Solder & heatshrink.... possibly scotchlok connectors, but soldering is guaranteed.
For RG59 coax... use crimped/compression F type connectors with a barrel joiner.
EDIT: Looking at the manual, it appears the coax has to attach to the flying leads... not to a coax connector. (Extremely poor design)
In that case, you will need to solder the cables. The coax used will need to have a copper braid.
EDIT:2 Actually, a better solution would be to solder on an F type chassis socket, then use F type connectors on the coax, which would enable the more-common aluminium shield coax to be used.
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