
each monitoring point, the vessel dimensions and the entered location of Origin.

To add a monitoring point, select the Add button in the upper left corner
of the view and drag the symbol to the correct location on the vessel.
The selected monitoring point coordinates are shown at the bottom of
the view.
To get exact coordinates from Origin to each monitoring point, each monitoring point
has to be measured or calculated based upon drawings or previously measured points,
and entered into the software manually. To delete a point, select the wanted point in the
list and then press the X button in the top left corner.
When the Add button is clicked, red lines will be displayed on the screen to help placing
the new point. Co-ordinates will also be displayed to help placing the monitoring point.
The position and name of the added point may be adjusted by writing the co-ordinates
into the table below the vessel drawing.
Note
No more than two monitoring points can be added

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Figure 35 Adding MP, defining X and Z co-ordinates

Figure 36 Adding MP, defining Y co-ordinate

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Figure 37 New monitoring point added

The new monitoring point may be renamed by entering the new name directly into
the table.

Figure 38 Rename monitoring point

Here, Stern is highlighted and entered instead of the name MP2. Press Enter to apply
the new name.

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5.8 Communication interface configuration

5.8.1 Network
In order to input and output data on the Ethernet connector as an UDP (User Datagram
Protocol) diagram the following parameters have to be set:

IP address
The Internet protocol (IP) network address. Default is [Link].

Subnet mask
The Internet protocol (IP) sub-network mask. Default is 255. 255. 255. 0.

Gateway
The Gateway address. Default is 192. 168. 1. 1.

Check with the network administrator on board the vessel for the correct selection of
network address and mask.
Note
Changes in the IP Address, Mask and Gateway will only take effect after a restart
of the sensor unit

5.8.2 Input/output communication

The default view for the Input/Output communication shows all available input/output
ports before any interface is selected.

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Figure 39 Input/output view with available communication sources

The Input/Output view consists of configuration details for the interface selected in the
list. The configuration details vary between the different interfaces. By clicking on one
of the interfaces, the screen is divided into two parts, one with the Input/Output list and
one with Configuration details.
Analog outputs are available from the sensor unit if the junction box is connected.

Figure 40 Input/output configuration view

The Configuration details view is divided into four sections:

• an interface selection section

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• an I/O properties section

• details on serial line or Ethernet setup
• and a telegram properties section

[Link] Configuration details

In the Communication details section the following is shown and can be configured:

Interface
Shows the communication line type and number selected in the Input/Output list.

Description
Input of a text to describe which equipment this communication line is connected to.
This helps to remember which equipment this interface is connected to.

Type
Shows the type of communication interface selected, Serial, Ethernet or Analog.
Optionally also analog output channels are available if the junction box is connected.

Direction
Shows the direction of the communication interface selected, In/Out, In or Out.

[Link] I/O properties

The parameters displayed in the I/O Properties properties views are dependent on what
Type of interface is selected in the Configuration details section.

[Link].1 Serial interface

The default view for the serial port interface is illustrated. Click the arrow next to I/O
Properties section to hide or show the information.

Figure 41 I/O Properties when serial interface is selected

Port
Shows the serial line number (COM1 to 4).

Baud rate
The baud rate can be set from 1200 to 115200.

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The baud rate required depends on the required number of digital output channels, the
sample rate and the format selected. For the MRU Normal format each digital output
channel requires approximately 40 bits, including transmission overhead. For a complete
message, an overhead of approximately 40 bits is necessary independent of the message
length.

Example 1 Calculation of minimum baud rate with the MRU Normal format
4 channels out at a sample rate of 20 Hz (50 ms): (4ch * 40 + 40 ) * 20
Hz = 4000 Baud (minimum)
In real time applications, take into account that data are not available before the end of the
message. Do not select a higher baud rate than needed. A high baud rate will load down
the computer with interrupts, resulting in possible transmission errors if using long lines.
Under the collapsible Advanced group box, less used properties are placed:

Parity
Select parity (None, Even or Odd) on the serial line selected.

Data bits
Select the number of data bits on the serial line selected.

Stop bits
Select the number of stop bits on the serial line selected.

[Link].2 Ethernet interface

The default view for the Ethernet interface is illustrated. Click the arrow next to I/O
Properties section to hide or show the information.

Figure 42 I/O Properties when Ethernet interface is selected

Protocol
The UDP protocol. Options are Broadcast, Unicast or Multicast.

Local interface
Automatic is the only option and cannot be changed.

IP address
The target IP address.

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Port
The number of the port to which the client listens.

[Link] Telegram properties

In the telegram properties section the following is shown and can be configured:

Format
This parameter selects the data output format. When selecting the MRU Normal and
NMEA propr formats, the user can select the number of variables and variable number
(source) which is to be a part of this format.

Location
Selecting the location for output of the linear measurements (MRU, CG, MP1 or MP2).
This selection is only available for other output formats than MRU Normal and NMEA
proprietary.

Interval
Time interval for cyclic auto transmit of data. The interval must be selected in steps of 5
milliseconds. Be aware of possible data overruns if the interval is too short. 0 ms ==
Auto Transmit OFF. Set interval in milliseconds.

Token
User selected numbers are associated with the selected format. This is a unique message
marking byte with a value in the range 10 to 100.

Advanced mode
Enable or disable. If enabled, the more advanced source IDs will be listed.

Source
The number of output variables for each communication channel is limited to a
maximum of 24. The actual output variables for each communication channel can be
selected freely between a number of sources. Formats other than MRU Normal may limit
the maximum number for output variables and/or the chosen time interval. The number
of channels and the variables are defined in the format.
Many output variables are available from the sensor unit. By activating the drop-down
menu, a list of the most frequently used output variables is shown, as illustrated. To list
the more advanced variables Advanced mode has to be selected before the drop-down
menu has been activated.

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Figure 43 List of sources

Related topics
• Digital interface on page 92
• Output variable list on page 118

[Link] Analog output

Four analog output channels are available from the sensor unit when the junction box
(part no MRU-E-JB3) is connected. The same output variable list is valid for the analog
channels as for the digital communication. For each of the analog channels, the user
must specify the gain and offset. The limit on the output signal is fixed to ±10 Volt.
Gain is set according to the formula:
• [Voltage out in Volts] = Gain * [Selected Variable + Offset]
The gain therefore has scaling volts per physical unit (for instance, volts/metre). Note
that the variables in the sensor unit are given in standard SI units.

Example 2 Gain calculation

Requirement: ±10 V shall give ±0.5236 radians (±30 degrees). The gain
factor must then be; Gain = volts/radians = 10/0.5236 = 19.0986 v/rad.

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5.9 Status tab

The Status tab include the views Status and Events:

Info
This part shows following information.
• System program
Shows the current MRU software version on which the unit is operating.
• Unit
Lists the current sensor unit model and its hardware revision, like "v".
• S/N
Shows the serial number (s/n) of the sensor unit connected.
• Calibration
Shows the serial number of the sensor unit for which the calibration file is generated
and the calibration date.
• Last startup
Shows the date and time for the last start-up of the sensor unit.
• No. of startups
Shows the number of start-ups the sensor unit has had since it was manufactured.
• Accumulated run time [hours]
Shows the number of hours the sensor unit has been in operation since it was
manufactured.

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System status
This part shows the following status.
• External velocity
Shows status and source on external velocity input; "Available" or "Not available".
• External heading
Shows status and source on external heading input; "Available" or "Not available".
• External time
Shows status and source on external time input; "Available" or "Not available".
• Timesync
Shows status and source on external time synchronisation input; "Available" or "Not
available".

Data status
Shows status of the sensor data output; "Not available", "Reduced" or "Normal".

General status
This part shows the following status.
• Environment
Shows status on the environment like temperature level; "OK" or "Not OK".
• Analog output
Shows on the analog output. "On" if a junction box is connected and analog outputs
are configured else "Off" .

Events
This part shows the original event messages generated.

Save
Click the Save button to save the status information to a text file.

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5.10 Data presentation tab

The Data presentation tab includes the following functionality:
• Presents the output variables configured on Ethernet port #1, #2, #3, #4 or #5 on the
screen and the possibility to log data on file. Remember to configure the outputs on
Ethernet port #1, #2, #3, #4 or #5 and sending the configuration to the sensor unit,
before entering the data presentation tab.
• Maximum six variables can be plotted on the screen simultaneously. The other output
variables are displayed numerically. Click the check box in the Plot column to select
the variables to be plotted. Green colour on the curves indicates that the sensor unit
operates in normal mode. Yellow colour indicates that the sensor unit outputs data
with reduced accuracy.
• Use the Start/Stop and Reset button to control the data presentation and logging to file.
• Click on the Log to file button to log data to file. The data are saved in an ASCII file
with the output variables stored as floats in columns. The file contains a header with
the name of the variables, number of samples and the sample time. The file can
easily be modified by the user in a text editor to adjust to other, similar formats.
The default file name is *.tsa.
Note
Outputs to Ethernet port #1, #2 or #5 have to be configured and sent to the sensor unit
before the data presentation tab is entered. Else now data will be presented
The outputs on COM1 and 2 are not presented in this data presentation tab. This since
the MRC+ only has connection to the sensor unit through Ethernet and not through
serial line.

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If you always have red light before the Ethernet port you may have problems with the
MRC+ installed outside the firewall. Proceed as follows to get the correct firewall
settings:

Change firewall settings

1 Click the Start button in Windows and type firewall in the search field as
illustrated and click Windows Firewall with Advanced Security.

2 Click Inbound Rules as illustrated.

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3 Scroll down the list to MRC+ and check what is written. In the figure below the
MRC+ is blocked in Privat domain and this has to be solved.

4 Click line 2 in the figure (the line with UDP). Right-click and click Properties.

5 In the Advanced tab select the profiles for Domain, Private and Public.

6 Click Apply and OK when finished.

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6 Drawings

This chapter contains outline drawings showing mechanical dimensions of the MRU, the
mounting bracket and the junction box.
Note
The drawings in this manual are not to scale. To scale drawings are available upon
request.

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6.1 MRU mechanical dimensions

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6.2 MRU floor mounting bracket

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6.3 MRU wall mounting bracket

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6.4 MRU protected mounting bracket

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6.5 MRU junction box dimensions

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7 Parts list

The MRU basic packet consists of:

Part no. No. Description
MRU-D-V 1 The sensor unit.
MRU-T-015 1 Three metres Ethernet configuration cable for connection to a
PC.
MRU-E-P24 1 Power supply 24 VDC for Ethernet configuration cable.
MRU-E-CE1 1 One metre Ethernet cable of type crossover.
MRU-SW-ED 1 USB memory stick including the MRU configuration software,
manuals, configuration and calibration file.
MRU-M-SC1 1 Transportation box.

The MRU package with junction box and wall mounted bracket consists of:
Part no. No. Description
MRU-D-V 1 The motion sensor.
MRU-M-MB4 1 MRU 5th generation wall mounting bracket
MRU-E-JB3-CS81 MRU junction box with three meter communication cable.
MRU-E-CE1 1 One metre Ethernet cable of type crossover.
MRU-SW-ED 1 USB memory stick including the MRU configuration software,
manuals, configuration and calibration file.
MRU-M-SC1 1 Transportation box.

The MRU can be delivered with the following additional equipment:

Part no. Description
MRU-M-MB4 MRU 5th generation wall mounting bracket
MRU-M-MB5 MRU 5th generation floor mounting bracket
MRU-M-MB6 MRU 5th generation protected mounting bracket
MRU-M-SB9 MRU 5th generation subsea bottle with two 8 pin connector, 4000 m
depth (Titanium house)
MRU-M-SB10 MRU 5th generation subsea bottle with two 8 pin connector, 1000 m
depth (Aluminum house)

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MRU D

Part no. Description

MRU-M-SB11 MRU 5th generation subsea bottle with two 8 pin connector, 50 m
(Stainless steel house)
MRU-E-JB3 MRU 5th generation junction box with serial communication, analog
output channels, Ethernet and AC power input
MRU-E-CS8 MRU 5th generation cable (four serial lines, Ethernet & power) type
heavy-duty screened cable with MRU connector.

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8 References

Reference documents
• MRU 5th Generation User Manual, Kongsberg Seatex AS

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Appendix A
Digital interface

A.1 Interfacing philosophy

The host computer communicates with the sensor unit by the use of duplex serial line
(COM 1 or COM 2) or Ethernet. The sensor unit is standardised on the simplest possible
interface and protocol which provides the desired performance.
Serial communication speed is programmable from 1200 to 115200 baud. 1 start bit, 8
data bits (LSB first), programmable none, odd or even parity, and 1 stop bit is used.
UDP telegrams are used to transmit messages on Ethernet. Each telegram contains
one sensor unit message.
Communication with the sensor unit uses a proprietary efficient binary protocol.
The sensor unit will also recognize some NMEA sentences carrying relevant information.

A.2 Formats
The sensor unit can transmit data telegrams in many formats:
• MRU normal: default, most versatile, most efficient
• NMEA proprietary: ASCII based
• Sounder
• Simrad EM3000
• ATLAS
• TSS1
• Seapath Binary 23
• Seapath Binary 25: Raw IMU output (not documented)
• Seapath Binary 26
• PFreeHeave
• RDI ADCP format, PRDID

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A.3 MRU binary protocol

A.3.1 Communication scheme
A.3.1.1 Message format
Communication is based on byte messages with arbitrary length <250 bytes. The same
communication format is used for messages to and from the sensor unit. The general
communication format is as follows:

Format
<header><length>[<datan>] .. <checksum>
where each <xx> denotes a binary byte.

Format description
1 <header> = Start of message and defines message type. ASCII character.
2 <length> = Number of data-bytes in transmission. The maximum number is 245.
3 <datan> = One of the data-bytes in the transmission. This byte may be a command
or parameter connected to one of the commands.
4 <checksum> = Is the modulo 256 sum of all datan bytes.
Note
<token> shall be part of the checksum calculation if part of the format.

Example 3 MRU protocol

Format
<'C'><2><31><3><34>
Header 'C' (ASCII 67), length 2, command number 31, operand 3, checksum
31 + 3 = 34. The checksum is a modulo of 256. If the sum of all data and
bytes becomes for instance 257, then the checksum is 1 (257 – 256 = 1). The
data consists of a command number followed by zero to 'n' operands or byte
values. These bytes will be interpreted as ASCII characters, 16 bit words, 32
bit integers, IEEE single precision floats etc. depending on actual command.
Data types consisting of multiple bytes are transmitted with MSB first. All
valid commands to the sensor unit will respond with some kind of answer,
either an asked for message, or a general acceptance message in the form:
<'a'><2><status><command><checksum>
where status takes one of the following values:
• 2 = unable to execute command
• 0 = OK
• -1 = bad command number

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Example 3 MRU protocol (cont'd.)

• -2 = parameter error
• -3 = all error
• -4 = header error
command is assumed command number.

A.3.1.2 Message synchronisation on serial communication

No handshake is used in the communication. The sensor unit can always receive short
messages. The user is responsible for using a buffer of suitable length (>256 bytes) to
pick up the messages of limited lengths from the sensor unit (at the selected baud rate).
There are no boundaries between messages, i.e. messages can follow each other without
synchronisation. This implies that an error may occur where the transmitter and the
receiver are out of phase. To help overcome this problem some precautions have been
taken with the sensor unit, and some caution must be taken when writing the driver:
a Successive bytes in a message sent to the sensor unit must follow each other within
a minimum of approximately 200 ms. If too much time has past, a new message (i.e.
a header byte) is expected by the sensor unit. Be aware of this when transmitting
data to the sensor unit over a multiplexed system.
b If data from the sensor unit is requested by the command 'Get current data set', stop
requesting data if received data are lost. Empty the input buffer and wait until all
data coming from the sensor unit have been received.
c If the sensor unit is set up to output data cyclically, search for the known heading
until a match with heading and checksum is found. Because the data are binary,
there is a chance of loosing a few samples of data. This is usually due to a false
start message. Note that if an acceptable header is found, but the checksum is
wrong, it will be necessary to search for a new header from the same point in the
input data as the last incorrect header found. Do not start from the point where the
checksum was found.

A.3.2 Defined sensor unit commands

All currently defined messages sent to the sensor unit have a 'C' header, and the following
command numbers are valid:
• 1 = Get current data set
• 2 = Suspend auto transmit of data
• 7 = Get unit info
• 8 = Get software version string
• 9 = Get system status
• 12 = Enter external speed
• 13 = Enter external yaw angle
• 15 = Set lever arm vector

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• 16 = Get lever arm vector

• 17 = Set clock
• 19 = Change digital output variables
• 20 = Get digital output variables
Note
In the following description, the checksum byte is omitted for clarity.

A.3.2.1 Get current data set

The format for the getting current data set is as follows:

Format
<'C'><1><1>
or
<'C'><2><1><ch>
Selected data from the sensor unit are transferred back in a message formatted according
to setup for current channel (COM1 or COM2), or selected channel if ch is used.
Channel ch maps as follows:
0 = COM1, 1 = COM2, 5 = UDP1, 6 = UDP2, 7 = UDP3, 8 = UDP4, 9 = UDP5,
See Data message formats on page 100 for description of data message formats.

A.3.2.2 Suspend auto transmit of data

The format for suspending auto transmit of data:

Format
<'C'><5><2><time_msb><time_1><time_2><time_lsb>

Format description
1 time_x = 32 bit delay time, in seconds. Auto transmit of digital data will be disabled
for time seconds. This is used during the set-up and configuration of the sensor unit
to avoid unwanted messages.

A.3.2.3 Get unit info

Requests for general info on unit:

Format
<'C'><1><7>
Answer back is (same as Welcome Message) :

Format
<'c'><36><7><'MruV v.r.n yyyy-mm-dd'><type><vers><v_0><v_1>

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<n_0><n_1><s_0><s_1><s_2><s_3><opt><0><chk>

Format description
1 MruV v.r.n yyyy-mm-dd = 22 characters with software version.
2 type = Sensor unit type: 11..25 11== '2', 12=='D', 13=='3', 14=='H', 15=='5+',
16=='5', 17=='E', 25=='R3'
3 vers = hardware version : 'v', 'x'.. hardware version identification.
4 v_0,1 = 16 bit software number multiplied with 100 (version 5.1.1 will then be 511)
5 n_0,1 = 16 bit sensor unit serial number ( 20000++)
6 s_0,3 = 32 bit sensor unit status (see Status bits on page 124)
7 opt = N/A

A.3.2.4 Get software version string

Requests for software version string:

Format
<'C'><1><8>
Answer back is:

Format
<'I'><len>'MruV v.r.n yyyy-mm-dd'<0>

Format description
1 len = Length of string including terminating 0.
2 v.r.n = Version number (ASCII string). I.e 5.1.1 is version 5, release1, build 1.
3 yyyy = Year.
4 mm = Month.
5 dd = Date.
6 0 = Terminating 0.
This is a legacy command. Preferably use command 7, Get Unit Info.

A.3.2.5 Get system status

Requests for system status:

Format
<'C'><2><9><code>

Format description
1 code = Specifies status type: 0: system runtime status.
Answer back for system runtime status is:

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Format
<'c'><6><9><code><[Link]><...><[Link]>

Format description
1 stat = 32 bit status. For listing of the MRU status bits see Status bits on page 124.

A.3.2.6 Enter external speed

This is input from a standard Doppler log or other single axis speed log providing the
vessel’s forward cruise speed. External speed input is used to improve attitude accuracy
for the MRU 3, H, E, 5 and 5+.
The format for entering external speed vx_b:

Format
<'C'><6><12><delay><vx_b_msb><vx_b_1><vx_b_2><vx_b_lsb>

Format description
1 delay = Unsigned byte giving time in 10 ms units since data was captured (default 0,
max 2.55 sec) until the message is entered into the MRU.
2 vx_b_x = IEEE single prec. float (unit m/s) specifying cruise speed. The speed is
positive in the stem direction of the ship. Valid range ± 40 m/s.
Preferable update rates range from 0.25 to 2 Hz. Higher update rates are not
recommended. Lower rates than 0.2 Hz might disconnect the speed log input.
The MRU will utilise speed data without any special user configuration as soon as data
is sent to the MRU. If no valid data is received by the MRU for 3 seconds, external
speed corrections will be considered zero.

A.3.2.7 Enter external heading (yaw angle)

External heading input is used to improve attitude accuracy for the MRU 3, H, E, 5 and
5+. This is ideal in cases where the vehicle will experience turns (ROVs, high speed
crafts, etc.). The input can be taken from a gyro compass or magnetic compass.
The format for entering external yaw angle yx_bg:

Format
<'C'><6><13><delay><yx_bg_msb><yx_bg_1><yx_bg_2><yx_bg_lsb>

Format description
1 delay = Unsigned byte giving time in 10 ms units since data was captured (default 0,
max 2.55 sec) until the message is entered into the MRU.
2 yx_bg_x = IEEE single prec. float (unit radians) specifying heading (yaw)-angle. The
heading is zero at North and increases when turning starboard. Values must be in the
range 0 to 2π or -π to π. Values outside this will result in a "not accepted" message.
Preferable update rates range from 0.25 to 2 Hz. Higher update rates are not
recommended. Lower rates than 0.2 Hz might disconnect the external heading input.

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The MRU will use external heading data without any special user configuration as soon
as data are sent to the MRU. If no data are received by the MRU for 3 seconds, the MRU
will use its internal sensors only, and leave Heading Aided mode.

A.3.2.8 Set lever arm vector

The format for setting lever arm vector lav[n]:

Format
<'C'><14><15><n>
<lav[0]_msb><lav[0]_1><lav[0]_2><lav[0]_lsb>
<lav[1]_msb><lav[1]_1><lav[1]_2><lav[1]_lsb>
<lav[2]_msb><lav[2]_1><lav[2]_2><lav[2]_lsb>

Format description
1 n = Monitoring point: 1 = MP1, 2 = MP2.
2 lav[n]_x = Floats (m) specifying level arm vector (R,P,Y), valid range ± 1000 m.
Note
The parameters changed with this command are temporarily modified and will be reset
to configuration values after a reboot of the sensor unit.

A.3.2.9 Get lever arm vector

The format for getting lever arm vector lav[n]:

Format
<'C'><2><16><n>
Answer back is:

Format
<'c'><14><16><n>
<lav[0]_msb><lav[0]_1><lav[0]_2><lav[0]_lsb>
<lav[1]_msb><lav[1]_1><lav[1]_2><lav[1]_lsb>
<lav[2]_msb><lav[2]_1><lav[2]_2><lav[2]_lsb>

Format description
1 n = Monitoring point: 1 = MP1, 2 = MP2.
2 lav[n]_x = Floats (m) specifying level arm vector (R,P,Y).

A.3.2.10 Set MRU clock

The format for setting sensor unit internal calendar\clock:

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Format
<'C'><6><17><option><time_msb><time_1><time_2><time_lsb>

Format description
1 time = 32–bit number of seconds since 1 January, 1970 GMT [Link].

A.3.2.11 Change digital output variables

The format for selecting digital output variables:

Format
<'C'><len><19>'setup_string'<0><chk>
The string contains words separated by one or more spaces. The setup-string is defined
as follows:
• If CHAN is an UART channel (COM1 or COM2):
’CHAN BAUD MODE FORMAT INTERVAL TOKEN VAR1 VAR2..VARn’
• If CHAN is an UDP channel (UDP1 to UDP5):
’CHAN PORT IP_ADDR FORMAT INTERVAL TOKEN VAR1 VAR2..VARn’

Format description
1 CHAN is one of COM1, COM2, UDP1, UDP2, UDP3, UDP4 and UDP5.
2 PORT is UDP port number (default 7551-5).
3 IP_ADDR is destination IP address (default broadcast on subnet (x.x.x.255)).
4 BAUD is baud rate 9600 to 115200.
5 MODE is parity, normally 8N1 i.e no parity, 8 bits, 1 stop bit.
6 FORMAT is one of MRUBIN, NMEAP, NMEAN, SOUND, TSS1, EM3000,
ATLAS, BIN23,BIN25, BIN26, PFREE, PRDID, LISTEN.
7 INTERVAL is interval in milliseconds between each auto transmitted data message
(0, 5 to 32000).
8 TOKEN is a tag number selected by user 10..100 for current setup.
9 VARn is variable number, optional appended letter W for 16 integer, or L for 32
bit integer. Default (no letter) is float.
TOKEN and VARn are not used for all FORMATs.

Example 4 Setup-string
'COM1 9600 8n1 NMEAP 250 71 63 64 214 226'
'UPD2 7551 [Link] MRUBIN 10 78 63 64 226 220
173L'

A.3.2.12 Get digital output variables

The format for getting digital output variables:

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Format
<'C'><len><20>'string'<0><chk>
Where string is one of CHAN set by command 19, with a ‘?’ appended.

Example 5 MRU command to get digital output variables

<’C’><len><’COM1?’><0><chk>
will return the following:
<'C'><len><20>''COM1 9600 8n1 NMEAP 250 71 63 64
214 226'<0><chk>

A.3.3 Legacy MRU commands

The 5th generation MRU will respond correctly to the following two previous generations
commands; Set Digital Output Format and Get Digital Output Format.. If the MRU
receives one of these old command, the MRU will respond as if it was an older
generation MRU with the previous source IDs.

A.4 Data message formats

A.4.1 MRU normal format
The default format for data messages is the proprietary binary format MRU binary
protocol on page 93

Format
<'q'><len><token><data0>...<dataN>

Format description
1 <'q'> = Message header.
2 <token> = The users token associated with the selected format. This helps in parsing
data message
3 <dataN> = Formatted data. Words, integers and floats are transferred with MSB
first. Data are in the same succession as defined in the MRC+.
Note
If data is invalid, or unstable, the header is replaced with 'Q'. The rest of the message is
unchanged. This is normally a transient situation, typically at start-up and at abrupt
movements when in normal operation. The MRU status obtained through command 9
will give an indication of what caused the situation.

If the MRU is in auto transmit mode (see MRC+ configuration utility), this message will
be transmitted without using the Get Current Data Set command.

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Example 6 MRU data message out

There are two ways of getting digitally measured data from the MRU:
• Interrogated (user must ask for a data message).
• Automatic transmission at selected intervals. Selection can be made
through the MRC configuration program.
If automatic transmission is selected, the MRU will begin transmission
immediately after power on. If interrogating is selected, (time interval = 0)
the user must send the command 'C 1' to obtain the data message.
Messages from the MRU containing measured data (roll, pitch, heave etc.)
have the following format:

Format
<'q'><len><token><data0>...<dataN>

Format description
1 <'q'> = Header, replaced with 'Q' when data is unstable (i.e. at start-up).
2 <len> = Length of message (dataN bytes + token).
3 <token> = Token as set by user during configuration.
4 <data0> = Data bytes, msb first for 16 and 32 bits data.
5 <dataN> = Data message, data stable.

Example 7 Use MRC+ to configure the MRU

• Select 3 variables, 63 (Roll), 64 (Pitch) and 226 (PosMruD).
• Select Auto Transmit Asynchronous.
• Select Interval = 100 (milliseconds).
• Associate this configuration with a token you select, for example 47 (hex
2f).
After configuration, the MRU will transmit a message every 100
milliseconds:

Format
<71><0d><2f> <3d><50><e5><60> <bd><50><e5><60>
<3f><90><f3><b6> <cb>

Format description
1 <71> = Header ('q'),replaced with 'Q' when data is unstable (i.e. at
start-up).
2 <0d> = Length is 3 * size of (float) + 1 (token) = 3* 4 + 1 = 13 = hex 0d
3 <2f> = User selected token (associated with this configuration)
4 <3d> to <60>= Roll = 0x3d50e560 IEEE float →0.051 rad
5 <bd> to <60>= Pitch = 0xdb50e560 IEEE float →–0.051 rad

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Example 7 Use MRC+ to configure the MRU (cont'd.)

6 <3f>to <b6> = PosMruD = 0x3f9df3b6 IEEE float → 1.234 m

7 <cb> = Check

A.4.2 NMEA Proprietary

The NMEA Proprietary format follows the NMEA 0183, version 2.00, specifications
with the exception that the baud rate may be set to other than 4800. The string is
designed to output up to six variables from the MRU variable list, together with a user
selected token (10..100) accompanying the selections. If less than six variables are
selected, empty fields are put in the NMEA string. It is possible to output more than six
variables (maximum 16 variables) with this string, but then the length of the string will
be longer than the standard 80 characters which is the NMEA standard.
Float data are written as floats (C print format %8.3e) and integers as integers (C print
format %d). Only the MRU data out message is changed when using the NMEA format,
all other messages remain as MRU Normal format messages. As the NMEA format is
ASCII based, as opposed to the MRU Normal format, more than twice as many bytes are
used to transfer a six-variable sentence by NMEA than MRU Normal. This feature will
reduce the number of messages per second for a given baud rate (i.e., for a six-variable
NMEA sentence, up to 12 messages per second at 9600 baud can be achieved). The
MRU Normal format can transmit 35 messages per second under the same conditions.

Format
$PSXN,10,xx,[Link],[Link],[Link],[Link],[Link],[Link]*hh<CR><LF>

Format description
1 $PSXN = Seatex A.S. id (SeateX Norway)
2 10 = MRU message identifier (11 if data unstable)
3 xx = User defined token (10..100)
4 [Link] = Data field 1
5 [Link] = Data field 2
6 [Link] = Data field 3
7 [Link] = Data field 4
8 [Link] = Data field 5
9 [Link] = Data field 6
10 *hh = Checksum
The manufacturer mnemonic code SXN is NOT an NMEA approved mnemonic.
The message number is 10 for normal MRU data and 11 if data are unstable (at power-on
and other restarts). The token value is a user adjustable number associated with the
current format configuration.

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Float data fields are written with "scientific notation" formats (i.e., 1.234e3 or
-3.456e-12) and integers as decimal numbers (i.e. -12345 or 859). The asterisk "*"
denotes a checksum feature, and "hh" is the hexadecimal checksum according to the
NMEA standard.

Example 8 Typical NMEA Proprietary string

4 variables ROLL = 0.051 rad, PITCH = -0.051 rad, HEAVE = 1.234 metres,
DATE in seconds since 1 January 1970 [Link]; token is 19, data stable.

$PSXN,10,019,5.100e-2,-5.100e-2,1.234e+0,771598427,,*61
1 $PSXN
2 10 = Message number, data stable
3 019 = Token
4 5.100e-2 = Roll
5 -5.100e-2 = Pitch
6 1.234e+0 = Heave
7 771598427 = TueJun14 1994 [Link]
8 ,, = Empty fields
9 [Link] = Data field 6
10 *61 = Checksum

A.4.3 Sounder
The Sounder format is a proprietary ASCII text format used when connecting to Simrad
EA500 and other echo sounders. By selecting this format the number of MRU variables
is fixed and there is no token associated with it. However, the baud rate and output
interval may be changed as required.
The format is ASCII based, with fixed length and terminated with CR and LF.

Format
:aabbbbshhhhxsrrrrspppp<CR><LF>

Format description
1 aa = 2 char hex number with SWAY acceleration, in 0.03835 m/ss units
2 bbbb = 4 char hex number with HEAVE acceleration, in 0.000625 m/ss units
3 hhhh = 4 char decimal number with HEAVE position in centimetres, positive up
4 s = 1 character of sign: <SPACE> if positive "-" if negative
5 x = warning character. <SPACE> if OK, "?" if data unstable
6 rrrr = 4 char decimal number with ROLL angle in hundreds of a degree
7 s = 1 character of sign: <SPACE> if positive, "-" if negative
8 pppp = 4 char decimal number with PITCH angle in hundreds of a degree

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9 s = 1 character of sign: <SPACE> if positive, "-" if negative

The definition of the attitude angles in this format is different from the Euler angles
definition used elsewhere. The difference appears in the roll angle, where:

Example 9 Typical Sounder string

If the SWAY acceleration is 1.0 m/ss = 26 * 0.03835 = 0x1a * 0.03835,
the HEAVE acceleration is 8.750 m/ss = 14000 * 0.000625 = 0x36b0 *
0.000625, the HEAVE is -2.54 metres, the ROLL is -0.87 degrees and the
PITCH is 3.78 degrees.
Data is OK. The message is then:
:1a36b0 -0254 -0087 0378<CR><LF> (total 27 characters).

A.4.4 Simrad EM3000

The Simrad EM3000 format consists of a fixed-length message using single-byte
unsigned, 2-byte unsigned and 2-byte two-complement integer data elements. For the
2-byte elements, the least significant byte is transmitted first.

Format
Element Scaling Format Bytes Value
Status byte Unsigned 1
Header Unsigned 1 90 Hex
Roll 0.01 degrees Integer 2 -17999 to 17999
Pitch 0.01 degrees Integer 2 -17999 to 17999
Heave 1 cm Integer 2 -999 to 999
Heading 0.01 degrees Unsigned 2 0 to 35999

Roll is positive with port side up. Pitch is positive with bow up. Heave is positive up.
The status byte can have the following values:
Value Interpretation
90 Hex Normal
91 Hex Reduced performance
A0 Hex Invalid data

Invalid data are also indicated by values outside the specified ranges. When the status
is A0, the values which are within specified ranges can be assumed to have valid, but
reduced quality.

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A.4.5 ATLAS
This is the default digital output format from a motion sensor that is to be interfaced
with an Atlas Fansweep echo sounder. Each field in the output packet is a 16-bit 2's
complement number expressed as two binary-coded digits.

Format
DLE RrPpHhQ DLE

Format description
1 DLE = Start character - ASCII 10 Hex.
2 R = Roll – MSB. Unit: Horn scaling 2π = 2**16.
3 r = Roll – LSB.
4 P = Pitch – MSB. Unit: Horn scaling 2π = 2**16.
5 p = Pitch – LSB.
6 H = Heave – MSB. Unit: 1 mm per increment.
7 h = Heave – LSB.
8 Q = Status code 0 to 7 inclusive. Below is a description of the various codes.
9 DLE = Stop character - ASCII 10 Hex.
The various status codes have the following meaning:
Status code Description
0 Unaided mode and stable data. The MRU is operating without
external input data.
1 Unaided mode but unstable data. The MRU is without external
input data, but the data from the unit are unstable most likely due
to alignment after power on or restart. The alignment period from
power on or restart is normally 5 minutes.
2 Speed aided mode and stable data. The MRU is operating with
external input of speed data.
3 Speed aided mode but unstable data. The MRU is operating with
external input of speed data, but the data from the unit are unstable
most likely due to alignment after power on, restart or input of speed
data
4 Heading aided mode and stable data. The MRU is operating with
external input of heading data.
5 Heading aided mode but unstable data. The MRU is operating
with external input of heading data, but the data from the unit are
unstable most likely due to alignment after power on, restart or input
of heading data.

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Status code Description

6 Full aided mode and stable data. The MRU is operating with external
input of both speed and heading data.
7 Full aided mode but unstable data. The MRU is operating with
external input of both speed and heading data, but the data from the
unit are unstable most likely due to alignment after power on, restart
or input of external data.

A.4.6 TSS1
The TSS1 format is a modified version of the SOUNDER format with aiding MRU
status information. By selecting this format, the number of MRU variables is fixed, and
there is no token associated with it. However, the baud rate and output interval may
be changed as required.
The format is ASCII based, with a fixed length and terminated with CR and LF.

Format
:aabbbb shhhhxsrrrr spppp<CR><LF>

Format description
1 aa = 2 char hex number with SWAY acceleration, in 0.03835 m/ss units
2 bbbb = 4 char hex number with HEAVE acceleration, in 0.000625 m/ss units
3 hhhh = 4 char decimal number with HEAVE position in centimetres, positive up
4 s = 1 character of sign: <SPACE> if positive, "-" if negative
5 x = status character. Below is a description of the various characters
6 rrrr = 4 char decimal number with ROLL angle in hundreds of a degree
7 s = 1 character of sign: <SPACE> if positive, "-" if negative
8 pppp = 4 char decimal number with PITCH angle in hundreds of a degree
9 s = 1 character of sign: <SPACE> if positive, "-" if negative
The definition of the attitude angles in this format is different from the Euler angles
definition used elsewhere. The difference appears in the roll angle, where:

The various status characters have the following meaning:

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Status Description
character
U Unaided mode and stable data. The MRU is operating without
external input data.
u Unaided mode but unstable data. The MRU is without external
input data, but the data from the unit are unstable most likely due
to alignment after power on or restart. The alignment period from
power on or restart is normally 5 minutes.
G Speed aided mode and stable data. The MRU is operating with
external input of speed data.
g Speed aided mode but unstable data. The MRU is operating with
external input of speed data, but the data from the unit are unstable
most likely due to alignment after power on, restart or input of speed
data.
H Heading aided mode and stable data. The MRU is operating with
external input of heading data.
h Heading aided mode but unstable data. The MRU is operating
with external input of heading data, but the data from the unit are
unstable most likely due to alignment after power on, restart or input
of heading data.
F Full aided mode and stable data. The MRU is operating with external
input of both speed and heading data.
f Full aided mode but unstable data. The MRU is operating with
external input of both speed and heading data, but the data from the
unit are unstable most likely due to alignment after power on, restart
or input of external data.

Example 10 Typical TSS1 string

If the SWAY acceleration is 1.0 m/ss = 26 * 0.03835 = 0x1a * 0.03835,
the HEAVE acceleration is 8.750 m/ss = 14000 * 0.000625 = 0x36b0 *
0.000625, the HEAVE is -2.54 metres, the ROLL is -0.87 degrees and the
PITCH is 3.78 degrees.
Data are unaided and stable. The message is then:
:1a36b0 -0254U-0087 0378<CR><LF> (total 27 characters).

A.4.7 RDI ADCP

The RDI format is a proprietary ASCII text format used when connecting RDI ADCP
equipment.

Format:
$PRDID,pitch,roll,head term

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Explanation:
pitch Pitch, degrees on format [Link]. s is the sign character, "+" or "-". [Link]
is a decimal number with leading zeroes where appropriate. Positive with
bow up.
roll Roll, degrees on format [Link]. s is the sign character, "+" or "-". [Link]
is a decimal number with leading zeroes where appropriate. Positive with
port side up.
head Heading, degrees true on format [Link], with leading zeroes where
appropriate.
term CR-LF (2 bytes, values 13 and 10).

A.4.8 Seapath Binary 23

This binary format consists of a fixed-length message using 1, 2 and 4–byte signal and
unsigned integers. The signed integers are represented as two-complement numbers.
For the multi-byte elements, the most significant byte is transmitted first. The total
number of bytes is 44.
This format is mainly implemented in the MRU for Doppler correction in FM mode
for the EM710 and EM2040 multi-beam echo sounders. For best possible results the
following is required:
• Speed and heading input to the MRU. The speed input has to be on the NMEA VTG
format and output in the vessel CG. The MRU uses the course over ground and
heading information in the VTG message to de-compose the speed input vector in
North and East direction as required for FM mode correction.
• Both the speed and heading input have to be on high update rate, preferably 10 Hz
or more.
• The delays on the speed and heading input have to be at a minimum, less than 5 ms.
When this format is output from the MRU the following elements are set to zero:
• Latitude and Longitude
• Height

Format
Element Scaling Format Bytes Value
Header Unsigned 1 AA Hex
Header Unsigned 1 51 Hex
Time, seconds seconds Integer 4

Time, fraction 0.0001 second Unsigned 2 0 to 9999

of second
Latitude 230 = 90 degrees Integer 4 -230 - 230
Longitude 230 = 90 degrees Integer 4 -231 - 231

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 Appendix A Digital interface

Element Scaling Format Bytes Value

Height centimetres Integer 4
Heave centimetres Integer 2
North velocity centimetres/second Integer 2
East velocity centimetres/second Integer 2
Down velocity centimetres/second Integer 2
Roll 214 = 90 degrees Integer 2 -215 - 215
Pitch 214 = 90 degrees Integer 2 -215 - 215
Heading 214 = 90 degrees Unsigned 2 0 - 216
Roll rate 214 = 90 Integer 2 -215 - 215
degrees/second
Pitch rate 214 = 90 Integer 2 -215 - 215
degrees/second
Yaw rate 214 = 90 Integer 2 -215 - 215
degrees/second
Status word Bit-fields 2
Checksum Unsigned 2

Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between,
but not including the Header and Checksum fields. The CRC algorithm is described in a
separate section. Time is divided in an integer seconds part and a fractional second part.
The integer seconds part of time is counted from 1970-01-01 UTC time. For accurate
time value the sensor unit require input of ZDA message and 1PPS signal.
The status word consists of 16 single bit flags numbered from 0 to 15, where 0 is the
least significant bit.
A 1 value (true) means:
Bit no. Interpretation
0 Reduced horizontal position and velocity performance.
1 Invalid horizontal position and velocity data.
2 Reduced heave and vertical velocity performance.

3 Invalid heave and vertical velocity data.

4 Reduced roll and pitch performance.
5 Invalid roll and pitch data.
6 Reduced heading performance.
7 Invalid heading data.

The remaining bits in the status word are reserved for future expansion.

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A.4.9 Seapath Binary 26

This binary format consists of a fixed-length message using 1, 2 and 4–byte signal and
unsigned integers. The signed integers are represented as two-complement numbers.
For the multi-byte elements, the most significant byte is transmitted first. The total
number of bytes is 52.

Format
Element Scaling Format Bytes Value
Header Unsigned 1 AA Hex
Header Unsigned 1 53 Hex
Time, seconds seconds Integer 4

Time, fraction 0.0001 second Unsigned 2 0 to 9999

of second
Latitude 230 = 90 degrees Integer 4 -230 - 230
Longitude 230 = 90 degrees Integer 4 -231 - 231
Height centimeters Integer 4
Heave, centimeters Integer 2
real-time
North velocity centimeters/second Integer 2
East velocity centimeters/second Integer 2
Down velocity centimeters/second Integer 2
Roll 214 = 90 degrees Integer 2 -215 - 215
Pitch 214 = 90 degrees Integer 2 -215 - 215
Heading 214 = 90 degrees Unsigned 2 0 - 216
Roll rate 214 = 90 Integer 2 -215 - 215
degrees/second
Pitch rate 214 = 90 Integer 2 -215 - 215
degrees/second
Yaw rate 214 = 90 Integer 2 -215 - 215
degrees/second
Delayed heave seconds Integer 4
time, seconds
Delayed heave 0.0001 second Unsigned 2 0 to 9999
time, fraction
of second
Heave, delayed centimeters Integer 2
Status word Bit-fields 2
Checksum Unsigned 2

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 Appendix A Digital interface

Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between,
but not including the Header and Checksum fields. The CRC algorithm is described in a
separate section. Time is divided in an integer seconds part and a fractional second part.
The integer seconds part of time is counted from 1970-01-01 UTC time. For accurate
time value the sensor unit require input of ZDA message and 1PPS signal.
Latitude is positive north of the Equator. Longitude is positive east of Greenwich.
Height is above the ellipsoid. Heave is positive down. Roll is positive with port side
up. Pitch is positive with bow up.
The status word consists of 16 single bit flags numbered from 0 to 15, where 0 is the
least significant bit.
A 1 value (true) means:
Bit no. Interpretation
0 Reduced horizontal position and velocity performance.
1 Invalid horizontal position and velocity data.
2 Reduced heave and vertical velocity performance.
3 Invalid heave and vertical velocity data.
4 Reduced roll and pitch performance.
5 Invalid roll and pitch data.
6 Reduced heading performance.
7 Invalid heading data.
8 Invalid delayed heave data

The remaining bits in the status word are reserved for future expansion.

A.4.10 PFreeHeave
This PFreeHeave® format consists of a fixed-length message using 1-, 2- and 4-byte
signed and unsigned integers. The signed integers are represented as two-complement
numbers. For the multi-byte elements, the most significant byte is transmitted first.
The total number of bytes is 13.
The PFreeHeave output is delayed by a few minutes due to processing. The time fields
contain time of validity for the data.

Format
Element Scaling Format Bytes Value
Header Unsigned 1 AA Hex
Header Unsigned 1 52 Hex

Time, seconds Seconds Integer 4

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MRU D

Element Scaling Format Bytes Value

Time, fraction 0.0001 second 2 0 to 9999
of second
Heave Centimetres Integer 2
Status word Bit-fields 1
Checksum Unsigned 2

Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes between,
but not including the Header and Checksum fields. The CRC algorithm is described in a
separate section. Time is divided in an integer seconds part and a fractional second part.
The integer seconds part of time is counted from 1970-01-01 UTC time. For accurate
time value the sensor unit require input of ZDA message and 1PPS signal.
Heave is positive down. The status field is zero if heave is valid, non-zero if heave
is invalid.

A.4.11 Cyclic redundancy check algorithm

The 16-bit Block Cyclic Redundancy Check algorithm used to calculate the checksum in
some formats is described in C and Fortran source code below.

C code

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Fortran code

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MRU D

A.5 Other messages

A.5.1 Get current data set message
In addition to the binary C 1 command, the following ASCII command can be used
for data message interrogation:

Format
$PSXN,?<cr><lf>
or
$PSXN,?n<cr><lf>
Data from the sensor unit is transmitted in a message formatted according to setup for
current channel (COM1 or COM2), or selected channel n if n is used.

114 MRU-D-207 /5.0

 Appendix A Digital interface

Channel n maps as follows:

0 = COM1, 1 = COM2, 5 = UDP1, 6 = UDP2, 7 = UDP3, 8 = UDP4, 9 = UDP5

A.5.2 Welcome message

This message is sent at start-up on COM1 and UDP.

Format
<'c'><36><7><'MruV v.r.n yyyy-mm-dd'><type><vers><v_0><v_1>
<n_0><n_1><s_0><s_1><s_2><s_3><opt><0><chk>

Format description
1 MruV v.r.n yyyy-mm-dd = 22 characters with software version.
2 type = MRU type: 11..20 11== '2', 12=='D', 13=='3', 14=='H', 15=='5+', 16=='5',
17=='E', 25=='R3'
3 vers = hardware version : 'v', 'x'.. hardware version identification.
4 v_0,1 = 16 bit software number multiplied with 100 (version 5.1.1 will then be 511)
5 n_0,1 = 16 bit MRU serial number ( 20000++)
6 s_0,3 = 32 bit MRU status
7 opt = N/A

A.5.3 Abnormal mode message

When in Abnormal mode, the MRU transmits a text message on COM1 and UDP
every second:

Format
MRU-V.v,[Link] nnnnn,sw MruV v.r.n yyyy-mm-dd, status
xxxx\n

Format description
1 status xxxx = Hex value, showing why abnormal mode was entered:
• Bit_1: Abnormal mode
• Bit_8: HW error
• Bit_9: HW config error
• Bit_10: Board error
• Bit_11: SW level error
• Bit_12: Config file error
• Bit_13: Calibration error
The MRU LED flashes red at 4 Hz when in Abnormal mode.

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MRU D

A.6 External time and time synchronisation

input
The MRU can be synchronized to an external 1PPS signal, typical from a GNSS receiver.
This is done by applying a logic level signal to XIN with minimum 2.5 Volt referred to
CGND (the communication ground reference). The pulse signal must have minimum 2
ms high and low periods. The MRU seconds will be synchronized to negative edge of
the 1PPS signal. Synchronization state will be reported in the MRU status bit field.
The MRU date can be set by use of the NMEA ZDA message. When a valid ZDA
message is received on any MRU input channel, the MRU date is changed on the next
new MRU second. Max valid change is ± 120 seconds used together with 1PPS. A valid
change of seconds will appear in MRU event log.
NMEA sentences acceptable for time/data input is:

ZDA — Time and date

$--ZDA,[Link],xx,xx,xxxx,xx,xx*hh<CR><LF>
• [Link] = UTC
• xx = Day, 01 to 31, UTC
• xx = Month, 01 to 12, UTC
• xxxx = Year, UTC
• xx = Local zone hours, 00 to ±13 hrs
• xx = Local zone minute, 00 to +59

A.7 Simple software driver

Assumption: The MRU is set up by the MRC software to output data in a given data
format. The MRU is set up for interrogate mode. The baud rate is set so that the
transmission time is lower than the needed sample time. The software in the host
consists of a cyclically running task.
The driver must:
• Send the Get Current Data command to the MRU.
• Pick up data from the MRU as arrived.
• Decode the picked up data according to decided fixed format.
No special checking on data is required, except parity and checksum for serial
communication. If those data are bad, keep the last sample. If data are not received from
the MRU, then an alarm message is given, and inputs from the MRU are set to "safe"
default values.
Some properties:
• The job must wait for the MRU transmission: this wastes CPU time.

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 Appendix A Digital interface

• Correspondence with actual format loaded in the MRU is not known.

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MRU D

Appendix B
Output variable list

The output variables available are listed below:

No. Variable name Unit Description
1 AngRate_R [rad/s] Angular rate in roll axis (b-frame)
2 AngRate_P [rad/s] Angular rate in pitch axis (b-frame)
3 AngRate_Y [rad/s] Angular rate in yaw axis (b-frame)
11 AccM_Rf [m/s2] Low pass filtered measured acceleration in the roll axis in
the MRU point (gravity not subtracted)
12 AccM_Pf [m/s2] Low pass filtered measured acceleration in the pitch axis in
the MRU point (gravity not subtracted)
13 AccM_Yf [m/s2] Low pass filtered measured acceleration in the yaw axis in
the MRU point (gravity not subtracted)

31 [Link] house [DegC] Sensor house temperature

60 AngAcc_R [rad/s2] Angular acceleration in roll axis (b-frame)

61 AngAcc_P [rad/s2] Angular acceleration in pitch axis (b-frame)
62 AngAcc_Y [rad/s2] Angular acceleration in yaw axis (b-frame)

63 Roll [rad] Roll angle (euler angle)

64 Pitch [rad] Pitch angle (euler angle)
65 Yaw [rad] Yaw angle (euler angle)
66 RollHippy [-1 1] Sine of roll angle relative horizontal plane, Datawell Hippy
compatible
67 PitchHippy [-1 1] Negative pitch angle sine, Datawell Hippy compatible
68 Heading [rad] Heading (Yaw angle represented in the interval from 0 to
2*pi)

90 IntHeave [m] Heave in configured measurement point. Integrated heave

solution
91 IntHeaveVel [m/s] Heave velocity in configured measurepoint. Integrated
heave solution
92 HeaveUnrel Heave transient indicator for integrated heave solution
93 IntHeight [m] Height in configured monitoring point. Integrated heave
solution

118 MRU-D-207 /5.0

 Appendix B Output variable list

No. Variable name Unit Description

129 AutomaticPeriod [s] Heave period used in the automatic heave filter
159 HeavePeriod [s] Estimated heave period

160 ExtSpeed [m/s] Speed estimated from external speed input

161 ExtSpeedUser [m/s] External speed input from user
162 ExtHeadUser [degrees] External heading input from user

167 [Link] [ms] Seconds since 1970, millisecond fraction

168 SampleTime.s [s] Seconds since 1970.01.01 00:00.00 UTC
169 SampleTime.n [nano] Seconds since 1970, nanosecond fraction
173 Status [] MRU status bit that indicates its internal status
176 SampleTime [ms] Sample time in milliseconds since power on

Linear motion variables in the MRU location (variable200 to 250):

200 AccMru_F [m/s2] Linear acceleration (raw/unfiltered) at MRU point in
forward direction (h-frame)
201 AccMru_S [m/s2] Linear acceleration (raw/unfiltered) at MRU point in
starboard direction (h-frame)
202 AccMru_D [m/s2] Linear acceleration (raw/unfiltered) at MRU point in down
direction (h-frame)
203 AccMru_Ff [m/s2] Low pass filtered acceleration at MRU point in forward
direction (h-frame)
204 AccMru_Sf [m/s2] Low pass filtered acceleration at MRU point in starboard
direction (h-frame)
205 AccMru_Df [m/s2] Low pass filtered acceleration at MRU point in down
direction (h-frame)
206 AccMru_N [m/s2] Linear acceleration (raw/unfiltered) at MRU point in north
direction (g-frame)
207 AccMru_E [m/s2] Linear acceleration (raw/unfiltered) at MRU point in east
direction (g-frame)
208 AccMru_D [m/s2] Linear acceleration (raw/unfiltered) at MRU point in down
direction (g-frame)

212 VelMru_F [m/s] Linear velocity at MRU point in forward direction (h-frame)
213 VelMru_S [m/s] Linear velocity at MRU point in starboard direction
(h-frame)
214 VelMru_D [m/s] Linear velocity at MRU point in down direction (h-frame)

224 PosMru_F [m] Linear position at MRU point in forward direction (h-frame)
225 PosMru_S [m] Linear position at MRU point in starboard direction
(h-frame)
226 PosMru_D [m] Linear position at MRU point in down direction (h-frame)

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MRU D

No. Variable name Unit Description

230 PosMru_N [m] Linear position at MRU point in north direction (g-frame)
231 PosMru_E [m] Linear position at MRU point in east direction (g-frame)
232 PosMru_D [m] Linear position at MRU point in down direction (g-frame)

234 dSurgeMru [m] Delayed surge output at MRU point in north direction
(g-frame). Output delayed 33 seconds from real-time
235 dSwayMru [m] Delayed sway output at MRU point in east direction
(g-frame). Output delayed 33 seconds from real-time
236 dHeaveMru [m] Delayed heave output at MRU point in down direction
(g-frame). Output delayed 132 seconds from real-time

238 AccMru_R [m/s2] Linear acceleration (raw/unfiltered) at MRU point in

R-direction (b-frame)
239 AccMru_P [m/s2] Linear acceleration (raw/unfiltered) at MRU point in
P-direction (b-frame)
240 AccMru_Y [m/s2] Linear acceleration (raw/unfiltered) at MRU point in
Y-direction (b-frame)
241 AccMru_Rf [m/s2] Low pass filtered acceleration at MRU point in R-direction
(b-frame)
242 AccMru_Pf [m/s2] Low pass filtered acceleration at MRU point in P-direction
(b-frame)
243 AccMru_Yf [m/s2] Low pass filtered acceleration at MRU point in Y-direction
(b-frame)

244 VelMru_R [m/s] Linear velocity at MRU point in R-direction (b-frame)

245 VelMru_P [m/s] Linear velocity at MRU point in P-direction (b-frame)
246 VelMru_Y [m/s] Linear velocity at MRU point in Y-direction (b-frame)

247 PosMru_R [m] Linear position at MRU point in R-direction (b-frame)

248 PosMru_P [m] Linear position at MRU point in P-direction (b-frame)
249 PosMru_Y [m] Linear position at MRU point in Y-direction (b-frame)

Linear motion variables in CG (variable 250 to 300):

250 AccCg_F [m/s2] Linear acceleration (raw/unfiltered) at CG in forward
direction (h-frame)
251 AccCg_S [m/s2] Linear acceleration (raw/unfiltered) at CG in starboard
direction (h-frame)
252 AccCg_D [m/s2] Linear acceleration (raw/unfiltered) at CG in down direction
(h-frame)
253 AccCg_Ff [m/s2] Low pass filtered acceleration at CG in forward direction
(h-frame)
254 AccCg_Sf [m/s2] Low pass filtered acceleration at CG in starboard direction
(h-frame)
255 AccCg_Df [m/s2] Low pass filtered acceleration at CG in down direction
(h-frame)

120 MRU-D-207 /5.0

 Appendix B Output variable list

No. Variable name Unit Description

256 AccCg_N [m/s2] Linear acceleration (raw/unfiltered) at CG in north direction
(g-frame)
257 AccCg_E [m/s2] Linear acceleration (raw/unfiltered) at CG in east direction
(g-frame)
258 AccCg_D [m/s2] Linear acceleration (raw/unfiltered) at CG in down direction
(g-frame)

262 VelCg_F [m/s] Linear velocity at CG in forward direction (h-frame)

263 VelCg_S [m/s] Linear velocity at CG in starboard direction (h-frame)
264 VelCg_D [m/s] Linear velocity at CG in down direction (h-frame)

274 PosCg_F [m] Linear position at CG in forward direction (h-frame)

275 PosCg_S [m] Linear position at CG in starboard direction (h-frame)
276 PosCg_D [m] Linear position at CG in down direction (h-frame)

286 dHeaveCg [m] Delayed heave output at Cg in down direction (g-frame)

Linear motion variables in monitoring point 1, MP1 (variables 300 to 350):

300 AccMp1_F [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in forward direction (h-frame)
301 AccMp1_S [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in starboard direction (h-frame)
302 AccMp1_D [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in down direction (h-frame)
303 AccMp1_Ff [m/s2] Low pass filtered acceleration at the first monitoring point
in forward direction (h-frame)
304 AccMp1_Sf [m/s2] Low pass filtered acceleration at the first monitoring point
in starboard direction (h-frame)
305 AccMp1_Df [m/s2] Low pass filtered acceleration at the first monitoring point
in down direction (h-frame)
306 AccMp1_N [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in north direction (g-frame)
307 AccMp1_E [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in east direction (g-frame)
308 AccMp1_D [m/s2] Linear acceleration (raw/unfiltered) at the first monitoring
point in down direction (g-frame)

312 VelMp1_F [m/s] Linear velocity at the first monitoring point in forward
direction (h-frame)
313 VelMp1_S [m/s] Linear velocity at the first monitoring point in starboard
direction (h-frame)
314 VelMp1_D [m/s] Linear velocity at the first monitoring point in down
direction (h-frame)

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MRU D

No. Variable name Unit Description

323 LA_VelMp1_D [m/s] Velocity in down direction (g-frame) at MP1, lever arm
compensated from CG. The mean velocity depends on
vessel tilt

324 PosMp1_F [m] Linear position at the first monitoring point in forward
direction (h-frame)
325 PosMp1_S [m] Linear position at the first monitoring point in starboard
direction (h-frame)
326 PosMp1_D [m] Linear position at the first monitoring point in down
direction (h-frame)
335 LA_PosMp1_D [m] Lever arm compensated linear position relative to Cg in the
first monitoring point in down direction (g-frame). The
mean position depends on vessel tilt
336 dHeaveMp1 [m] Delayed heave output at the first monitoring point in down
direction (g-frame)

Linear motion variables in monitoring point 2, MP2 (variables 350 to 400):

350 AccMp2_F [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in forward direction (h-frame)
351 AccMp2_S [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in starboard direction (h-frame)
352 AccMp2_D [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in down direction (h-frame)
353 AccMp2_Ff [m/s2] Low pass filtered acceleration at the second monitoring
point in forward direction (h-frame)
354 AccMp2_Sf [m/s2] Low pass filtered acceleration at the second monitoring
point in starboard direction (h-frame)
355 AccMp2_Df [m/s2] Low pass filtered acceleration at the second monitoring
point in down direction (h-frame)
356 AccMp2_N [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in north direction (g-frame)
357 AccMp2_E [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in east direction (g-frame)
358 AccMp2_D [m/s2] Linear acceleration (raw/unfiltered) at the second monitoring
point in down direction (g-frame)

362 VelMp2_F [m/s] Linear velocity at the second monitoring point in forward
direction (h-frame)
363 VelMp2_S [m/s] Linear velocity at the second monitoring point in starboard
direction (h-frame)
364 VelMp2_D [m/s] Linear velocity at the second monitoring point in down
direction (h-frame)
373 LA_VelMp2_D [m/s] Lever arm compensated linear velocity relative to Cg in the
second monitoring point in down direction (g-frame). The
mean velocity depends on vessel tilt, see the User Manual
[2]for details.

122 MRU-D-207 /5.0

 Appendix B Output variable list

No. Variable name Unit Description

374 PosMp2_F [m] Linear position at the second monitoring point in forward
direction (h-frame)
375 PosMp2_S [m] Linear position at the second monitoring point in starboard
direction (h-frame)
376 PosMp2_D [m] Linear position at the second monitoring point in down
direction (h-frame)
385 LA_PosMp2_D [m] Lever arm compensated linear position relative to Cg in the
second monitoring point in down direction (g-frame). The
mean position depends on vessel tilt, see the User Manual
[2] for details.
386 dHeaveMp2 [m] Delayed heave output at the second monitoring point in
down direction (g-frame)

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MRU D

Appendix C
Status bits

The status bits in a 32 bit status.

Message Bit Description
SYS_NORM 0 Normal mode
SYS_ABNORM 1 Abnormal mode
SYS_TIMESYNC 4 True if PPS1 signal is input to sensor unit
SYS_CLOCKSYNC 5 Date set by ZDA, NTP or TSC
SYS_ANA_ON 6 Analog output of data on (require junction box)
SYS_DELHEAVE_UNREL 7 Delayed heave output unreliable
SYS_KALMAN_INIT 8 Kalman filter initialization
SYS_HEAD_INIT 9 Heading calculation initialization
SYS_MODEL_UNREL 10 Output data unreliable
SYS_HORIZ_UNREL 11 Horizontal position unreliable
SYS_HORIZ_REDUCED 12 Horizontal position has reduced accuracy
SYS_HEAVE_UNREL 13 Heave data unreliable (heave transient present)
SYS_HEAVE_REDUCED 14 Heave data has reduced accuracy
SYS_ROLLP_UNREL 15 Roll and pitch unreliable
SYS_ROLLP_REDUCED 16 Roll and pitch data have reduced accuracy
SYS_HEAD_UNREL 17 Heading data unreliable
SYS_HEAD_REDUCED 18 Heading data has reduced accuracy
SYS_SPEED_AIDED 19 True if sensor unit is speed aided
SYS_HEAD_AIDED 20 True if sensor unit is heading aided
SYS_EXTPOS 21 True if external position input is detected
SYS_EXTVEL 22 True if external velocity input is detected
SYS_EXTYAW 23 True if external heading input is detected
SYS_POS_AIDED 24 True if sensor unit is position aided
SYS_HEIGHT_AIDED 25 True if sensor unit is height aided
SYS_BAD_ENV 27 Bad environment, like with to high temperature
SYS_NAVMODE 30 Gyrocompass or integrated navigation mode

124 MRU-D-207 /5.0

 Appendix D Event numbers

Appendix D
Event numbers

The event and warning numbers.

No. Message Description
1 EV_STARTUP_OK Date and time at last startup (power on)
2 EV_STARTUP_ERR Error during startup

6 EV_PARSE_ERR Parsing error

7 EV_MESSAGE_ERR Message error
8 EV_SETCLOCK Set sensor unit clock

10 EV_INFO Information on program or configuration change

11 EV_MSTATE Change of model state (reliable to unreliable)
12 EV_BAD_TEMP To high internal temperature

19 EV_IMPROP_PWRDOWN Improper power down or unexpected restart

22 EV_EXT_VAL_BAD Bad validation of external input data

23 EV_INTERNAL_SYS Internal system information
24 EV_SENSOR_INTEGRITY Sensor integrity

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©2014 Kongsberg Seatex