Leica MK8, MK9, MK9DC Technical Manual
ators
Installation
Interface
Trouble Shooting
Maintenance
Technical data
International Service
Special Features
aypoint
Lists
February
1998
3508
101
87993
Specifications
may
be
changed
without
prior
notice.
The prudent mariner
will
never rely solely on any single means of
navigation.
He
will
always
use
whatever information
available.
The Global Positioning System
(GPS)
is
developed and operated by
the United States Department
of
Defense (DOD).
Only part of the
system
is
available
for
civil applications.
The
expected position accuracy
is
better than
100
meters for
95
percent
of
the time; but may be up
to
300
meters occasionally. The derived
speed
and
course readings may
be
hampered
accordingly.
The availability and precision
will
be
kept within the stated
limits
as
far
as
the
military
and
political situation
allows.
The
MK8
and
MK9
are
prepared for direct connection
to
a
DGPS
Beacon Receiver
(Philips
PBR
1000).
The
MK8
will for this purpose
need
a
DGPS
software upgrade and a new interface cable allowing
data
input. The position accuracy
is
hereby improved to better than
5
meters
for
95%
of
the time subject to availability
of
DGPS
transmissions
from
public Radio Beacons.
Please
note that a position obtained from a chart
is
not always
as
accurate
as
your na~~~ator, and
that
the
position of a f~o~t~n~
ai
rift. In addition the
itions
such
as
Contents
Instatlation
interface to Other Equipment
NMEA
Hardware Schematics
NMEA
Sentences
Trouble Shooting Guide
Navigator Self
-
test
Signal
Quality
Control
Maintenance
Software
Update
Technical
Data
International Service, Main Distributors
Glossary
of
Terms
About
GPS
Position Store Feature
eknowledge Feature
Fast
Access
to
Contrast
and
Back
Light
Setting
~a~~~j~t
Pass Criteria
Waypoint
Lists
page
4
page
8
page
10
page 12
page 19
page
20
page
23
page 25
page
27
page
28
page
32
page
34
page
38
page
39
page
39
page
42
page
43
3
The
MK8
&
MK9
Navigators are designed for installation both above and below
deck. The
unit
I
S
fully splash proof
but
not watertight. The installation should
in
the
first instance meet the requirements of
the
heimsman
or
the crew,
but
secondarily the site should be a smooth and flat nearly vertical surface to
insure
that
the
gasket around the holes for connection plugs and fixing screws
are waterproof. Please ensure that the navigator
is
mounted
in
a place where
water easily flows
off.
Never install
it
in
a place where the navigator
will
be
below
water
for
any
period
of
time.
Two
installation accessories
are
optionally
available:
A
Flush Mounting
Kit
and a Mounting Bracket (please see the chapter
containing technical data page
27).
Insert the battery cell
in
the battery compartment on the back of the navigator.
Please refer to
the
instruction on
page
2
1.
The
navigator has two connectors.
A
D-SUB
(A)
for power and data and a
F-
connector
(El
for the antenna
signal:
A.
9
pin
D-SUB
(male)
Pin No.
1
2
3
4
5
6
7
8
9
Screen
12345
SPQLO
SUR
B.
F
(RUG59)
connector.
RF
signal
from
antenna.
Stripping
information:
REF
GND.
Reference
for
MOB
signal. Connected
to
navigator
shield.
NMEA
listener
A
(input).
NMEA
talker A (output).
1.
y.
External
power.
2.
3.
NMEA
listener
B
(input).
4.
an
Over
Board)
signal.
For
service use only.
NMEA
talker B (output).
4-
battery. External
power.
Shieid
sf
NMEA
talker cable.
2
8
rnrn
3.
m*
L
Strip the antenna
cable.
Fold
back
the shield.
Screw
the
F
connec
-
tor
on.
The
center
con
should
peep
out
2
P
O
3
mm
from the
connector
nut.
A
typical installation
is
shown on the next page
figure
2.
Figure
2.
"1
e
not
inciude
in
the
~~~~2~~~~~~~
kit.
The
fuse
can
IN
and
cables are
not
included
in
the
standard
packa
PO
40
Amp.
5
A
template
is
jncluded
in
the installation kit. Place the 'Drilling Template
for
MK8
&
MK9'
where you want your
unit
installed. Be sure that you have access
to back side
for
tightening the nuts.
Recommended
tools
for
installation.
Toots:
*
Adjustable spanner
*
Drill
13rnm
*
Drill
9mm
*
Drill
7mm
*
Electric power
drill
*
Hand file
Use:
To
tighten the nuts.
Hole
for
antenna mounting.
Holes for D
-
SUB connector.
Holes for mounting stays.
To
smooth the hole for the
5-SUB
connector
The
navigator
is
designed for
12V
or
24V
battery supply,
but
the
unit
will
work
with
any
DC
voltage from
9.6V
to
32V.
The installation kit includes a 9 socket
D-SUB
connector mounted
with
all the
necessary cabling. The Power Cable is a joint
RED
and BLACK pair:
BLACK wire (D
-
SUB socket
51
should be connected to the minus
pole
of
the battery.
RE5
wire (D-SUB socket
9)
should be connected to the plus pole of the
battery.
Please be sure to have a fuse
in
the circuit - not to protect the navigator
-
but
to protect
the
cabling. (Short-circuiting a cable with direct connection
to
a
battery
will
make severe damage). A typical installation
is
shown
in
figure
2
page
5.
The electronics
of
the navigator
is
isolated
from
the external power supply.
It
is
recommended
to
ground the shield
of
the navigator
to
avoid static charge
built
up.
This can
be
done
in
one
of
two ways:
1)Connect
the
D-SUB
'GND'
pin
1
of
the
navigator
to
boat's seawater
ground.
2)Connect the antenna mounting
(nut
etc.) to the boat's seawater
ground.
'Seawater ground' is any structure
in
connection
with
the sea below the water
-
line. The connection could be through
a
10
KOhm resistor.
Antenna mounting
and
navigator shield
is
electrically connected through
the
screen
of
the antenna cable.
To
avoid current loops do only
use
one
of
the two
grounding methods.
If
the antenna
is
mounted on the push
pit
or
similar metal
structure
we
recommend using that
part
for
grounding of the navigator
(possi
-
bly
by connecting
it
to
boat's
seawater ground).
c
7
I
nl.
The
MK8
and
MK9
navigators have two independent possible interfaces.
A
Man
Over Board input and
an
NMEA
0183
version
2.0
talkerhstener interface.
an
Over
Board
A
push button
for
an
on/off
switch) (optional) can
be
connected between
the
Man
Over
Board
input
(D-SUB
pin
4)
and
the
REF
GND
(D-SUB
pin
1).
The installation
kit
includes
a
9
socket
D-SUB
connector mounted
with
all
the
necessary cabling. The
Man
Over Board
is
either a joint BLACK pair with one
wire marked with
an
embossment
or
a
joint GRAY pair with one wire marked
with
a
black stripe.
The
pair
should
be
connected to a push button that
is
normally
off
(not short-circuited). To enable the Man Over Board function
the
switch must be activated
for
at
least 2 seconds.
Please be aware,
that
the
unmarked
wire
of
this
pair
is
connected to
the
shield
of
the
navigator. A typical installation
is
shown
in
figure 2 page
5.
See
also
figure
4
below
if
using
the
Philips
NMEA
0183
Repeater
Display for
the
Man
Over Board function.
EA
interface
The standard marine interface
NMEA
0183
version
2.0
is
used
for
comrnunica-
tion with other marine equipment like:
Radars, Plotters, Autopilots, Fish Finders etc.
Philips
NMEA
01
83
Repeater Display
Philips Chart Plotters
PCP
207
and
PCP
21
1
Philips
DGPS
Beacon Receiver
PBR
1000
DGPS
Beacon Receivers transmitting RTCM
SC104
data
(d
baud).
There should be no problem
in
interfacing
to
other instruments. Version
2.0
of
the
NMEA
0183
interface
has
been changed in several ways compared
to
the
earlier
version 1.5. Same
of
the
changes to
the
hardware
should
be
mentioned
in
order
to
avoid problems.
hiSt@ner:
The listener input
now
works
with a threshold of 2 volt
cornpared
t
former
4
volt.
It
is
still
an
isolated
input and
in
general
it
shod
any
problems.
iker
output
is
now
a
talker (output) B is
S422
output. That means:
tive compared to
GND
or shield
sf
the
naviga
-
tor.
In
the
old
version output B was
normally
tied Po
GND
or
shield.
The maximum drive voltage between
NMEA
talker
A
and
5
outputs
is
16
volt.
The
minus voltage between the talker A and
B
ou
some
problems on
inputs
that does not fulfill the
old
st
The
in^^^^
voitage might
as
i
2
volt.
This
is
not ~o~~~t~~~~
wieh
the
~o~~~r
4
volt
~n~~t
ight give
Is
If
exte
nee
n
electr
More
than one
NMEA
listener can be connected
in
parallel to
the
NMEA
talker.
The possible
maximum
is
dependent on
the
listener input impedance.
A
typical
installation
is
shown
in
figure
4.
01
ii
L
0
x
U
CD
-
m
II
m
W
=I
z
L
0
;L
-
P
m
Interface
to
Philips
N
EA
0
1433
Repeater
Display.
The Philips
NMEA
0183
Repeater Display should be connected to the navigator
MK9
as
shown
in
figure
5.
(Connections are specified on page
4).
rhieid
not
used
1
1
MKQ
9
POL
D
SUB
Figure
5
Please
note
NMEA
talker (output)
I3
should
not
be connected to
the
Repeater Display
but
left open.
The shield of
the
NMEA
talker cable
is
connected to shield of the navigator and
should
not be connected to the Repeater Display.
Be
careful
that
neither the NMEA talker
B
wire
nor
the
shield
of
the
NMEA
talker cable are short-circuited to each other or anything else.
V43irSiO
atics.
The
NMEA
version
2.0
standard requires that a schematic showing the imple
-
mentation
of
the listener and talker interface are included
in
the manual.
0
ther Equipment
NMEA
Listener
NMEA
1NPUT
I
Figure
6
Listener
input
load
500ohm.
threshold of
the
MK8/
EA
output
with a drive
9
NMEA listener
is
less
than
2V.
If
an external
tage higher than 2 volt
is
connected
to
the
K9
NMEA
listener
(D-SUB
pin
2 and
7),
it
is
recommended to insert
a
be
up
to 500ohm per volt the
drive
voltage
he
overall power consumption.
Recommended external serial resistor value (see figure 6 previous page) for
the
MK8/MK9
NMEA
listener interface. Table
1
:
Drive Resistor
voltage value
3
volt
470
Ohm
4
Volt
1.0
KOhm
5
volt
1.5
KOhm
6
volt
1.8
KOhm
Drive Resistor
voltage value
8
volt 2.7
KOhm
9
volt
3.3 KOhm
10
volt
3.9 KOhm
11
volt
3.9 KOhm
II
I
12
volt
I
4.7
KOhrnI
7
volt 2.2 KOhm
11
EA
talker
(output)
hardware
schematic
and
recornmenoations.
MK8/MK9
NMEA
talker
-
5v
A
DATA
B
*
Shown
in
normal
position
under
software
control
REF
GND
NMEA
POSITION
PC
V2L
POSITION
(SERVICE
ONLY)
-
62
3V
Talker maximum drive current
is
78
mA.
Figure
6
1~~~~~~~:
Both talker A and talker 6 outputs are active!
Connected to an
NMEA listener: Connect talker
A
to listener A and talker B to
listener
B.
Connected to a
RS
422
port:
Connect talker
A
to
+receive
and
talker B to
-
receive.
Connected
IS
a
RS
232
(PC
cam
port):
C~nne~t
talker
A
ta
Receive
Data an
D
to
Signal
Ground.
11
E
and
The
NMEA
Standard provides
for
asynchronous transmission,
with
a single
TALKER
and
multiple
LISTENERS
per line. Typical use includes information
transfer from
oicclr
onic positioning and navigational devices to autopilots,
plotters, terminals, printers, etc.
The
NMEA
01
83
Standard
uses
an
8
bit
ASCII
block
oriented
protocol,
that
is
not
compatible
with
the
NMEA
0780
simple
format or
the
NMEA
0182
com
-
plex format due to differences
in
data format, baud rate and parity
bit.
The recommended interconnection between a
TALKER
and one or more
LIS-
TENER(s) must
be
made
as
shown and described on
the
previous 4 pages.
Data
Format.
Data are transmitted
in
different sentences, each containing one or more data
fields.
A
field consists of a string of characters immediately preceded
by
a
'I,"
(comma]
character,
except
for
the
first (address)
which
is preceded
by
"5".
Hex
OD
OA
<CR>
<LF>
-
end of sentence - must follow
the
last fieid
in
each
sentence.
The
data
fields
are
identified only by their position within the sentence as
determined by
the
field delimiters (comma). Numerical data fields within
a
sentence may vary
in
length
from one sentence to another, depending on
the
precision avail able.
Data
field position
is
therefore determined only
by
counting
'I,"
(commas) rather
than counting the total number of characters from beginning of the sentence.
Example:
field
#
2
34
56
$
GPRMC,
5541.62,
N,
01236
07,
E
*
M
<CR><LF>
Sentence terminator
Optional
checksum
(HEX),
not
data field
Checksum
delimiter
Latitude
55O41.62
Address
GP = TALKER
identifier
GPS
GLL
=
Sentence formatter
Geographic
Latitude and Longitude
Start
of sentence delimiter
The
sentences
all
have
the
TALKER
identifier
"GP"
AI1
GPS
determined position data are
in
the user selected datum; waypoint
positions reflect the content of the way point memory.
i
t
j
12
ACCORDING
TO
NMEA
01
83,
VERSION
2.0
OF
1992,
JANUARY
1,
1552.
RMC
-
Recommended
Minimum
Specific
GPS
data:
Time, date, position, course and speed data provided
by
the
MK8iMK9 receiv
-
er. Checksum
is
mandatory
in
this sentence. This sentence
is
transmitted at
intervals not exceeding
2
seconds, and
is
always accompanied
by
RMB when
a
destination waypoint
is
selected.
All
data fields must be provided,
null
fields
used only when data are temporarily unavailable.
field:
2
34
56
78
9
10
11
12
13
SGPRMC, hhmmss,A,
1111.111,
a,yyyyy.yyy,
a,xx.x,
xxx,
ddmmyy,
xx.x,
a*hhcCR><LF>
explanation:
2.
UTC
of
position
fix
3.
Status
A
or
V,
A
if
updating
is
OK,
V
if
updating
is
stopped
4.
Latitude
of
fix
5.
North
or
South,
N/S
6.
Longitude
of
fix
7.
East
or
West, E/W
8.
Speed over ground, Knots
9.
Track made good (COG), degrees true
10.
Date:
Day,
Month
and
Year
1
1.
Magnetic variation, degrees
12. East or West,
E/W
13. Checksum delimiter and checksum
RMB - Recommended
Minimum
Navigation Information:
Navigation data
from
present
position
to
the
first
destination
waypoint
in
the
sailplan. This sentence always accompanies the RMC, when a destination
waypoint
is
selected. Checksum is mandatory
in
this sentence.
field:
2
3
45
6
7
89
10
11
12
13
15
$GPRMB,A,~.~~,~,ccc,ccc,
11111,
I~,~,~-~~,W,~,XX.X.X,XXX,XX.X,
+hh<CR><LF>
explanation:
2.
Status
A
or
V,
A
if updating
is
OK,
V
if updating is stopped
3. Magnitude
of
cross-track-error, nautical miles (see
Note
11
4.
Direction
to
steer,
L
or
R
5.
Origin waypoint identifier
6.
Destination
waypoint
identifier
7.
Destination waypoint latitude
8.
North
or
South, NE
9.
Destination waypoint longitude
10.
East
or
West,
E/W
11.
Range
to
destination waypoint. nautical miles (see Note
2)
12. Bearing to destination, degrees true
13.
Destination closing velocity, knots
14.
Not transmitted
from
the
MK8
15.
Checksum delimiter and checksum
Note
1:
if the
XTE
exceeds 9.99
Nm,
9.99
will
be
sent
Note
2:
if the range exceeds 999.9
Nm,
999.9
will
be
sent
APB
-
Autopilot sentence
"B"
Commonly used
by
autopilots, this sentence contains navigation receiver
update status, cross
-
track error, initial bearing from origin waypoint to the next
destination waypoint
in
the sailplan, continuous bearing
from
present position
to destination and recommended heading to steer to destination waypoint for
the active navigation leg of the sailplan. The sentence
is
transmitted when a
sailplan has been created and the autopilot alarm is set to
ON,
and when this
alarm is not
in
alarm condition.
field:
2
3
4
5
6
9
10
11
12 13
14
15
$GPAPB,A,
A,
x.
XX,
a,
N,
,
,
m,M,
C
CC
,
XXX,
M,
xxx,
McCR>cLF>
explanation:
2.
Status A or
V,
A
if updating is
OK,
V
if updating is stopped
3.
not used, always
A
4.
Magnitude of XTE (cross-track-error)
5. Direction to steer, L
or
R
6.
XTE units, N for nautical miles
7.
and
8.
not transmitted (empty fields)
9.
Bearing origin to destination
10.
Magnetic,
M
1
1.
Destination waypoint identifier
12.
Bearing, present position to destination
13.
Magnetic,
M
14. Heading-to-steer to destination waypoint
15. Magnetic,
M
BWC
-
Bearing
&
distance
to Waypoint - Great Circle
BWR
-
Bearing & distance
to
Waypoint - Rhumb
Line
Time
(UTC)
and distance & bearing to, and location of,
the
fist destination
Waypoint
in
the sailplan from present position. Only one
of
the
two sentences
is transmitted, determined by the
RL/GC selection in t ie
SETUP
function.
field:
2
3
4s
67
891011
$GPBWC,hhmmss,llll.ll,a,yyyW.W,a,xxx,T,x
$GPBWR,hhmmss,
1111.11,
a,yyyyy.yy,a,
xxx,T,xxx,M,
xxx.
explanation:
2.
UTC
of observation
3.
Waypoint Latitude
4.
North or South,
N/S
5. Waypoint longitude
6.
East or West, E/W
7.
Bearing from present position to Waypoint
8.
Degrees true,
T
9.
Bearing from present position to Waypoint
10.
Degrees magnetic,
91.
Distance
from
present position
to
Waypoint
12.
Nautical
miles,
N
13.
Waypaint identifier
12
13
xx,N,ccccCR>cLF>
xx,
N,
ccc<CR>cLF>
14
GGA
-
Global Positioning System Fix Data:
Time,
position
and fix related data for GPS receiver.
This sentence
is
available in
MK8
with differential software
and
MK9
only.
Field:
1
2
34
5678
9
10
11
12
13
14
SGPWA,
hhmmss,
1111.1111,
a,yyyyy.yyyy,
a,
x, x,
xx
.x,
xxx,M,
m,M,
m,
="hh<CR><LF>
explanation:
1.
UTC
of Position
2.
GPS Latitude
3.Latitude.N
or
S
4.
GPS
Longitude
5.
Longitude
E
or
W
6.
GPS
Quality indicator
QI
(0
=
GPS not available
or
invalid,
1
=
GPS
fix,
2
=
Differential
GPS
fix)
7.
Number
of
GPS
Satellites being used
8.
Horizontal
dilution
of
precision
(HDOP)
9.
Antenna height
10.
Units
of
antenna height, meters
11.
Geoidal Separation (the difference between the WGS
84
earth
ellipsoid and mean
-
sea-level (geoid)
12.
Units of geoidai separation, meters
13. Age of Differential
GPS
data
14.
Differential reference station
ID,
0000
-
1023
RTE - Routes
Waypoint identifiers, listed
in
order with starting waypoint
first.
This
sentence
is
available
in
MK9
only.
field:
2
3
4
5
6
7
8
$GPRTE,l,l,c,OO,Ol,
........,
99*hh<CR><LF>
explanation:
2.
Total number of messages being transmitted (always 1 (one))
3.
Message number (always 1 (one))
4.
Message
mode:
c
=
complete route,
all
waypoints
5.
Route identifier (always
00)
6.
Way
p
o
i
n
t
id
en
ti
f i e
r
7.
Additional waypoint identifiers
8.
Waypoint
'n'
identifier
WTG
-
Track Made Good and Ground Speed:
The actual track made good and speed over ground,
COG
and
SOG.
field:
2
3
4
5
6
78
9
SGPVTG,~,T,XX.X,M,~~.X,N,~.X,K<CR>~LF~
e~~la~ation:
2.
Track degrees
3.
True,
T
4.
Track degrees
5.
Magnetic,
M
6.
Speed
over
ground
7.
Knots,
N
8.
Speed over ground
9.
Kilometres per
hour,
K
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