||An Inertial Navigation System (INS) providing position, true heading, attitude, speed, depth, and heave. Its high accuracy inertial measurement unit is based on iXblue's Fiber-Optic Gyroscope (FOG) technology coupled with an embedded digital signal processor that runs an advanced Kalman filter. There are multiple aides available including DVL, EM log, GPS, USBL, LBL and depth sensor. It has an IMU option for high accuracy platform stabilization. There are static and dynamic alignment modes, with and without GNSS Operates in temperatures between -20 degrees Celsius and +55 degrees Celsius. It is accurate to 0.01 degrees for heading, roll and pitch. Heave is accurate to 5 cm or 5% and Smart Heave is accurate to 2 cm or 2%.