The vessel's ground in this context is the battery negative. For RF, you want a really good ground as even small amounts of current flow, induced or direct, can be disruptive.
Some devices just use the negative power wire for the RF ground and hope it is good enough. For many purposes, it generally is.
Other devices provide a /dedicated/ RF ground connection with the idea that it will be connected straight back to the battery, avoiding any possible resistance or current flow from parallel wiring or a bunch of devices powering off of it along the way.
In vessels where there are multiple devices that support a dedicated RF ground, the idea is that one really good connection can be made from the battery negative to a dedicate RF ground terminal block. And then all of the dedicated RF ground wires can be run there, preventing a bunch of wires going to the battery, which is both messy -- and can degrade the ground through stacked contact resistance.
So, the best thing to do is to run this all the way back to the battery negative, or a dedicated RF ground bus bar. The second best thing is to run it back to the primary negative bus bar also used for current conductors. The third best thing to do is to connect it to a nearby negative wire and hope it is good enough. (But, you don't really want to do that for a device that is set up for a dedicated RF ground).
See pages 62-64 of the manual and the attached diagram, in particular. Note wire (3):
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https://www.raymarine.com/view/index-id=7690.html
I hope this helps.