Operator Manual: Kongsberg SDP (OS)

Operator Manual
Kongsberg SDP (OS)

Dynamic Positioning System
(Rel. 3.1 Update 3)
173222/C
June 2004
The reader
This operator manual is intended as a reference manual for the system operator. This
manual is based on the assumption that the system operator is an experienced DP operator
with a good understanding of basic DP principles and general DP operation. If this is not
the case, then the operator should first attend the appropriate Kongsberg Maritime training
courses.
Note
The information contained in this document remains the sole property of Kongsberg
Maritime AS. No part of this document may be copied or reproduced in any form or by any
means, and the information contained within it is not to be communicated to a third party,
without the prior written consent of Kongsberg Maritime AS.
Kongsberg Maritime 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 Maritime AS disclaims any responsibility for damage or injury caused by
improper installation, use or maintenance of the equipment.
Kongsberg Maritime AS Telephone: (47) 32 28 50 00

P. O. Box 483 Telefax: (47) 32 28 50 10
N-3601 Kongsberg Service: (47) 32 28 59 50
Norway http://www.kongsberg.com
Sections
This manual describes how to operate the Kongsberg Maritime SDP system from an SDP
Operator Station (OS).
System Overview
An overview of the SDP system.
User Interface
An overview of the SDP operator station and the user interface.
System Messages
A description of the way in which system messages are displayed, the types of messages displayed,
and how these messages should be interpreted.
System Operating Procedures

Operating procedures for starting and stopping the system, taking command, connecting to a
controller group and switching between controller computers.
Main DP Operating Procedures

Operating procedures for the main DP modes.
Common Operating Procedures

General operating procedures that are common to more than one operational mode.
Position Information
Procedures and information related to coordinate systems and descriptions of the associated
display views.
Position-reference Systems
Procedures and information related to position-reference systems and descriptions of the
associated display views.
Sensors
Procedures and information related to sensors such as gyrocompasses, wind, VRS and draught.
Thrusters
Procedures and information related to control of the propulsion system.
Power System
A description of the relationship between the SDP system and the vessel’s electrical power system.
173222/C 3
DP Online Consequence Analysis
A description of the DP Online Consequence Analysis function.
Miscellaneous Display Views

Detailed descriptions of the Conning and Trend display views.
Trainer
A description of the built-in trainer function.
Index
General Index
Button Index
Dialog Box Index
Menu Index
4 173222/C
Document revisions
Written by Checked by Approved by
Rev Date Sign Date Sign Date Sign
A 28.02.02 SM 01.03.02 SS 01.03.02 BG
B 13.06.02 SM 14.06.02 SS 17.06.02 BG
C 25.05.04 AKS 02.06.04 FH 02.06.04 BG
D
E
F
The original signatures are recorded on the company’s logistic data system.
Document history
Rev. A This version describes operation of the SDP system at SDP basis software
Rel. 3.1.
Rev. B Various misprints has been corrected.
Rev. C This version describes operation of the SDP system at SDP basis software
Rel. 3.1, Update 3.
To assist us in making improvements to the product and to this manual, we welcome

comments and constructive criticism. Please send all such, in writing, to:
Kongsberg Maritime AS
Att: Documentation Department
P. O. Box 483
N-3601 Kongsberg
Norway
e-mail: km.documentation@kongsberg.com
173222/C 5
Glossary
Abbreviations
ARP Alternative Rotation Point
CG Centre of Gravity
CW Clockwise
CCW Counter-clockwise
COS Common Operator Station
DGPS Differential GPS
DP Dynamic Positioning
DPC DP Controller
DQI Differential Quality Indicator
EBL Electronic Bearing Line
ECR Engine Control Room
GPS Global Positioning System
HDOP Horizontal Dilution Of Precision
HPR Hydroacoustic Position Reference
IAS Integrated Automation System
LTW Light-weight Taut Wire
MOB Mobile transponder
OS Operator Station
OT Operator Terminal
PMS Power Management System
PS Process Station
RCA Redundancy and Criticality Assessment
RMS Riser Management System
rms root mean square
ROV Remotely Operated Vehicle
RPM Revolutions Per Minute
SBC Single Board Computer
SDP Dynamic Positioning system from Kongsberg Maritime
SPS Planning Station from Kongsberg Maritime
SJS Joystick System from Kongsberg Maritime
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STC Thruster Control from Kongsberg Maritime
SVC Vessel Control from Kongsberg Maritime
UPS Uninterruptible Power Supply
UTC Universal Time Coordinated
UTM Universal Transverse Mercator
VRS Vertical Reference System
WGS World Geodetic System
WOP Wheel Over Point
WP Waypoint
173222/C 7
General terms
Apparent wind
See Relative wind.
Bearing
The horizontal direction of one terrestrial point from another, expressed as the
angular distance from a reference direction, clockwise through 360°.
Blackout prevention
A method of preventing a power failure due to overloading of the supply generators.
Cartesian coordinate system
A coordinate system where the axes are mutually-perpendicular straight lines.
Cartesian systems used are UTM, US State Plane and Local N/E.
Course
The horizontal direction in which a vessel is steered or is intended to be steered,
expressed as angular distance from north, usually from 000° at north, clockwise
through 360°. Strictly, this term applies to direction through the water, not the
direction intended to be made good over the ground. Differs from heading.
Cross track error
The distance from the vessel’s present position to the closest point on the track.
Datum
Mathematical description of the shape of the earth (represented by flattening and
semi-major axis as well as the origin and orientation of the coordinate systems used
to map the earth).
Dead reckoning
The process of determining the position of a vessel at any instant by applying to the
last well-determined position the run that has since been made, based on the recent
history of speed and heading measurements.
Destination
The immediate geographic point of interest to which a vessel is navigating. It may
be the next waypoint along a route of waypoints or the final destination of a voyage.
ECDIS
Electronic Chart Display and Information System. A navigation information system
which can be accepted as complying with the up-to-date chart required by regulation
V/20 of the 1974 SOLAS Convention, by displaying selected information from a
SENC with positional information from navigation sensors to assist the mariner in
route planning and route minitoring, and if required display additional
naviation-related information.
ENC
Electronic Navigation Chart. A Cell for use in ECDIS systems.
Feedback
Signals returned from the process (vessel) and used as input signals to the Vessel
Model.
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Geodetic coordinate system
A mathematical way of dealing with the shape, size and area of the earth or large
portions of it.
Gyrocompass
A compass having one or more gyroscopes as the directive element, and which is
north-seeking. Its operation depends on four natural phenomena: gyroscopic inertia,
gyroscopic precession, the earth’s rotation and gravity.
Heading
The horizontal direction in which a vessel actually points or heads at any instant,
expressed in angular units from a reference direction, normally true north, usually
from 000° at the reference direction clockwise through 360°. Differs from course.
IAS
Integrated Automation System from Kongsberg Maritime. In an Integrated
Automation System the SDP communicates with other Kongsberg Maritime systems
such as SVC (Vessel Control) and STC (Thruster Control) via a dual ethernet LAN.
IHO
International Hydrographics Organisation. Coordinates the activities of national
hydrographic offices; promotes standards and provides advice to developing
countries in the fields of hydrographic surveying and production of nautical charts
and publications.
IMO
International Maritime Organisation. Formerly called IMCO, the IMO is the
specialised agency of the United Nations responsible for maritime safety and
effiency of navigation.
Kalman Filter
The Kalman filter is a set of mathematical equations that provides an efficient
computational (recursive) solution of the least-squares method. The filter is very
powerful in several aspects: it supports estimations of past, present and even future
states, and it can also do so even when the precise nature of the modelled system is
unknown.
Leg
The straight line between two waypoints.
Log
An instrument for measuring the speed or distance or both travelled by a vessel.
Navigation leg
The leg of a voyage on which the vessel is currently travelling.
Reference origin
The reference point of the first position-reference system that is selected and
accepted for use with the system. The origin in the internal coordinate system.
Relative bearing
The bearing of an object relative to the vessel’s heading.
173222/C 9
Relative wind
The speed and relative direction from which the wind appears to blow with reference
to the moving vessel.
Route
A planned course of travel, usually composed of more than one navigation leg.
SENC
A database resulting from transformation of the ENC by ECDIS for appropriate use,
updates to the ENC by appropriate means and other data added by the mariner. It is
this database that is actually accessed by ECDIS for display generation and other
navigational functions and is equivalent to an up-to-date paper chart. the SENC may
also contain information from other sources.
SOLAS
International Convention for the Safety of Life at Sea developed by IMO.
Surge
Vessel movement in the fore-and-aft direction.
Sway
Vessel movement in the transverse direction.
Thruster
In this document, this is used as a general term for any element of the vessel’s
propulsion system, such as an azimuth thruster, tunnel thruster, propeller or rudder.
Track
A route to be travelled defined by two or more waypoints. Line of travel may follow
arcs with system or operator defined turn radius at waypoints.
Transponder
In this document, this is the physical reference of a position-reference system. For
example: for an HPR system this means any deployed transponder; for an Artemis
system, the Fixed Antenna unit/beacon; for a Taut Wire system, the depressor weight.
True bearing
Bearing relative to true north.
Waypoint
A defined position or reference point on a track.
Waypoint table
A set of waypoints with their parameters, shown in a tabular form, which defines the
track the vessel will follow.
Wheel-over point
The point where a vessel is commanded to change heading before a waypoint.
Yaw
Vessel rotation about the vertical axis; change of heading.
10 173222/C
Windows terminology
Apply
To commit a set of changes or pending transactions made in a dialog box, typically
without closing that dialog box.
Cancel
Discards any pending transactions and closes the dialog box or window.
Check box
A small square box that appears in a dialog box and that can be turned on and off.
A check box contains a tick mark when it is selected and is blank when it is not
selected.
Choose
To perform an action that carries out a command in a menu or dialog box. See also
Select.
Click
To press and release a trackball button, without moving the cursor. If no trackball
button is specified, the left button is assumed.
Combo box
A text box with an attached list box which contains a list of options. The list becomes
visible on clicking the text box, see Drop-down list box.
Command
A word or phrase, usually found in a menu, that you choose in order to carry out an
action.
Command button
A rectangle with a label inside that describes an action, such as OK, Apply or
Cancel. When chosen, the command button carries out the action.
Context menu
The menu that appears when a user clicks the right mouse button in certain areas (or
“contexts”), such as in a view.
Cursor
The pointer symbol that is displayed on the screen and that can be moved with the
trackball.
Dialog box
A box that appears when the system needs additional information before it can carry
out a command or action. See also Check box, Combo box, Drop-down list box,
Command button, Group box, List box, Option button, Option button group,
Tab, Tabbed page and Text box.
Drag
To press and hold down a trackball button while moving the trackball. For example,
you can move a dialog box to another location on the screen by dragging its title bar.
173222/C 11
Drop-down list box
A box which has a set of predefined values that can be selected directly from the box.
Clicking the down arrow at the end of the box displays a drop-down list of the
available values. If the list is longer than the displayed drop-down box, the box will
have a vertical scroll bar that lets you scroll through the list.
Field
A field is a generic description for a text area within a dialog box that displays a
specific value, as opposed to the label which identifies what the value means.
Group box
A group box is a standard control used to group a set of options in a dialog box. For
example, page ranges are grouped in the Page range group box in the Windows Print
dialog box.
List box
List box is a generic term for any type of dialog box option containing a list of items
the user can select.
Menu
A group listing of commands. Menu names appear in the menu bar beneath the title
bar. You use a command from a menu by selecting the menu and then choosing the
command.
Menu bar
A horizontal bar at the top of a view, below the title bar, that contains menus.
Message box
A dialog box displaying a message. The operator must acknowledge the message by
clicking OK.
OK
Commit any pending transactions and close the dialog box or window.
Option button
A small round button appearing in a dialog box (also known as a “radio” button). You
select an option button to set the option, but within a group of related option buttons,
you can only select one. An option button contains a black dot when it is selected and
is blank when it is not selected.
Option button group
A group of related options in a dialog box. Only one button in a group can be selected
at any one time.
Point
To move the cursor on the screen so that it points to the item you want to select or
choose.
Pop-up menu
A stand alone menu that can be displayed anywhere within a view, usually displayed
using the right trackball button.
12 173222/C
Save
Saves all interim edits, or checkpoints, to disk.
Save As
Saves the file (with all interim edits) to a new file name.
Select
To indicate the item that the next command you choose will affect. See also Choose.
Shortcut menu
The menu displayed when the right trackball button is clicked in a view. See also
Pop-up menu.
Spin box
A control composed of a text box and increment and decrement button that allows
you to adjust a value from a limited range of possible values.
Status bar
An area that allows the display of state information for the information being viewed.
Typically placed at the bottom of a window.
Tab
The tab at the top of a page in a dialog box. When you click a tab, the related page
is displayed.
Tabbed page
Labelled group of options used for many similar kinds of settings.
Title bar
The horizontal bar at the top of the window that shows the name of the document or
program.
Text box
A box within a dialog box in which you type information needed to carry out a
command. The text box may be blank when the dialog box appears, or it may contain
text if there is a default value or if you have selected something applicable to that
command. Some text boxes are attached to a list box, in which case you can either
type in the information or select it from the list.
Tool bar
A row of icons that represent common functions, used to give quick access to
commonly used functions. Clicking on an icon will usually invoke the command or
function that the icon represents. Tool bars are usually displayed at the top of a view.
Unavailable
Describes a command or option that is listed in a menu or dialog box but that cannot
be chosen or selected. The command or option appears dimmed.
173222/C 13
Table of contents
SYSTEM OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
The SDP system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Basic forces and motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
SDP system principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
The vessel model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Vessel model update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Error compensation force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Force demand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Thruster allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Power overload control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Operational modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
USER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
The operator station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Display controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
The operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Heading Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Trackball . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Display organisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Title bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Menu bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Message line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Performance area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Working area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Monitoring area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Status line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Dialog boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
14 173222/C
Display views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Orientation of the operator station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Tooltip / hotspot cursor and change of cursor image . . . . . . . . . . . . . . . . . . . . . . . . 45
Available views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Selecting a display view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
View control dialog boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Zooming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Preselecting views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Printing the display picture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Display colours . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Panel lamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Dimming level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Lamp test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Display units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Selecting the display units set to use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Editing using the extended Display Units dialog box . . . . . . . . . . . . . . . . . . . . . . . 56
Editing using the Edit Display Unit set dialog box . . . . . . . . . . . . . . . . . . . . . . . . . 57
Vessel and sea current speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Wind, waves and sea current direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Resetting the display units settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
System time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Time zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Equipment status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Print status page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
SYSTEM MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
The message system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Types of messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Presentation of messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Acknowledging messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Alarm lamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Silence button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Messages on the printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Message explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Find . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Displayed explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Printing message explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
173222/C 15
SYSTEM OPERATING PROCEDURES . . . . . . . . . . . . . . . . . . . . . . . . . 79
System start-up/shut-down and OS stop/restart . . . . . . . . . . . . . . . . . . . . . . . . . 80
System start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
System shut-down . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Stop/Restart dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Resetting Operator Stations using the Windows NT Security dialog box . . . . . . . 84
Logon Configuration dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Connecting to a controller group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Taking command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Take command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Give command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Command status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
SDP controller computers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Dual–redundant system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Triple–redundant system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Resetting controller computers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Resetting the controller computer in a single-computer system . . . . . . . . . . . . . . . 92
Resetting one controller computer in a dual or triple redundant system . . . . . . . . . 92
Resetting all controller computers in a dual or triple redundant system . . . . . . . . . 93
Resetting serial lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
MAIN DP OPERATING PROCEDURES . . . . . . . . . . . . . . . . . . . . . . . . 97
Standby mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Actions in Standby mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Returning to Standby mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
From Standby mode to Manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Joystick control of position and heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Position and heading information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Mixed manual/auto modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Common procedures available . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Manual view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Manual mode with automatic heading control . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Selecting automatic heading control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Returning to joystick heading control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Manual mode with automatic position control . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Selecting automatic position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Returning to joystick position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
16 173222/C
Manual mode with automatic stabilisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Selecting automatic stabilisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Returning to joystick control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Auto Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
From Manual mode to Auto Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Remote control from external system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Auto Track mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Track definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Manually editing the waypoint table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Receiving waypoints from an external source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Track Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Selecting track edit strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Auto Track mode settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Track Settings - Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Track Settings - Set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Track Settings - Heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Track Settings - Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Track Settings - Turn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Track Settings - Receive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Preparation for Auto Track mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Running in Auto Track (low speed) mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Running in Auto Track (high speed) mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Running in Auto Track (move-up) mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
Displayed information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Autopilot mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Speed control from joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
Speed control from external levers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Changing heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Rudder/azimuth limits and steering mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Autopilot gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Wind force and thruster moment compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Remote control from external system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
173222/C 17
Auto Area Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Heading control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Operating procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Defining the area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Setting the bias forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Anchor Watch mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Operating procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Defining the anchor area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Follow Target mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Entering Follow Target mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Changing the reaction radius / filter constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Heading control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
COMMON OPERATING PROCEDURES . . . . . . . . . . . . . . . . . . . . . . . . 189
Changing the position setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Marking on the Posplot view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Using the Change Position dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Stopping a change of position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Setting the vessel speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
Setting the acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Changing the heading setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Marking on the Posplot view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Using the Change Heading dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Using the Heading Wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Stopping a change of heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Setting the rotation speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Setting the acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Rotation point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Automatic control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Joystick control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Alt. Rot. Point view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Controller gain selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Joystick gain and environmental compensation . . . . . . . . . . . . . . . . . . . . . . . . . 215
Controller limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Position limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
VRS limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
18 173222/C
Quick current update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
POSITION INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
System datum and UTM zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Local datum parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Meridian convergence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Display presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
General view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Position, heading and speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Position and heading deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
Cross track error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
Deviation view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Position and heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
Position and heading deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
Cross track error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Numeric view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Posplot view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
EBL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262
POSITION-REFERENCE SYSTEMS . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
Position–reference systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
The reference origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Tests on position measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
Controlling the position-reference systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
Enabling the first position-reference system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Enabling other position-reference systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
Changing the reference origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Position dropout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Changing the position-reference system relative weights . . . . . . . . . . . . . . . . . . . . 273
Acceptance limits for the Prediction Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
Changing the settings of the Median Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Reference system set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
Refsys view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
LTW view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
173222/C 19
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
SENSORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Enabling gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
Gyro status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Displayed heading information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Faulty gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Heading dropout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Wind sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Enabling wind sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Wind status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Operating without wind sensor input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Displayed wind information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Faulty wind sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Rejection of faulty wind data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Vertical reference systems (VRS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Enabling VRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
VRS status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Displayed VRS information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Faulty VRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Speed sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Doppler Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
GPS Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Used Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Draught sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Water Depth sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
Tensioner Stroke sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Enabling tensioner stroke sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
Sensors view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
THRUSTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Thruster READY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Enabling thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
20 173222/C
Automatic thruster start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Thruster control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Free Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
Thruster force bias . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
Turn factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Angle factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
Inwards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
Thruster run-in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Thruster views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Thruster main view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Tunnel thruster view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Azimuth thruster view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Propeller/rudder view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
Sub-view controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Setpoint/feedback view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Forces view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
POWER SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Power monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Power overload control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
Power view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
Power consumption view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
Diesels view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
DP ONLINE CONSEQUENCE ANALYSIS . . . . . . . . . . . . . . . . . . . . . . 365
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 366
Selecting the DP class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Running state messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
MISCELLANEOUS DISPLAY VIEWS . . . . . . . . . . . . . . . . . . . . . . . . . . 369
DP Conning view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Trends view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
173222/C 21
TRAINER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Starting the trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Using the trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
Stopping the trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
22 173222/C
System Overview
SYSTEM OVERVIEW
This section provides an overview of the SDP system.
173222/C 23
Kongsberg SDP
The SDP system

The Kongsberg Simrad Dynamic Positioning (SDP) system is a
computerized DP control system enabling automatic position and
heading control of a vessel.
Setpoints for heading and position are specified by the operator
and are then processed by the SDP system to provide thrust control
signals to the vessel’s thruster and main propeller systems. The
SDP system always allocates optimum thrust to whichever
propulsion units are in use.
To control the vessel’s heading, the SDP system uses data from one
or more gyrocompasses, while at least one position-reference
system (for example, hydroacoustic, taut wire or GPS) enables the
SDP system to position the vessel. Deviations from the required
heading or position are automatically detected, and appropriate
adjustments are made by the system.
The SDP system also provides a manual joystick control which
may be used for manual control alone or in conjunction with a
position-reference system for combined manual/auto control.
Without a position-reference system, the SDP system can provide
automatic stabilization and control of the vessel heading using the
gyrocompass as the heading reference.
Basic forces and motions

A seagoing vessel is subjected to forces from wind, waves and
current, and from forces applied by the vessel’s propulsion system.
The vessel’s response to these forces (changes in position, heading
and speed) is measured by position-reference systems,
gyrocompasses and vertical reference sensors. Wind speed and
direction are measured by wind sensors.
The SDP system calculates the deviation between the measured
position of the vessel and the required position, and then calculates
the forces that the thrusters must produce in order to control the
vessel’s movement in three horizontal degrees of freedom - surge,
sway and yaw.
24 173222/C
System Overview
Wind
Yaw
Sway
Waves
Surge
Current Sway
Figure 1 Forces and motions
The vessel also moves in three vertical degrees of freedom: pitch,

roll and heave.
Pitch Roll Heave

(+ = bow up) (+ = stbd down) (+ = down)
Figure 2 Pitch, roll and heave
The pitch and roll motions are not controlled by the SDP system,
however, in order to allow the position-reference system to correct
for these motions, the system must have information about them.
The SDP system does not control or require information about the
heave motion, but the motion can be measured and displayed.
SDP system principles

A simplified overview of the SDP control system is illustrated in
Figure 3 and described in the sections that follow.
173222/C 25
Kongsberg SDP
Measured Measured Wind

Position & Heading Speed & Direction
WIND
MODEL
Position &
Heading
Difference Wind
KALMAN Force
FILTER
Predicted
Position & ERROR
Heading COMPUTATION Error
Compensation
Force
Vessel
Model External
Update Forces
VESSEL MODEL
Thruster
Force
Estimated Estimated
Speed Position &
Heading
Position &
Heading
Setpoints
Position &
Heading
Deviation
Vessel Speed Setpoint DAMPING GAIN Controller

Rotate Speed Setpoint CONTROL CONTROL Gain
Force Demand For

Force Demand For Axes Under Automatic
Force Demand Axes Under Manual Position Control Feed
From Joystick JOYSTICK Position Control Forward
GAIN
CONTROLLER
Resulting Force
Demand
Joystick
Gain THRUSTER
ALLOCATION
Thruster
Setpoints
THRUSTER POWER Available

MODEL OVERLOAD
CONTROL Power
Thruster Thruster
Feedback Setpoints
VESSEL THRUSTER SYSTEMS
Figure 3 SDP system block diagram
26 173222/C
System Overview
The vessel model

The SDP system is based on a Vessel Model which contains a
hydrodynamic description of the vessel, including characteristics
such as drag coefficients and mass data. This model describes how
the vessel reacts or moves as a function of the forces acting upon
it.
Note Text in capitals in the following description refer to items in

figure 3.
The Vessel Model is provided with information describing the

forces that are acting on the vessel:
· A Wind Model uses a set of wind coefficients for various angles
of attack to calculate the WIND FORCE as a function of the wind
speed and direction.
· A Thruster Model uses force/pitch/rpm characteristics to
calculate the THRUSTER FORCE according to the feedback signals
from the thrusters/propellers.
Using the vessel characteristics and the applied forces, the Vessel
Model calculates the ESTIMATED SPEED and the ESTIMATED POSITION
AND HEADING in each of the three horizontal degrees of freedom -
surge, sway and yaw.
During sea trials, the Vessel Model is tuned to optimise the
description of the vessel characteristics.
Vessel model update

The Vessel Model can never be a completely accurate
representation of the real vessel. However, by using a technique
known as Kalman Filtering, the model estimates of position and
heading are continuously updated with measured position
information from position-reference systems and gyrocompasses.
The PREDICTED POSITION AND HEADING from the Vessel Model are
compared with the MEASURED POSITION AND HEADING to produce a
POSITION AND HEADING DIFFERENCE. Since these differences may be
caused by noise in the measured values, they are filtered before
being used to update the Vessel Model.
Together, the Vessel Model and the Kalman filtering technique
provide effective noise filtering of the heading and position
measurements and optimum combination of data from the
different reference systems.
173222/C 27
Kongsberg SDP
If the reference system measurements are completely lost (position

or heading dropout), there is no immediate effect on the
positioning capability of the system. The Vessel Model will
continue to generate position estimates even though there are no
further model updates. This ”dead reckoning” positioning will
initially be very accurate but will gradually deteriorate with time.
Error compensation force

Even if appropriate thruster/propeller forces are applied to
counteract the effect of the measured forces on the vessel, the
vessel would still tend to move out of position due to forces that
are not measured directly, such as waves and sea current (together
with any errors in the modelled forces).
These additional forces acting on the vessel are calculated over a
period of time according to the filtered POSITION AND HEADING
DIFFERENCE to produce an ERROR COMPENSATION FORCE, which is
added to the modelled forces to represent the total EXTERNAL
FORCES.
The error compensation force is presented to the operator as being

entirely due to sea current since this is the main component.
Force demand
The force demand that is required to keep the vessel at the required
position is composed of the following parts:
· The Force Demand for axes that are under automatic control
· The Force Demand for axes that are under manual control
· The Feed Forward
Force demand for axes under automatic

control
This consists of two parts:
· a force demand that is proportional to the deviation between the
estimated position and heading and the position and heading
setpoints
· a force demand that is proportional to the deviation between the
wanted and actual speed
The POSITION AND HEADING SETPOINTS, specified by the operator,
are compared with the ESTIMATED POSITION AND HEADING from the
Vessel Model. The differences are multiplied by gain factors that
are calculated and adjusted to optimize the station keeping
capability with minimum power consumption.
28 173222/C
System Overview
The wanted speed is compared with the ESTIMATED SPEED from the
Vessel Model. If the vessel is to maintain a stationary position, the
wanted speed will be zero. This part of the force demand therefore
acts as a damping factor in order to reduce the vessel’s speed to
zero.
Force demand for axes under manual control

When any of the axes are not under automatic control, you can use
the joystick to manually control the force exerted by the
thrusters/propellers in those axes.
Feed forward
In order to counteract changes in the external forces as soon as they
are detected, rather than first allowing the vessel to drift away from
the required position, the calculated EXTERNAL FORCES are fed
forward as an additional force demand.
Thruster allocation
The force demand in the surge and sway axes (the directional force
demand), and in the yaw axis (the rotational moment demand), are
distributed as pitch and/or rpm setpoint signals to each
thruster/propeller.
The demand is distributed in such a way as to obtain the directional
force and rotational moment required for position and heading
control, while also ensuring optimum thruster/propeller use with
minimum power consumption and minimum wear and tear on the
propulsion equipment.
If it is not possible to maintain both the rotational moment and the
directional force demand due to insufficient available thrust,
priority is normally set to obtain the rotational moment demand
(heading). If required, you can request that the priority is changed
to maintain position rather than heading.
If a thruster/propeller is out of service or deselected, the “lost”
thrust is automatically redistributed to the remaining
thrusters/propellers.
173222/C 29
Kongsberg SDP
Power overload control

The load on the main bus or on isolated bus sections is monitored,
and power is reduced on the connected thrusters/propellers by
reducing the pitch/rpm demand if the estimated load exceeds the
nominal limit. The reduction value is shared between the
connected thrusters/propellers in such a way that the effect on the
position and heading control is minimized.
This function acts as an addition to the vessel’s own Power
Management System (PMS). The power reduction criteria are set
at lower overload levels than the load reduction initiated by the
PMS system.
Operational modes
The following operational modes are described in this manual:
· Standby mode (page 98)
This is a waiting and reset mode in which the system is in a state
of readiness but in which no control of the vessel can be made
using the system.
· Manual mode (page 99)
In this mode, you control the vessel movement in all three axes
using the joystick.
The Manual mode also allows automatic control of either one
or two of the surge, sway and yaw axes.
· Auto Position mode (page 110)
In the Auto Position mode, the vessel is under full automatic
control in all three axes.
· Auto Track (move-up, low and high speed) mode (page 112)
This mode enables the vessel to automatically follow a
predefined track. The system controls the position, the heading
and the speed using all available propulsion forces.
· Autopilot mode (page 160)
This mode enables the vessel to steer along a selected course.
· Auto Area Position mode (page 173)
In this mode the system keeps the vessel within an allowed area
with minimum use of power.
· Anchor Watch mode (page 181)
This mode allows you to monitor the vessel’s position within
defined limits when at anchor.
30 173222/C
System Overview
· Follow Target mode (page 185)

This mode allows the vessel to follow a moving submerged
target such as a Remotely Operated Vehicle (ROV), while
keeping the vessel at a constant position relative to the target.
The SDP system is supplied with either a Trainer function or a
Simulator function:
· The built-in Trainer function (page 379) provides simple
simulations for operator training purposes and for analyzing the
vessel behaviour during changes in operational conditions.
· The Simulator function (refer to separate Simulator operator
manual) provides the same features as the Trainer function but
with more functionality and flexibility in defining the
operational conditions. The simulator can be provided as either
a built-in or stand-alone function.
173222/C 31
User Interface
USER INTERFACE
This section gives an overview of the SDP operator station
and the user interface.
173222/C 33
Kongsberg SDP
The operator station

The SDP operator station includes a display screen for monitoring
and operation of the system, and an operator panel with
pushbuttons, lamps and joystick controls.
Figure 4 The SDP operator station
Display controls
The Brightness, Contrast and Degauss controls for the colour
monitor are located to the right of the display as shown in Figure 4.
Brightness Adjusts the overall image and background brightness.
Contrast Adjusts the image brightness in relation to the background.
Degauss Eliminates the build-up of stray magnetic fields which alter the
correct scan of the electron beams and affect the purity of the
screen colours, focus and convergence.
When you press the Degauss button, the screen image will jump
and waver as the screen is demagnetised. To protect the degauss
circuitry, do not press the button for longer than 10 seconds at a
time, and allow at least 20 minutes to elapse between uses of the
button.
34 173222/C
User Interface
The operator panel

Dedicated buttons with status lamps are provided on the operator
panel for activation of main modes, reference systems, thrusters
and other functions where indicator lights are of great importance
for situation assessment.
Other frequently-used functions, such as selection of display views
and dialog boxes, are also initiated from dedicated panel buttons.
The buttons are arranged in groups according to their main
function.
For safety reasons, some of the buttons must be pressed twice
within 4 seconds to invoke action.
The panel also provides a heading wheel, a numeric keypad for
entering data, a trackball to control the screen cursor and a 3-axis
manual joystick.
To locate further information about individual panel buttons,
use the Button Index at the end of this manual.
Figure 5 The SDP operator panel
173222/C 35
Kongsberg SDP
Modes
The Modes button group contains buttons for selecting the main
operational modes. Status lamps indicate the current mode.
Three additional buttons allow you to select individual axes for
automatic control. These are referred to as the Surge, Sway and
Yaw buttons throughout this manual.
Figure 6 illustrates the panel buttons on a vessel where the operator
station is placed so that the operator, while looking at the screen,
looks in the alongships direction.
Surge Sway Yaw

Figure 6 Surge, Sway and Yaw buttons with the OS oriented
alongships
Figure 7 illustrates the panel buttons on a vessel where the operator
station is placed so that the operator, while looking at the screen,
looks in the athwartships direction.
Sway Surge Yaw

Figure 7 Surge, Sway and Yaw buttons with the OS oriented
athwartships
Note that the appearance of the panel buttons may vary from vessel
to vessel.
Controls
The Controls button group contains buttons for enabling thrusters
and for accessing system functions and dialog boxes.
Sensors
The Sensors button group contains buttons for enabling
position-reference systems and for initiating dialog boxes related
to other system sensors.
Views
Both the Views and Main Views button groups contain buttons for
selecting the view to be displayed in the main working area of the
screen. There is no functional difference between the two button
groups.
36 173222/C
User Interface
Alarms
The Alarms button group contains indicators and buttons to
display and acknowledge alarms and events. Figure 8 illustrates
the panel putton used for silencing the audible alarm (without
acknowledging the alarm message that caused it). This panel
button is referred to as the Silence button throughout this manual.
(Cd2901)
Figure 8 The Silence button
Command
The Command button group contains buttons for transferring
command from one operator station or operator terminal to
another.
Heading Wheel
The Heading Wheel is used to increase/decrease the heading
setpoint (see page 203).
The left button is used to decrease the heading setpoint by a fixed

amount for each push.
The right button is used to increase the heading setpoint by a fixed

amount for each push.
The middle button is used to initiate a change in heading setpoint

by use of the heading wheel.
Note Pushing the Inc /Decr buttons “disables” the Set button used in
conjunction with the Heading wheel.
Keypad
The Keypad provides numeric, function and cursor buttons. The
numeric keys are used to enter values into dialog boxes. The
function keys are used to select predefined view configurations
(see page 49).
173222/C 37
Kongsberg SDP
Trackball
The Trackball is used to position the cursor on the screen.
The left button is used to click on buttons, operate menus and select
displayed symbols.
The right button is used to display a pop-up view menu.
The middle button is not used.
Joystick
The 3-axis joystick is used for manual thruster control in all three
axes (when these axes are not selected for automatic control).
To move the vessel in the surge and sway axes (alongships and
athwartships directions), tilt the joystick. The direction in which
you tilt the joystick determines the direction of applied thruster
force, and the angle of tilt determines the amount of applied
thruster force.
To rotate the vessel (the yaw axis), rotate the joystick. The
direction in which the joystick is rotated determines the direction
of the rotational moment demand, and the angle through which the
joystick is rotated determines the amount of applied rotational
moment.
See page 99 for operating procedure.
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Display organisation
The display interface uses standard Microsoftâ Windows NTt
operating features such as menus and dialog boxes.
Figure 9 Example display
The display is divided into a number of predefined areas as shown

below. In addition to these, dialog boxes are displayed whenever
operator interaction is required.
TITLE BAR
MENU BAR
MESSAGE LINE
PERFORMANCE
AREA
WORKING
AREA
MONITORING
AREA
STATUS LINE STATUS BAR
Figure 10 Display organisation
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Title bar
The title bar identifies the SDP operator station and shows the
current date and time.
When this operator station has command, Propulsion is displayed
in the title bar. This is the name of the “command group” over
which the system has control.
The text in the centre of the title bar is either the name of the
“controller group” to which this operator station is connected
(Main), or a configuration-specific title. When the system is in
Trainer (simulation) mode, the text is Simulating (or other
configuration-specific text) is displayed flashing.
Figure 11 Example title bar
Menu bar
The menu bar provides command menus which allow you to access
the available dialog boxes.
To locate information about individual menu entries, use the
Menu Index at the end of this manual.
Figure 12 Example menu bar
Message line
The message line shows the most recent warning or alarm message
that has not yet been acknowledged, see page 66.
Performance area
The performance area always contains one of three performance
views: General, Deviation or Numeric. Each of these views are
designed to show the positioning performance in a clear and
precise way. Colour graphics and large text are used to allow the
status information to be interpreted easily even at a distance.
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Working area
The working area shows selected display views.
Monitoring area
The monitoring area shows smaller versions of the display views
that are available in the working area.
Status line
The status line displays general help messages and advice for the
operator.
Status bar
The status bar provides general system status information by
means of indicators, some of which are cursor sensitive. When the
cursor is moved over an indicator that is defined as click-sensitive,
it changes to a pointing hand. If you then click the left trackball,
a dialog box related to that indicator is opened.
Figure 13 Example status bar
MainMode The present operational mode.

PosMode The status of the automatic position control: PRESENT or NEW
SETP (new setpoint).
HdgMode The status of the automatic heading control: PRESENT, SYS SEL
(system selected) or NEW SETP (new setpoint). In Auto Track
mode, the type of system selected heading is shown as MIN POW
(minimum power), TO WP (towards waypoint) or TABLE (from
waypoint table).
Gain Shows the present controller gain level, see page 211.
Refs An indication of the status of the position-reference systems:
· Grey: no position–reference systems are enabled
· Yellow: at least one position–reference system is enabled
but there is no acceptable position information
· Green: at least one position–reference system is enabled
and the position information from at least one of
them is accepted
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Class Shows the currently-selected DP Class for the DP Online

Consequence Analysis function: either grey (off), 2 (Class 2) or
3 (Class 3). See page 365.
AxCtrl A graphic indication of the axes that are under automatic control:
The surge axis is under automatic control.
The sway axis is under automatic control.
The yaw axis is under automatic control.
The axes control symbol is rotated according to the orientation of

the operator station (see page 45). Note that the mutual angle
difference between the surge and sway axes is preserved. To ease
distinction when only one is active, the sway axis line is noticeable
shorter than the surge axis line.
Dialog boxes
JoyLock Shows whether the manual joystick is locked (flashing red/yellow)
or not locked (grey).
Data entry is achieved using dialog boxes initiated from panel
buttons or menu items, or by clicking on graphical symbols in the
display views.
A dialog box may cover either a logical group of functions related
to primary operations relevant for several main modes, or more
special functions specific to a particular mode. For example, all
functions related to change of heading are put together.
Dialog boxes “pop up” in the display area but you can move them
as required.
To locate information about individual dialog boxes, use the
Dialog Box Index at the end of this manual.
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Figure 14 Example dialog box
When you have modified data in a dialog box, the message

(Changed) is added to the title text.
Data that you enter in a dialog box are not taken into account until
you confirm the input by clicking Apply or OK:
· If you click Apply, the changes that you have made are applied
and the dialog box remains displayed.
· If you click OK, the changes that you have made are applied and
the dialog box is removed from the display. If any data errors
are found, no changes are made and the dialog box remains
open.
When you are not allowed to make changes to the data in a dialog
box, both OK and Apply will be unavailable (displayed dimmed).
This will occur, for example, when the operator station is not in
command or the system in not in an appropriate mode.
Some dialog boxes comprise several pages which you access by
clicking on the page “tab”. For this type of dialog box, both Apply
and OK apply the changes that you have made on all pages of the
dialog box.
Click Cancel to close the dialog box without action. If a dialog box
can be accessed by pressing a panel button, pressing this panel
button while the dialog box is displayed closes the dialog box
without action.
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Input validation of heading, direction and

angle values
When entering a value for heading, direction or angle, the value is
validated and must be within the selected display format limits for
this data type (for example Heading 0 to 360 degrees). If you enter
an illegal value and then click Apply, the input will be rejected and
a message displayed for a few seconds to the left in the status bar
together with a short beep. The current value will remain
unchanged.
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Display views
Orientation of the operator station

Several of the display views show information relative to a
diagram of the vessel; for example, thrusters are shown on the
Thrusters view in their relative positions on the vessel diagram.
The orientation of the vessel diagram can be changed during
configuration of the SDP system to suit the orientation of the
operator station, so that it is easier for you to interpret what you see
on the screen. There are four possible orientations which are
generally used in the following situations:
· The operator is facing forward in the vessel when looking at the
display screen. The vessel diagram is displayed “bow up” on the
display.
· The operator is facing to starboard in the vessel when looking
at the display screen. The vessel diagram is displayed “bow left”
on the display.
· The operator is facing aft in the vessel when looking at the
display screen. The vessel diagram is displayed “bow down” on
the display.
· The operator is facing to port in the vessel when looking at the
display screen. The vessel diagram is displayed “bow right” on
the display.
In this manual, the example display views show the vessel diagram
“bow up”. For other orientations, the displayed information in
each view is the same, but it may be arranged differently.
Tooltip / hotspot cursor and change of

cursor image
In many of the display views the ordinary cursor changes to a
pointing hand (the hotspot cursor) when it is moved over an area
defined as click-sensitive. Typical examples of such
click-sensitive areas are push buttons for zooming in and out,
numerical fields showing other related numerical values when
clicked, graphical fields showing a specific dialog box when
clicked, change of position setpoint, opening another view related
to the specific component you click, opening the control dialog box
for a specific plot, etc.
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Figure 15 Tooltip and Hotspot cursor shown when cursor is

over a click-sensitive area
Simultaneously with the change of cursor image when above a

click-sensitive object, a short hotspot cursor text in a yellow frame
(the tooltip) is displayed for a few seconds. This text explains the
use of the click-sensitive object. The tooltip and hotspot cursor is
by default on, but can be toggled on/off by use of the Show
ToolTip command and the Use HotSpot Cursors command on the
View menu.
Available views
The following display views are available (in alphabetic order):
· Alt. Rot. Point view (page 210)
Shows the position of all the alternative rotation points that are
available when the vessel is under automatic heading control.
· Capability view (refer to separate DP Capability Analysis
operator manual)
Shows the results of the latest analysis performed by the DP
Capability Analysis function.
· Conning view (page 370)
Shows useful information in Autopilot and Auto Track
(high-speed) modes.
· Diesels view (page 362)
Provides a simplified mimic display of the vessel‘s diesel
engines and fuel rack system.
· Deviation view (page 243)
Shows a combination of graphical and numerical performance
data, particularly related to position and heading deviation.
· Driller view (refer to separate Riser Angle Monitoring operator
manual)
Shows a range of graphical and numerical information for
vessel, setpoint and BOP position, together with symbols
indicating riser angle measurements.
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· General view (page 239)

Shows a combination of graphical and numerical performance
data.
· LTW view (page 288)
Shows the performance of a Light-Weight Taut Wire (LTW)
position–reference system.
· Manual view (page 102)
Shows the thrust demand and response during manual mode.
· Numeric view (page 250)
Shows performance data in numerical form.
· Posplot view (page 252)
Shows the vessel’s position and heading.
· Power view (page 357)
Shows a mimic display of the vessel’s electrical power system.
· Power consumption view (page 360)
Shows available power for each main bus in numerical form,
and also consumed power for each main bus both in numerical
and graphical form.
· Refsys view (page 280)
Show the individual and resulting performance of the active
position–reference systems.
· Riser view (refer to separate Riser Angle Monitoring operator
manual)
Shows a range of graphical and numerical information for each
riser sensor.
· Sensors view (page 316)
Shows the performance and state of a subset of the vessel’s
sensors, such as gyrocompasses, wind sensors and VRS.
· Thruster views (page 337)
A main view and sub-views for each thruster show how the
system is using the available thrusters to provide the required
thrust demand. The Setp/feedb view shows setpoint and
feedback data for all the thrusters.
· Trends view (page 377)
Shows dynamic displays of the history over a specified period
of selected information.
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Selecting a display view

You can select a view to be displayed in three ways:
1 To select a view to be displayed in the working area, press
the appropriate button in the Views or Main Views button
group on the operator panel.
2 To select a view to be displayed in the performance, working
or monitoring area, place the cursor in the required area and
click the right trackball button. A pop–up menu is displayed
listing the views that are available for that area. Select the
required view.
Figure 16 shows the pop-up view menu. The small arrow to
the right of a menu entry indicates that a sub-menu of related
views is available.
Figure 16 Example pop-up view menu
3 To display a preselected set of views in the performance,

working and monitoring areas, press the appropriate
function key on the keypad (see page 49).
View control dialog boxes

Many of the views have control dialog boxes to select the displayed
information and to control features of the view. You access these
dialog boxes via the pop–up menu for the view.
To display the control dialog box for a view:
1 Place the cursor anywhere in the view and click the right
trackball button.
- The pop–up view menu is displayed.
2 Click View Control on this menu.
- The control dialog box for the view is displayed.
- If the view does not have an associated control dialog box
then View Control is not available on the pop–up menu.
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User Interface
Figure 17 Example view control dialog box
Zooming
To zoom a view that is displayed in the working or monitoring area,
click Zoom In on the view pop-up menu. The view is enlarged by
a factor of approximately 1.6, centred on the cursor position when
the pop-up view menu was displayed.
A zoomed view can be panned or zoomed again. Place the cursor
in the required area and click the right trackball button. The
following pop–up menu is displayed:
Figure 18 Zoom menu

Clicking Zoom Reset returns the view to its original scale.
Clicking Zoom In zooms the view again, centred on the cursor
position when this menu was displayed.
Clicking Center Here pans the view so that it is centred on the
cursor position when this menu was displayed.
If available, clicking View Control displays the control dialog box
for the view.
Preselecting views
You can preselect sets of views to be displayed in the performance,
working and monitoring areas and associate them with function
keys on the keypad. When you then press one of these function
keys, the preselected set of views is displayed.
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To program the function keys, click Preselect on the View menu.

The Preselect dialog box is displayed.
Figure 19 Preselect dialog box
While this dialog box is displayed, select the wanted views in the
performance, working and monitoring areas, and then click the
appropriate function key button on the dialog box. When you click
Close, these views are associated with the selected function key.
The function keys that can be used are preconfigured for your
system.
All function keys which are not user programmable, appear
dimmed in the Preselect dialog box. The views displayed, when
a corresponding function key is pressed, are all preconfigured.
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Printing the display picture

To print a hard copy of the current display picture, press the
Hardcopy button in the Views button group. The whole screen
picture is printed on a general-purpose printer connected to an
operator station (not the event printer connected to the controller).
You can define which printer is to be used. On the System menu,
click Screen Capture Printer. The standard Windows NTt
Print Setup dialog box is displayed.
Figure 20 Example Print Setup dialog box
You can use this dialog box to select the printer and to define the
printer set-up.
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Display colours
Two sets of display colours (palettes) may be available for day or
night use.
Note Depending on the menu configuration of your system, you can
select display colours either using the Palette command or the Set
Palette command on the View menu.
To change the display palette using the Palette command:
1 On the View menu, click Palette.
- The Colour dialog box is displayed.
Figure 21 Example Colour dialog box
2 Select the required display palette.

3 Click OK.
To change the display palette using the Set Palette command:
1 On the View menu, place the cursor on the Set Palette menu
entry.
- Two menu entry extensions, Day and Night, are displayed
(see Figure 22).
Figure 22 View menu - Selection of display palette
2 Select the required display palette.
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Panel lamps
Dimming level
You can set the required light intensity for the indicator (status)
lamps on the operator panel and for the background lamps in the
buttons themselves.
1 On the Panel menu, click Dim Panel.
- The Panel Light Control dialog box is displayed.
Figure 23 Panel Light Control dialog box
2 Select the required light intensity for the indicator lamps and
the background lamps.
3 Click OK.
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Lamp test
You can test the panel status lamps, alarm lamps and the audible
alarm at any time.
1 On the Panel menu, click Lamp Test.
- The Lamp Test dialog box is displayed.
Figure 24 Lamp Test dialog box
2 Click Start Lamp Test.

- The following message is displayed in the Lamp Test
dialog box:
The Lamp Test has started
- All the panel status lamps should be lit.
- All the alarm lamps in the Alarms button group should
be lit.
- The audible alarm should sound.
3 Press Silence in the Alarms button group to stop the audible
alarm.
4 Press each button which has a status lamp.
- The status lamp should be extinguished.
5 To stop the test, click End Lamp Test.
6 Click Close to remove the Lamp Test dialog box.
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Display units
You can specify the display units to be used for the display and
entry of values. You can also select which set of display units to
use.
Selecting the display units set to use

1 On the DisplayUnits menu, click Units.
- The Display Units dialog box is displayed.
Figure 25 Display Units dialog box
2 Select the required display units set you want to use. You can
choose between Metric Units, Imperial Units, and
depending on the specific configuration, one or more User
Definable sets.
3 Click OK (or Apply if you have selected a User Definable
set and want to edit some of the values in this selected display
unit set).
You can now proceed to select the required values you want to edit.
Note that you can only edit User Definable display units sets. You
have two methods at your disposal for editing values as described
below.
Note Procedures for selecting the required datum for display of position
information are described on page 233.
Procedures for setting the display format for position information
are described on page 232.
Procedures for selecting whether to display headings relative to
true or grid north are described on page 230.
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Editing using the extended Display Units

dialog box
1 Click the Details button on the Display Units dialog box.
- The extended Display Units dialog box is displayed (see
Figure 26).
Figure 26 Display Units dialog box - Extended version

2 Using the scroll bar to the right, find the value you want to
edit and select it.
Note This dialog box is resizable. Place the cursor directly above the
lower edge of the dialog box. It then changes appearance to a
two-headed arrow symbol. You can now drag the edge og the
dialog box downwards until it displays all values in the set.
3 Click in the Display Format column for the selected value.
A list box containing all the display formats for this value is
then displayed (see Figure 27). Note that the currently
selected display format is indicated with white text on blue
background.
Figure 27 Display Units dialog box - Selecting display format

4 Select the wanted display format from the options shown in
the list box by clicking it. The list box is then closed.
5 Repeat steps 2 to 4 if you need to edit the display formats for
several values.
6 Click OK.
56 173222/C
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Editing using the Edit Display Unit set

dialog box
1 Click the Edit button on the Display Units dialog box.
2 The Edit Display Unit set dialog box is displayed (see
Figure 28). Note that the currently selected display format is
indicated with white text on blue background.
Figure 28 Edit Display Unit set dialog box
3 Using the scroll bar to the right, find the value you want to
edit and select it.
4 Select the wanted display format from the options shown in
the right-hand list box by clicking it. Note that the currently
selected display format is indicated with white text on blue
background and that a Current Format Example is shown
above the list box.
5 Repeat steps 3 to 4 if you need to edit the display formats for
several values.
6 Click OK to apply the selected formats and to close the
dialog box.
7 Click OK to close the Display Units dialog box.
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Vessel and sea current speed

For vessel and sea current speed you can select between two
display formats for knots, either knots (1 decimal accuracy) or
knots (accurate) (2 decimals accuracy). See Figure 29.
You can also select between two display formats for meter/second:
· For vessel speed, either meter/sec (2 decimals accuracy) or
meter/sec (accurate) (3 decimals accuracy).
· For sea current speed, either meter/sec (1 decimal accuracy) or
meter/sec (accurate) (2 decimals accuracy).
Figure 29 Display Units dialog box - selection of display

accuracy for vessel and sea current speed
Wind, waves and sea current direction

For wind, waves and sea current, you can specify whether the
displayed directions are to be interpreted as “comes from” or “goes
to”.
Figure 30 Edit Display Unit set dialog box - selection of

direction for wind, waves and sea current
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When Goes To is selected, the displayed directions in dialog boxes

and views are shown with “s.” in front of the unit . The “s” means
“setting” (goes to).
On display views such as Posplot, the arrows indicating wind and
current directions point towards the plot when Comes From is
selected, and outwards when Goes To is selected.
Resetting the display units settings

You can reset the display units settings back to the original
(factory) settings.
1 On the DisplayUnits menu, click Reset.
- The Reset Display Units dialog box is displayed (see
Figure 31).
Figure 31 Reset Display Units dialog box
2 Click OK if you want to reset all the display units settings for
the selected set back to the original (factory) settings.
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System time
You can change the date and time of the system clock, and the time
zone. The time that you set at any operator station is applied to all
the available operator stations and controller computers.
Date and time

On the System menu, click Set Date/Time. The Set Time dialog
box is displayed.
Figure 32 Set Time dialog box
Use this dialog box to set the correct date and time. You can either
enter the time and date values directly into the text boxes or use the
up/down arrow to select time and date values.
Time zone
On the System menu, click Set TimeZone. The Set Timezone
dialog box is displayed.
Figure 33 Set Timezone dialog box
Use this dialog box to set the required time zone from the selections
on the drop-down list box. Select the check box if you want the
system to automatically adjust the clock for daylight saving
changes.
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Equipment status
You can view status information concerning the system
equipment.
On the System menu, click Equipment. The Equipment dialog
box is displayed.
Figure 34 Example Equipment dialog box
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Print status page

You can print a predefined set of system status data on the event
printer connected to the controller. You can either explicitly
request an immediate printout or request repeated printing with a
given time interval.
To print the status page or to request repeated print-outs, click
Print Status on the System menu. The Print Status dialog box
is displayed.
Figure 35 Event Printer dialog box
Print Status Click this button to request an immediate printout of the status
page.
Print DPC Info Click this button to request an immediate print-out of system
status data and also each controller’s idle time, up time and free
memory (see extract from a print-out example below).
DPC Info:
------------------------------------------
Name CPUtype IdleTime Uptime FreeMem
[%] [min] [KB]
------------------------------------------
A SBC400HX 55 4 18046
Cyclic Print Select this check box if you want a cyclic printout to be made
automatically with the specified Interval.
Interval The time interval for cyclic printing of the status page.
An example of a printed status page is shown in Figure 36.
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PRINT PAGE Wed Jun 21 11:18:51 2000
SETUP
Main mode : AUTO
Trainer : INTERNAL
Position control: SURGE SWAY YAW
Control gain : LOW
Position mode : SETPOS Heading mode: PRESENT
REFERENCE SYSTEMS
Weight PosN PosE
*GPS-1 0.14 577.6 243.5
GPS-2 0.14 577.6 243.1
FBeam-1 0.14 577.6 243.4
Art-1 0.14 577.6 243.4
HPR-1 B01 0.14 577.6 243.4
KONMAP-12 0.14 577.7 243.4
KONMAP-11 0.14 579.3 244.3
Reference origin : GPS-1
POSITION
Wanted Actual Dev
North 898.0 579.4 318.6
East 424.5 244.4 180.0
Heading(deg) 360.0 359.3 0.7
Speed(m/s) 0.300 0.310 -0.010
ENVIRONMENT
Wind 13.1 (m/s) 047.9 (deg)
Current 0.3 (m/s) 060.1 (deg)
Pitch (deg) 0.0 RMS: 0.0
Roll (deg) -0.4 RMS: 0.8
Heave (m) 0.0 RMS: 0.0
THRUSTERS
Force Pitch(%) Speed(rpm) Load(kW) Azimuth(deg)
(T) - % setp-feedb setp-feedb setp-feedb setp-feedb
BowTunnel1 11.1 50 0 666 658 Tunnel
BowTunnel2 5.0 50 179 178 236 Tunnel
BowAzim 10.1 51 68 68 140 436 084.7 084.7
AftTunnel 3.6 16 36 36 266 Tunnel
StbdAzim 4.9 16 58 58 133 080.0 080.0
PortAzim 5.4 18 61 61 151 067.6 067.6
StbdProp 13.8 14 49 50 147 147 047.0 047.0
PortProp 5.9 6 27 27 147 147 000.0 000.0
Resulting thruster force: Surge(T) 19.0, Sway(T) 49.5, Yaw(Tm) 353.2
Figure 36 Example status page
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SYSTEM MESSAGES
This section provides a description of the way in which
system messages are displayed, the types of messages
displayed, and how these messages should be interpreted.
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The message system

The system contains built-in tests that continually check for faults
while the system is running. System messages are generated to
inform you of any incorrect system operation or to bring any other
relevant information to your attention.
System messages are displayed on the screen and printed out on the
event printer connected to the controller.
Types of messages
There are three categories of system messages:
· Alarm Messages
Alarm messages are generated when conditions are detected
that critically effect the capability or performance of the system
(such as a system fault or a defined alarm limit exceeded).
Alarm messages are accompanied by an audible alarm and by
the relevant lamp flashing in the Alarms button group. These
audible and visual alarms continue until you acknowledge the
message.
You must critically examine all alarm messages to determine
their cause and effect.
· Warning Messages
Warning messages inform you of the occurrence of conditions
in the system that, if ignored, could result in unwanted system
response or eventual failure (such as incorrect operator actions,
intermittent position-reference data or a defined warning limit
exceeded).
Warning messages are accompanied by the relevant lamp
flashing in the Alarms button group until the message is
acknowledged. There are no audible alarms associated with
warning messages
· Information Messages
Information messages inform you of conditions that are
noteworthy, but that have no serious effect on the performance
of the system. There are no audible or visual alarms associated
with Information messages.
If the system tests do not report the same message within a timeout
period (usually 20 seconds), the message becomes inactive:
· Inactive information messages are removed from the display.
· Inactive warning and alarm messages must be acknowledged
before they are removed.
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System Messages
Presentation of messages
System messages are presented in two different displays:
· The Message Line always shows the most recent warning or
alarm message that has not yet been acknowledged.
Figure 37 Example Message Line
· By pressing the View button in the Alarms button group, you

can display the Alarm Window. This window contains a list of
all the current messages.
Figure 38 Example Alarm Window
(First column) An asterisk (*) is displayed if you have not yet acknowledged the
message.
Orig. Identifies the source of the message:
· Command Command control system
· Equipment Equipment monitoring system
· Internal Operator station
· A B C Controller computer
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If the message is from a controller computer, this column may

contain up to three characters, depending on the redundancy level.
For example, for a triple-redundant system:
A B C The message was reported by all three
computers and is still active.
C The message was reported only by computer C
and is still active.
- B The message was reported by computers A
and B. The message from computer A is now
inactive.
- - - The message was reported by all three
computers and is now inactive (but is not yet
acknowledged)
Time Date and time when the message was first reported.
Prior. Message priority: Alarm, Warning or Information.
Text Message text.
Additional info Up to three blocks of additional data may be included in the
message. The meaning of this additional data varies for each
message. See Message explanations below.
Dynamic/Static You can use the tabs at the bottom of the window to choose between
Events a dynamic message display (where Static messages are displayed
and removed dynamically) or a static message display (showing a
static snapshot of the current messages). If the list extends beyond
the window area of the static display, you can use the up/down
arrows in the tool bar.
Acknowledging messages
You can acknowledge either all visible messages or individual
messages (selected on the Alarm Window).
You can acknowledge messages in the following ways:
· Press the Ack button in the Alarms button group.
· Click the button in the tool bar of the Alarm Window.
· Place the cursor in the Alarm Window or the Message Line,
click the right trackball button to display the following pop-up
menu, and click Ack.
Figure 39 Alarm Window pop-up menu
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System Messages
You can acknowledge individual messages or all messages:

· If the Alarm Window is not displayed, then only the message
displayed in the Message Line is acknowledged.
· If the Alarm Window is displayed, and no individual messages
are selected, then all the displayed messages are acknowledged.
· To acknowledge individual messages, first display the Alarm
Window. From the list of active messages, use the cursor to
select the message(s) to be acknowledged. You can select either
a single message or a group of consecutive messages (by
dragging the cursor over the messages).
When an alarm is acknowledged that is reported as inactive by all
the controller computers, it is removed from the message list. If
this results in “gaps” in the list displayed in the Alarm Window, you
can remove them either by selecting Refresh on the Alarm
Window pop-up menu, by clicking the refresh button on the
toolbar, or by closing and reopening the Alarm Window.
Alarm lamps
There are three alarm lamps in the Alarms button group:
· Computer
This lamp flashes in response to a hardware-generated alarm
indicating that the operator station computer (COS) has stopped
communicating with the operator panel controller via the serial
line. This may indicate that the COS is “dead”, or the serial-line
software has stopped executing.
Note This lamp does not indicate failures in the controller computer(s).
If the operator station loses contact with the controller, a message
is displayed in a screen dialog box:
No network response from Controller
· Power
This lamp flashes in response to a hardware-generated alarm
indicating a power supply or UPS failure to the operator panel
controller. Two power supplies are normally supplying this
controller and if one of these fails, the alarm is activated.
· Alarm
This lamp flashes in response to a software-generated alarm or
warning from the COS initiated by an operational alarm or
warning condition; for example, heading or position deviation
beyond limits or sensor error. These alarms are generated by the
controller computer and do not indicate failures in the operator
station.
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Silence button
You can press the Silence button in the Alarms button group at
any time to silence the audible alarm (without acknowledging the
alarm message that caused it). The audible alarm will sound again
(Cd2901) if another alarm message is reported.
Messages on the printer

When a warning or alarm message is first reported by the system,
becomes inactive or is acknowledged, it is printed out immediately
on the event printer connected to the controller. Information
messages are printed only when first reported.
Note Only messages from the controller computers are printed on the
event printer. Command, Equipment and Internal messages are not
printed.
The format of the printed messages is shown below:

ON WARNING 0012 AT THU MAY 12 08:10:23 1996 A
POWER LIMITS REACHED ON BUS 1
8200 9669 0
ON Shows the reason for printing the message:

ON message first reported
OFF message has become inactive
ACK message has been acknowledged
WARNING Message priority: Alarm, Warning or
Information
0012 Sequence number. Each new message is given
a new sequence number. Corresponding ON,
OFF and ACK messages have the same
sequence number.
AT Date and time of printing.
A Identification of the computer reporting the
message and indication of message status
(active or inactive). (See Presentation of
messages above).
POWER Message text.
Up to three blocks of additional data may be included in the
message. The meaning of this additional data varies for each
message.
70 173222/C
System Messages
Message explanations
Using the Help system, you can obtain explanations for any of the
messages generated by the controller computers. Explanations of
Command, Equipment and Internal messages are not available.
On the Help menu, click Message Explain. The Message Explain
dialog box is displayed. This dialog box allows you to:
· Select the required message from an alphabetic list of Contents
· Find the required message by searching for words or phrases
that are contained in the message or the message explanation
Contents
To select the required message from an alphabetic list, display the
Contents page by clicking the Contents tab of the Message
Explain dialog box.
Figure 40 Message Explain dialog box - Contents page
The messages are grouped alphabetically according to the first

character of the message text, and a book icon is displayed for each
start character.
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Open To list the messages that begin with a particular character, either
double-click on the appropriate book icon or select the required
book icon and click Open. The messages that begin with this
character are listed as shown in Figure 41.
Print To print explanations of all the messages that begin with a
particular character, select the required book icon and click Print.
See also Printing message explanations.
Cancel Click Cancel to close the dialog box.
Figure 41 Expanded list of messages

When you open a book icon, a list of the messages that begin with
the appropriate character is displayed.
To display the explanation for a particular message, double-click
on the name of the required message. See Displayed explanation.
Close To close the list of messages, either double-click on the book icon
or click Close.
Print To print the explanation of a particular message, select the name
of the message and click Print. See also Printing message
explanations.
Cancel Click Cancel to close the dialog box.
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System Messages
Find
The first time you use find, the Find Setup Wizard appears.
Follow the instructions here to create a word list from the help files
you have. When you have created the list you will be able to use
the Find tab to search for specific words and phrases.
To find a message by searching for words or phrases that are
contained in the message name or the message explanation, display
the Find page by clicking the Find tab of the Message Explain
dialog box.
Figure 42 Message Explain dialog box - Find page
If your operator station has an alphanumeric keyboard, you can

type the word(s) or phrase that you want to find in the first field.
You can type just a few characters and then use the keyword list in
the second field to see if any words match what you have typed. If
you want to specify more than one word, separate them with a
space. If you specify uppercase characters, then only words that are
in uppercase will be found. However, if you specify lowercase
characters, both upper and lowercase words will be found. To
change the search options, click Options (see Find options).
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The second field shows a list of keywords that match the characters
that you typed in the first field. If this field is empty, it means that
the word you typed is not contained in any of the message
explanations. You can select one of the displayed keywords to
further narrow the search.
The third field lists the names of the messages that contain text that
matches the search criteria. To display the explanation for a
particular message, either double-click on the name of the required
message, or select the name of the message and click Display. See
Displayed explanation below.
The number of messages that match the search criteria and a
summary of the search options are displayed at the bottom of the
dialog box.
Clear Removes the characters you type in the first field.
Options... Click Options to specify how and when to search for the specified
word(s) or phrases (see Find options).
Find Similar... Not available.
Find Now Initiates a search. If Find Now is not available, the search happens
automatically after you type the word or phrase. See Find options.
Rebuild... Recreates the keyword list. Not relevant for normal operation.
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System Messages
Find options
When you click Options on the Find page, the Find Options
Figure 43 Message Explain - Find Options dialog box
Search for topics You can specify whether to find the messages that contain
containing all of the words you specify or at least one of the words you specify.
Show words that Determines how to match the characters that you type to the words
in the messages. You can choose to match words that begin with,
contain, end with, or match the characters you type.
Begin searching You can choose to begin searching either after you click Find Now
or immediately after each keystroke. In the latter case, you can also
choose to wait for a pause in your typing before starting the search.
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Displayed explanation
The explanation of the selected message is displayed in the form
shown below.
Figure 44 Example message explanation
76 173222/C
System Messages
Note The Operative recommendation in the message explanations

provides only general advice. You must evaluate the required
action according to the actual operational situation.
Tool bar
The tool bar contains the following buttons:
Contents Displays the Contents page.
Find Displays the Find page.
Back Displays the previous message explanation in the history list.
<< Displays the previous message explanation (alphabetically).
>> Displays the next message explanation (alphabetically).
Menu bar
The following menu bar functions may be of interest:
File - Print Topic Prints the currently-displayed message explanation. See also
Printing message explanations.
Edit - Annotate Allows you to add an annotation to the displayed message
explanation. When a message is annotated, a paper-clip icon
appears at the top of the explanation. Clicking on the paper-clip
displays the text of your annotation.
Bookmark - Define Allows you to create a bookmark for the message explanation with
a specified name. This name then appears in the bookmark list and
allows you to quickly return to this message explanation.
Options - Display Displays a window containing a list of the message explanations
History Window that you have displayed. You can return to an earlier explanation
simply by double-clicking on the message name.
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Printing message explanations

Whenever you print any of the message information, the standard
Windows NTt Print Setup dialog box is displayed.
Figure 45 Example Print Setup dialog box
You can use this dialog box to select the printer and to define the
printer set-up. This is a general-purpose printer connected to an
operator station or to the network (not the event printer connected
to the controller).
78 173222/C
SYSTEM OPERATING PROCEDURES

This section provides procedures for starting and stopping the
system, connecting to a controller group, taking command at
an operator station, switching between controller computers
in a redundant system, and resetting a controller computer.
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System start-up/shut-down and OS stop/restart

When not in use, the controller cabinet and operator stations are
usually left with the power on and with the SDP system in Standby
mode.
System start-up
If the system has been shut down, use the following procedures to
restart the system.
UPS
At the UPS cabinets turn the power on as described in the
manufacturer’s manual.
Operator station
1 Open the door of the operator station.
2 Switch on the 24V circuit breakers Q1 and Q2.
3 Switch on the 230V circuit breakers Q3 and Q4.
4 Wait for a few minutes.
5 Check that the normal display appears on the display screen.
6 Close the door of the operator station.
Controller cabinet
1 If your vessel has a switch on the bridge which selects
between manual and SDP thruster control, ensure that this
switch is set to MANUAL. This ensures that the SDP system
cannot at this stage send control signals to the vessel’s
propulsion system.
2 Open the main door of the controller cabinet.
3 Switch on the following 230V circuit breakers (depending
on the redundancy level of the controller):
- Q1-1 for all systems
- Q1-1 and Q2 for dual and triple-redundant systems
- Q1-1, Q2 and Q3 for triple-redundant systems. (Q3 is
located in the upper section of the controller cabinet.)
4 Wait for approximately one minute.
5 Check that the RUN LED on the front panel of the each of
the SBC400 computers shows green.
6 Close the door(s) of the controller cabinet.
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General
1 Ensure that the required gyrocompasses are switched on and
run up.
2 Ensure that the required VRS are switched on.
3 Ensure that the required sensors and position–reference
systems are switched on and available.
System shut-down
The SDP system is normally left with power on, and in the Standby
mode.
If the system is to be shut down for any reason, use the following
procedures.
Controller cabinet
1 Ensure that the SDP system does not have control of the
vessel propulsion system.
2 Open the main door of the controller cabinet.
3 Switch off the following 230V circuit breakers (depending
on the redundancy level of the controller):
- Q1-1 for all systems
- Q1-1 and Q2 for dual and triple-redundant systems
- Q1-1, Q2 and Q3 for triple-redundant systems. (Q3 is
located in the upper section of the controller cabinet.)
4 Close the door(s) of the controller cabinet.
Operator station
1 On the System menu, click Stop/Restart. The Stop/Restart
dialog box which is described in detail in the following
section is displayed.
2 Select Shutdown to shutdown the OS software, end the
Windows NT session and prepare the computer to be turned
off. When you click OK, you will be asked to confirm this
action. Click OK again.
3 Wait for the Shutdown Computer dialog box to be
displayed, containing this text: “It is now safe to turn off your
computer”.
4 Open the door of the operator station.
5 Switch off the 24V circuit breakers Q1 and Q2.
6 Switch off the 230V circuit breakers Q3 and Q4.
7 Close the door of the operator station.
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UPS
At the UPS cabinet turn the power off as described in the
manufacturer’s manual.
Stop/Restart dialog box

If the Operator Stations lose contact with the software system, you
cannot operate or monitor the system. The propulsion system
remains under the control of the controller computer, hence, the
control of the propulsion system does not depend on running
Operator Stations.
You can reset Operator Stations, but the controller computer
remains in control of the vessel’s propulsion system.
The Operator Station should be reset if the system is not
performing as required, for example
- Display views are not updated (i.e. numerical values,
heading and position do not change).
- The Operator Station does not respond to operator input.
- It is not possible to move the cursor.
The Operator Stations should be reset one by one to facilitate
operation and monitoring of the system from other Operator
Stations.
Note Avoid resetting the Operator Station by switching the power off and
on. It may be damaging to the Windows NT file system.
With the Stop/Restart dialog box you can perform the following
tasks on your operator station:
· Stop the OS software and leave the Windows NT session
running.
· Restart the OS software and leave the Windows NT session
running.
· Shutdown the Windows NT session (and thus also stop the OS
software)
· Reboot the Windows NT session (and thus also stop and restart
the OS software)
WARNING You should be aware of that some of the
selection you can perform in this dialog box is
not part of normal operating procedures for the
SDP system, but rather implemented to ease
service and installation work performed by
trained personnel from Kongsberg Maritime.
82 173222/C
To display the Stop/Restart dialog box, click Stop/Restart on the

System menu.
Figure 46 Stop/Restart dialog box
OS Software - Stop Stop the OS software and leave the Windows NT session running.
OS Software - RestartRestart the OS software and leave the Windows NT session

running. During the restart period the OS software will be stopped
and log off performed. The system will then immediately try to
restart. A count-down dialog box will then be displayed for
approximately five seconds. If you click the button on the
count-down dialog box before the five seconds period has elapsed,
the Logon Configuration dialog box is opened. Refer to section
Logon configuration on page 84 of this document for more
information. If you do not interfere with the count-down, the OS
software will be restarted while leaving the NT session running.
Using this option provides a quick and simple way to switch

between normal OS operation and standard NT/explorer
operation.
Windows NT - Stop the OS software, shutdown the Windows NT session and

Shutdown prepare the computer to be turned off. When you click OK you will
be asked to confirm this action. Click OK again.
Windows NT - Stop the OS software, reboot the Windows NT session and restart
Reboot (with OS the OS software. When you click OK you will be asked to confirm
Restart) this action. Click OK again.
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Resetting Operator Stations using the

Windows NT Security dialog box
If it is impossible to move the cursor, or the System menu of some
other reason is unavailable, use the following procedure to reset the
Operator Station:
1 Type Ctrl+Alt+Del (simultaneously) on the alphanumeric
key board.
- The Windows NT Security dialog box is displayed.
2 Select Shut Down.
- The Windows NT Shutdown Computer dialog box is
displayed.
3 Select Shutdown.
4 Turn the power off.
5 Restart the Operator Station as described in section System
start-up and shut-down in the SDP (OS) Operator Manual.
Logon Configuration dialog box

With the Logon Configuration dialog box you can perform the
following tasks on your operator station:
· Select between user logon and auto logon (default).
· Select/change the shell to be used when logging on (typically
either NT Explorer or the OS software).
Depending on the shell used on your operating station, you can
display the Logon Configuration dialog box either by selecting
DP AutoStart under the SDP command on the the Start menu
(only when using NT Explorer as shell) or when performing
autostart of the SDP system. During autostart a count-down dialog
box is launched. Pressing the button on this count-down dialog box
within the count-down limit displays the Logon Configuration
dialog box.
84 173222/C
Figure 47 Logon Configuration dialog box
User Logon Select this option button if the user is required to log on manually
each time the system is started.
Auto Logon Select this option button if automatic logon is to be configured and
performed each time the system is started (this is the normal logon
configuration).
Shell Drop down list box where you can select which shell configuration
to use when logging on, either NT Explorer or the OS software (the
OS software is the normal shell configuration).
Apply and Logoff Pressing this button after having selected a new shell configuration
will quickly restart the system with the new shell configuration.
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Connecting to a controller group

A “controller group” is a group of one or more SDP controller
computers. The controller groups that are available depend on your
system configuration:
· Main - the main controller group
· Simulator - a dedicated stand-alone simulator (optional)
An operator station can be connected to only one controller group
at a time. The controller groups to which each operator station can
connect depend on your system configuration.
Several operator stations can be connected simultaneously to a
controller group, but only one of these operator stations can be in
command. Refer to Taking command on page 87.
If an operator station is not in command of a controller group, you
can connect that operator station to any available group at any time.
However, if the operator station has command of a controller
group, this group must be in Standby mode before you can connect
the operator station to a different group.
To connect to a controller group, click Connect on the System
menu. The Connect dialog box is displayed.
Figure 48 Connect dialog box
Select the required controller group.

For operating procedures related to the stand-alone simulator, refer
to separate Simulator operator manual.
86 173222/C
Taking command
Depending on the system configuration, more than one operator
station can be connected simultaneously to one controller group as
described in Connecting to a controller group on page 86. For
example, the Main controller group (which in turn controls the
vessel’s propulsion system), can be controlled from an SDP
operator station, an STC operator station (in integrated systems),
or a remote operator terminal (SDP-OT). All the available
information about the propulsion system is available at all the
connected operator stations, but only one operator station can be
in command at any time.
All the operator stations have Take and Give buttons in their
Command button group. The Take button is lit and Propulsion
is displayed in the title bar on the operator station that has
command.
There are two methods for switching command between operator
stations that are connected to the same controller group:
· “Take Command”
· “Give Command”
Whether or not the “Take Command” method can be used depends
on the system command configuration. The “Take” and “Give”
actions apply only for the controller group to which the operator
station is connected.
In the following example procedures, both OS1 and OS2 are
connected to the Main controller group, OS1 currently has
command of this group, and command is to be transferred to OS2.
Take command
Note This procedure can be used only if allowed by the system command
configuration.
1 OS1 is in command.
- Take on OS1 is lit.
- No Command lamps are lit on OS2.
2 To take command at OS2, press the Take button at OS2 twice
within 5 seconds.
3 OS2 is now in command.
Give command
1 OS1 is in command.
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2 Press the Give button at OS1.

- The Give lamps on all operator stations that are connected
to this controller group begin flashing.
- An audible alarm sounds at all operator stations where
this feature is configured. At each operator station, you
can press the Silence button in the Alarms button group
to silence the alarm.
3 To accept command at OS2, press the Take button at OS2
twice within 5 seconds.
4 OS2 is now in command.
- The audible alarm is silenced.
If the offered command transfer is not accepted within 15 seconds
then OS1 remains in command.
If command has not already been taken by another operator station,
you can cancel the offered command transfer during the timeout
period by pressing Give again at OS1.
Command status
Pressing the Command Status button in the Command button
group displays a dialog box showing the current command status.
Figure 49 Example Command Control Status dialog box

Choosing the Overview tab displays an overview of the command
groups and the operator station that is in control. For SDP
purposes, only the Thr_Propulsion command groups are of
interest.
Choosing the tab with the name of an operator station shows the
command status for this operator station.
88 173222/C
SDP controller computers

Dual–redundant system
In dual–redundant systems, the controller contains two computers
operating with a master/slave relationship. These two controller
computers operate in parallel, each receiving the same input from
sensors, reference systems and thrusters and each performing the
same calculations. However only one computer (the online or
“master” computer), can control the propulsion system. You can
select which computer is to be the master.
If the event of a deviation between the two computers, you can
explicitly update the offline computer with data from the master
computer.
If a failure is detected in the master computer, a switch-over to the
offline computer is activated automatically and an alarm message
is issued:
AUTO SWITCH FROM A TO B
This automatic switching is allowed only once. You must
explicitly enable any further auto-switching. If the system attempts
to switch to the offline computer when automatic switching is
disabled, an alarm message is issued:
AUTO SWITCH INHIBITED SWITCH DISABLED
On the System menu, click Redundancy. The Redundancy
Figure 50 Redundancy dialog box

Controller Click A or B to select this controller computer as the master
(online) computer.
Master The current master computer is indicated in the appropriate check
box.
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Status Shows the present state of each computer. Stopped indicates that
the computer has been stopped or not started yet. A stopped
computer is not participating in voting. Wait . . . (xx) indicates that
the computer has been started, but is not part of voting yet. The
corresponding push button will be grey as long as the computer is
in this state, to prevent you from switching to this computer too
early. This security measure is implemented to avoid serious
effects. You could for example loose the track when running in
Auto Track mode and then trying to select a computer, which is still
in a wait state, as new master. xx indicates seconds left before the
computer enters running state. Running indicates that the
computer is running and is participating in voting.
AutoSwitch State Shows the present state of the automatic switching function
(initially ON). Following an automatic switch-over to the offline
computer, the state changes to OFF. No further auto-switching is
allowed until you click Enable to reset the state to ON.
Update Offline Click Update Offline to update the offline computer in case of
deviation between the two computers.
Degraded dual–redundant system

If a failure is detected in computer A or B, the associated
Computer button, the AutoSwitch State button and the Update
Offline button in the dialog box are disabled. The system continues
operating as a single system.
Triple–redundant system
In triple–redundant systems, the controller contains three
computers. Each computer uses the same data from the sensors and
position-reference systems to calculate command signals to the
propulsion system. Fault detection and isolation are achieved by
a process of majority voting, whereby all three computers compare
and vote on their critical input and results. If one computer should
fail, the two functioning computers will operate with a
master/slave relationship.
All three controller computers vote on their input and output, but
only one of the controller computers (the “master” computer)
communicates with the operator stations, and outputs serial line
information. You can explicitly select the computer that is to be the
master.
On the System menu, click Redundancy. The Redundancy
90 173222/C
Figure 51 Redundancy dialog box
Controller Click A, B or C to select this controller computer as the master.

Master The current master computer is indicated in the appropriate check
box.
Status Shows the present state of each computer. Stopped indicates that
the computer has been stopped or not started yet. A stopped
computer is not participating in voting. Wait . . . (xx) indicates that
the computer has been started, but is not part of voting yet. The
corresponding push button will be grey as long as the computer is
in this state, to prevent you from switching to this computer too
early. This security measure is implemented to avoid serious
effects. You could for example loose the track when running in
Auto Track mode and then trying to select a computer, which is still
in a wait state, as new master. xx indicates seconds left before the
computer enters running state. Running indicates that the
computer is running and is participating in voting.
AutoSwitch State Disabled for a fully–operational triple–redundant system.
Update Offline Disabled for a fully–operational triple–redundant system.
Degraded triple–redundant system

If a failure is detected in computer A, B or C, the associated
Computer button in the dialog box is disabled. The system
continues operating as a dual–redundant system and the
AutoSwitch State and Update Offline buttons are enabled. See
Dual-redundant system.
If failures are detected in two of the computers, the associated
Computer buttons are disabled and the system continues
operating as a single system.
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Resetting controller computers

You can reset a selected controller computer; for example in the
event of a software problem or to reset the controllers to its default
settings.
Resetting the controller computer in a

single-computer system
Before resetting the controller computer in a single-computer
system, you must ensure that the SDP system does not have control
of the vessel propulsion system.
To reset the controller computer, follow points 1 through 6 in the
procedure described in section Resetting all controller computers
in a dual or triple redundant system below.
Resetting one controller computer in a

dual or triple redundant system
Before resetting a controller computer in a dual or triple-redundant
system, you should ensure that another controller computer is
operational and is selected as the master (online) computer.
On the System menu, click Reset Controller. The Reset
Controller dialog box is displayed.
Figure 52 Reset Controller dialog box
Select the controller computer to be reset and click OK or Apply.

- The controller computer is reset.
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Resetting all controller computers in a

dual or triple redundant system
If the vessel is not under control by the SDP system, you can reset
all controller computers simultaneously. During DP operation the
controller computers receive the same input from sensors,
position-reference systems and thrusters, and perform the same
calculations.
The best way to ensure that errors are deleted from the controller
computers is therefore to reset all of them. To retrieve the default
settings, all controller computers must be reset.
1 Ensure that the SDP system does not have control of the
vessel propulsion system.
2 Ensure that the SDP system is in Standby mode.
3 Ensure that no thrusters are enabled.
4 Reset all controller computers simultaneously using the
Reset Controller dialog box described above.
- The Reset Controller message box in Figure 53 is
displayed, informing you that the vessel will be without
DP control during the restart period.
Figure 53 The Reset Controller message box
5 Select OK or Apply to confirm.

- Until at least one controller computer is running, a dialog
box containing the following message is displayed on all
Operator Stations:
No network response from the Controller
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6 Acknowledge the message.

- When at least one controller computer is running,
message box is displayed on all Operator Stations:
The Controller is now responding
- The SDP system is in Standby mode with default settings.

- The following message is displayed for each controller
computer:
Equip <yy/mm/dd hh:mm:ss >Alarm <DpPUx>:

Station is operational
(x refers to controller computer A, B or C).
7 Select master controller (see section SDP controller

computers on page 89).
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Resetting serial lines

The serial line interrupt is automatically disabled to prevent the
SDP controller computer system from stopping (due to high traffic
caused by an excessively high number of interrupts).
If this occurs, for example on a position-reference system, the
following alarm message is shown:
Reference system input disabled

<Interrupt> <Error type>
<Number of interrupts at time of failure>
In this case, the controller will stop reading input from that line.
The Reset Serial Lines dialog box may be used to monitor the
serial line status on all channels on all controller computers.
A green lamp indicates status “OK”, and a red lamp indictates that
the controller computer has stopped reading input on that channel.
An unavailable (dimmed) lamp indicates that the serial line is not
configured.
Resetting serial lines implies that the controller computer restarts
reading input on a serial line where reading has stopped.
To reset the serial lines; on the System menu, click
Reset Serial Lines. The Reset Serial Lines dialog box is
displayed. Select the required controller, and click OK.
Serial lines can be reset without restarting the controller computer.
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MAIN DP OPERATING PROCEDURES

This section provides procedures for operating the system in
the main DP operational modes.
To avoid excessive repetition, and to simplify these main

procedures, all common operating procedures are described
in Common operating procedures. References to other
sections for related information and procedures are made
where appropriate.
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Standby mode
The Standby mode is a waiting and reset mode in which the system
is in a high state of readiness but in which no vessel control
commands can be made using the system. This is the default mode
when the system is first switched on.
In this mode you can prepare the system for operation.
From this mode, you can take the system to Manual mode
(page 99) or start the built-in trainer (page 379) or simulator (refer
to separate Simulator operator manual).
Note Ignore any displayed position information when in Standby mode.
Actions in Standby mode

In Standby mode you can prepare the system for operation.
· Select the required vessel rotation point (see page 206).
· Enable the required gyrocompasses (see page 296).
· Enable the required wind sensors (see page 300).
· Enable the required VRS (see page 304).
· Enable the required speed sensors (see page 307).
· Enable the required draught sensors (see page 310).
· Enable the required tensioner sensors (see page 314).
· Enable the required thrusters, propellers and rudders (see
page 322).
Returning to Standby mode

To return to Standby mode from any other mode:
1 Press the Standby button in the Modes button group.
- The status lamp begins flashing.
2 Press the Standby button again within 5 seconds.
- The status lamp is steadily lit.
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Manual mode
In Manual mode, you control the movement of the vessel using the
three-axis joystick:
· Moving the joystick forward/back controls the vessel in the
surge axis.
· Moving the joystick left/right controls the vessel in the sway
axis.
· Rotating the joystick rotates the vessel (the yaw axis).
From Standby mode to Manual mode

To take the system from Standby mode to Manual mode:
1 Ensure that the required gyrocompasses are enabled (see
page 296). See also Position and heading information
below.
2 Ensure that the required wind sensors are enabled (see
page 300).
3 Ensure that the required VRS are enabled (see page 304).
4 Ensure that the required draught sensors are enabled (see
page 310).
5 If your vessel has a switch on the bridge to select between
manual and SDP thruster control, set this switch to SDP.
6 Ensure that the required thrusters, propellers and rudders are
enabled (see page 322).
7 Ensure that the joystick is in the zero position in all three
axes.
8 Press the Manual button in the Modes button group twice
within 4 seconds.
- The status lamp is lit.
9 Enable the required position-reference systems (see
page 264). See also Position and heading information
below.
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Joystick control of position and heading

To move the vessel in the surge and sway axes (alongships and
athwartships directions), tilt the joystick. The direction in which
you tilt the joystick determines the direction of applied thruster
force, and the angle of tilt determines the amount of applied
thruster force.
To rotate the vessel (the yaw axis), rotate the joystick. The
direction in which you rotate the joystick determines the direction
of the rotational moment demand, and the angle through which you
rotate the joystick determines the amount of applied rotational
moment.
The Manual view (page 102) provides useful information in the
Manual mode.
Position and heading information

It is not essential to enable either position-reference systems or
gyrocompasses when operating in Manual mode. However, the
estimated position, heading and speed provided by the Vessel
Model are not meaningful when they have not been adjusted
according to measured information.
Note If you do not enable any position-reference systems or

gyrocompasses, you must ignore any displayed position, heading
or speed information.
Mixed manual/auto modes

While remaining in Manual mode, you can selecting either one or
two of the surge, sway and yaw axes for automatic control:
· Select Yaw for automatic heading control with joystick control
of the surge and sway axes (see page 106).
· Select Surge and Sway for automatic position control with
joystick heading control (see page 107).
· Select Yaw and Surge for automatic heading control, automatic
stabilisation in the surge axis, and joystick control of the sway
axis (see page 108).
· Select Yaw and Sway for automatic heading control, automatic
stabilisation in the sway axis, and joystick control of the surge
axis (see page 108).
If you select all three axes for automatic control, the system
automatically enters the full Auto Position mode (see page 110).
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Common procedures available

· Joystick gain control (see page 215)
· Environmental compensation (see page 215)
· Thruster control modes (see page 326)
· Rotation point (see page 206)
· Quick current update (see page 220)
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Manual view
The Manual view shows the thrust demand and response, and the
vessel speed in the various axes, to assist you during purely manual
positioning.
Refer to page 48 for a description of how to select display views.
Figure 54 Example Manual view
Text showing whether the system is in

MANUAL mode or NOT.
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Graphical display of the rotational moment

demand (upper) and the obtained rotational
moment (lower).
The numerical value of the obtained

rotational moment is displayed.
The values represent the demand from the

controller and the obtained moment
calculated from the thruster feedback.
Graphical display of the surge force demand

(left) and the obtained surge force (right).
The numerical value of the obtained surge

force is displayed.

controller and the obtained surge force
Graphical display of the sway force demand

(upper) and the obtained sway force (lower).
The numerical value of the obtained sway

force is displayed.

controller and the obtained sway force
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Estimated surge and sway speed at the centre

of gravity of the vessel.
The resulting force and speed vectors are

shown graphically.
The numeric values show the range of the

display for both force and speed.
Estimated sway speed at the bow of the

vessel. This value is calculated from the
vessel dimensions and the estimated rotation
speed.
Estimated sway speed at the stern of the

vessel. This value is calculated from the
vessel dimensions and the estimated rotation
speed.
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Estimated rotation speed.
Status of the speed estimates. The status is

OK if the system is receiving acceptable
position and heading information. Otherwise
the status is DROPOUT and the speed
estimates shown on this view may be
unreliable.
The current joystick gain settings (see

page 215).
The axes that are currently selected for

environmental compensation (see page 215).
The joystick demand as a percentage of the

maximum available demand.
A graphic display of the joystick demand. If

this operator station is not in command, the
graphic display shows both the demand from
this operator station (Local) and the demand
from the operator station that is in command.
This information can be used to ensure a

bumpless transfer when you move the
command from one OS to another.
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Manual mode with automatic heading control

In Manual mode, and with an active gyrocompass, you can select
automatic heading control.
The current vessel heading becomes the heading setpoint. Thruster
control to maintain this heading is provided automatically by the
SDP system.
Selecting automatic heading control

To select automatic heading control while in Manual mode:
1 Check that none of the status lamps for the Surge, Sway or
Yaw buttons in the Modes button group are lit.
page 296).
3 Press the Yaw button twice.
- The Yaw status lamp becomes lit.
- The current vessel heading becomes the heading setpoint
and the system automatically keeps the vessel on this
heading.
- The deviation between the estimated heading and the
heading setpoint is shown on the General view (page 239)
and the Deviation view (page 243).

As for Manual mode, plus:
· Controller gain selection (see page 211)
· Changing the heading setpoint (see page 199)
· Heading limit (see page 218)
· Setting the rotation speed (see page 204)
Returning to joystick heading control

To return to joystick heading control:
1 Press the Yaw button in the Modes button group twice.
- The Yaw status lamp becomes unlit.
2 Control the vessel’s heading manually using the joystick.
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Manual mode with automatic position control

In Manual mode, with an active gyrocompass and with an active
position–reference system, you can select automatic position
control in the surge and sway axes.
Selection of only one of the surge and sway axes for automatic
control is normally combined with automatic heading (yaw)
control and is described under Manual mode with automatic
stabilisation.
Selecting automatic position control

To select automatic position control while in Manual mode:
page 296).
3 Ensure that at least one position–reference system is active
and enabled (page 264).
4 Press the Surge and Sway buttons twice.
- The Surge and Sway status lamps become lit.
- The current vessel position becomes the position setpoint
and the system automatically keeps the vessel at this
position.
- The deviation between the estimated position and the
position setpoint is shown on the General view
(page 239) and the Deviation view (page 243).

· Changing the position setpoint (see page 190)
Note Unless there is a specific operational requirement for joystick yaw
control, it is better to use the full Auto Position mode when
changing position in order to allow the system to maintain a
constant heading during the manoeuvre.
· Position limit (see page 217)
· Setting the vessel speed (see page 196)
Returning to joystick position control

To return to joystick position control:
1 Press the Surge and Sway buttons in the Modes button
group twice.
- The Surge and Sway status lamps become unlit.
2 Control the vessel’s position manually using the joystick.
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Manual mode with automatic stabilisation

In Manual mode, with an active gyrocompass and with an active
position–reference system, you can select automatic stabilisation.
This means:
· either that the yaw and surge axes are under automatic control
while the sway axis remains under joystick control
· or that the yaw and sway axes are under automatic control while
the surge axis remains under joystick control.
Selecting automatic stabilisation

To select automatic stabilisation while in Manual mode:
page 296).
3 Ensure that at least one position–reference system is active
4 Press the Yaw button twice.
heading.
5 Press either Surge or Sway twice.
- The appropriate status lamp becomes lit.
- The current vessel position in the selected axis becomes
the position setpoint in that axis and the system
automatically keeps the vessel at this position.
6 Control the vessel movement in the unselected axis manually
using the joystick.

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Returning to joystick control

To return to joystick control in all axes:
1 Press the Yaw button in the Modes button group twice.
2 Press either Surge or Sway. twice (whichever is lit).
- The status lamp becomes unlit.
3 Control the vessel’s heading and position manually using the
joystick.
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Auto Position mode

In Auto Position mode the system automatically maintains the
heading and position of the vessel. This mode requires an active
gyrocompass and position-reference system.
From Manual mode to Auto Position mode

To take the system from Manual mode to Auto Position mode:
page 296).
2 Ensure that at least one position-reference system is active
3 While still in Manual mode, press the Yaw button in the
Modes button group twice to select automatic control of the
yaw axis.
4 Allow the vessel to stabilise on its present heading.
5 Hold the vessel as stationary as possible using the joystick.
6 Press the Auto Pos button in the Modes button group twice.
- The status lamps for the Auto Pos, Surge, Sway and
Yaw buttons are lit.
- The setpoints for heading and position are set to the
current estimated vessel heading and position.
- The deviations between the position and heading
estimates and setpoints are shown on the General view
(page 239) and the Deviation view (page 243).
Note No change in position or heading should be attempted during the
first two minutes after entering the Auto Position mode in order to
allow the Vessel Model to stabilise.

· DP consequence analysis (see page 365)
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Remote control from external system

In Auto Position mode, the position and heading setpoints can also
be controlled from a remote route planning system such as the
Simrad Planning Station (SPS).
When remote control is enabled, dynamic information such as
position, heading and speed setpoints are received from the remote
system. Based on this information, the SDP system performs the
required thruster force allocation.
Selecting remote control
To enable remote control, press the Remote Control button in the
Modes button group.
· If the remote system has already requested control, the Remote
Control status lamp is lit.
· If the remote system has not yet requested control, the Remote
Control status lamp flashes until the request is received.
While the Remote Control status lamp is lit, the SDP system
receives and uses setpoint information from the remote system.
Heading control
While remote control is active and the Yaw axis is selected for
automatic control, the local procedures described in the following
sections are not available:
· Changing the heading setpoint (page 199) except that the
Present Heading button is available.
· Setting the rotation speed (page 204)
Even when remote control is active, you can at any time deselect
the Yaw axis and control the vessel heading manually by rotating
the joystick control.
Position control
While remote control is active, and the Surge and Sway axes are
selected for automatic control, the local procedures described in
the following sections are not available:
· Changing the position setpoint (page 190) except that the
Present Position button is available.
· Setting the vessel speed (page 196)
the Surge and Sway axes (by pressing each button twice) and
control the vessel position manually using the joystick.
Returning to local control
To return to local control, press the Remote Control button again.
The Remote Control status lamp is extinguished.
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Auto Track mode

In the Auto Track mode, the vessel accurately follows a predefined
track, described by a set of waypoints. The SDP system controls
the vessel to minimise the deviation from the track (cross-track
error). The Auto Track mode covers low speed, high speed and
move-up operations using different strategies for speed and
heading control.
Figure 55 Example Auto Track operation (Posplot view)

In the low speed mode, all the available thrusters are used to
provide full position and heading control. This strategy gives
high-accuracy position control and allows full freedom in
selecting the vessel heading, but is limited to speeds up to
approximately 3 knots. This limit depends on the shape of the
vessel’s hull and the configuration of the propulsion system. The
speed along the track is controlled very accurately with the
possibility to run as slowly as a few centimetres per second.
In the high speed mode, the rudders or azimuth thrusters are used
to control the vessel heading to minimise the cross-track error
while maintaining the wanted speed. This strategy is suitable at
normal cruising speeds. When moving slowly in high speed mode,
additional thrusters may be used to assist in controlling the vessel
heading.
In the move-up mode, you can move the vessel a specified distance
forward or back along the track. All the thrusters are used to
provide full position and heading control. The vessel stays on the
track in a fixed position until you initiate a move-up.
The waypoints which describe the required track are stored in a
waypoint table. This table can contain up to 500 waypoints. You
can either load waypoints from an external source or manually
enter waypoints into the table (see Track Definition on page 114).
The defined track is displayed on the Posplot view (if the track is
selected for display and lies within the current display range).
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To achieve high accuracy, the Auto Track mode requires a reliable

position-reference system, gyrocompass and wind sensor, and a
satisfactory propulsion system.
The features available in the move-up, low speed and high speed
modes are selected from the Track Settings dialog box. To display
this dialog box, either click Settings on the Track menu, or press
the Track Setup button in the Controls button group. This dialog
box has six pages. The features that you can select from these pages
are described in the following sections:
· Track Settings - Control (see page 126 )
· Track Settings - Set-up (see page 130)
· Track Settings - Heading (see page 133)
· Track Settings - Speed (see page 136)
· Track Settings - Turn (see page 140)
· Track Settings - Receive (see page 142)
These general feature descriptions are followed by:
· Procedures describing the necessary preparation for Auto Track
mode (page 144)
· Procedures for running in low speed mode (page 146)
· Procedures for running in high speed mode (page 147)
· Procedures for running in move-up mode (page 150)
· A description of the additional information that is displayed on
the screen in Auto Track mode (page 158)
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Track definition
The waypoints which describe the required track are stored in a
waypoint table. This table can contain up to 500 waypoints. You
can either manually enter waypoints into the table or load
waypoints from an external source.
You can offset a track defined in a waypoint table using the Track
Offset dialog box (see Track Offset on page 119) Here you can
select between different offset strategies and distance/direction to
offset the track.
When and how you can change the waypoint table depends on the
selected track edit strategy (see Selecting Track edit strategy on
page 125).
Manually editing the waypoint table

You can manually insert and modify all the information that is
required in the waypoint table.
To display the waypoint table, click Editor on the Track menu.
The Track Editor dialog box in Figure 56 is displayed.
You can either load waypoints from an external system (see Track
Settings - Receive on page 142), or enter waypoints in the waypoint
table manually.
Whether or not you can edit the waypoint table while the system
is in Auto Track mode, depends on the selected track edit strategy
(see Selecting track edit strategy on page 125).
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Figure 56 Track Editor dialog box

Waypoints
Text box which shows the number of waypoints in the table. The
table can contain up to 500 waypoints.
The sequence numbers of the waypoints. The table can contain up
to 500 waypoints.
Insert Adds a new waypoint after the highlighted waypoint (waypoint
number 2 in the example shown in Figure 56). This new waypoint
initially has the same parameters as the highlighted waypoint.
Delete Deletes only the highlighted waypoint.
Track
Name Shows the name of the waypoint table. By clicking Name you can
display a simulated keyboard which you can use to change the
name of the waypoint table (maximum 25 characters).
Format: Shows the coordinate system (cartesian or geodetic) in which the
waypoints were received or inserted. For geodetic positions, the
datum is also shown. The track is saved in this coordinate system.
Shows the coordinates of each waypoint.
Both cartesian and geodetic tracks are displayed and can be edited
in the position format and position datum (page 232) that are
currently selected for display of position information.
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When you insert a track manually, the track is saved in the current
position format and datum.
Note This is not the case if you overwrite an existing track. In this case
the existing format is kept.
Distance The distance between each waypoint and the next waypoint.
Course The true direction of the track leg between each waypoint and the
next waypoint.
Heading The vessel heading setpoint for this track leg.
Speed The vessel speed setpoint for this track leg.
Turn Radius The turn radius to use when passing the waypoint with constant
speed.
Delete Deletes all the waypoints in the table. This function is useful when
you are creating a new waypoint table by receiving waypoints from
an external source (see Receiving waypoints from an external
source on page 117).
File
Open Opens the Open Track File dialog box. This is a standard
Windows dialog box where you can select a track file (containing
a waypoint table) to open.
Note You can only select from track files stored locally on your OS.
Save Opens the Save Track File As dialog box. This is a standard
Windows dialog box where you can select a track file name (for a
waypoint table) from the list or write a new track file name (with
maximum 25 characters). This function is useful when you for
example have edited an existing track file and want to save it as a
new additional file.
Note You can only save track files locally on your OS.
Delete Opens the Delete Track File dialog box. This is a standard
Windows dialog box where you can select a track file (containing
a waypoint table) to delete.
Note The track file is only deleted locally on your OS.
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Receiving waypoints from an external

source
The SDP system will accept external waypoint data that is sent
with or without waypoint numbers. However, if waypoint numbers
are included in the data, and more than one waypoint is sent, then
the waypoint numbers must be sequential.
External waypoint data can be received to create a new table, to
append waypoints to an existing table from the same source, or to
replace waypoints in an existing table. However, the waypoint
table must at all times be contiguous; for example, it is not possible
to add waypoint number 7 to a table that contains only waypoints
number 1 through 5.
Creating a new table

To receive a new waypoint table from an external source:
1 Ensure that the waypoint table is empty by selecting Delete
Track on the Track Editor dialog box (see page 114).
2 Specify the source and define the properties of the external
data using the Track Settings - Receive dialog box (see
page 142).
3 The Include from number on the Track Settings - Receive
dialog box must be 1. (When the waypoint table is empty this
number is fixed at 1 and cannot be changed).
4 Enable reception of waypoint data at the Track Settings -
Receive dialog box.
5 Send the waypoint data from the external source.
6 When the waypoint data is received by the SDP system, a
message is displayed. For example:
NMEA WAYPOINT TABLE RECEIVED FROM
(SOURCE)
7 Check using the Track Editor dialog box that the required
waypoints have been received correctly.
The received waypoints are entered in the waypoint table
sequentially from waypoint number 1 (irrespective of any
received waypoint numbers).
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Appending waypoints to a table

The procedure for appending additional waypoints from the same
source to a received waypoint table depends on whether the
waypoint data are received with or without waypoint numbers:
1 If the received waypoints do not include waypoint numbers,
set the Include from number on the Track Settings -
Receive dialog box to the next available waypoint number.
For example, if the waypoint table contains waypoint
numbers 1 through 5, set the Include from number to 6.
When a set of additional waypoints are sent from the external
source they will be appended to the waypoint table from and
including the specified number.
2 If the received waypoints include waypoint numbers (which
must be sequential), you must pay special attention to the
Include from number on the Track Settings - Receive
dialog box.
The received waypoints will be appended to the waypoint
table from and including the waypoint table number that is
calculated as follows:
(Include from) - 1 + (first received waypoint number) =
(next available waypoint number in waypoint table)
Using this formula, you must set Include from to the
number which will ensure that the waypoints are appended
in the correct position.
For example: If the waypoint table contains waypoint
numbers 1 to 5, and the received waypoints have waypoint
numbers 1 to 5, we have:
first received waypoint number = 1
next available waypoint number in waypoint table = 6
Entering these values into the formula we get:
(include from) - 1 + 1 = 6
Set the Include from number to 6.
If the waypoint table contains waypoint numbers 1 to 5, and
the received waypoints have waypoint numbers 6 to 10, we
have:
first received waypoint number = 6
next available waypoint number in waypoint table = 6
Entering these values into the formula we get:
(include from) - 1 + 6 = 6
Set the Include from number to 1.
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Replacing waypoints in a table

You can replace waypoints from the same source in a received
waypoint table using the same principles as described above in
Appending waypoints to a table:
1 If the received waypoints do not include waypoint numbers,
set the Include from number on the Track Settings -
Receive dialog box to the waypoint number at which you
want to begin replacing waypoints.
2 If the received waypoints include waypoint numbers, you
must calculate the required Include from number according
to the received waypoint numbers and the location at which
you want to begin replacing waypoints.
Track Offset
You can offset a track defined in a waypoint table using the Track
Offset dialog box. Here you can select between different offset
strategies and distance/direction to offset the track.
Using this dialog box, you can:
· Specify the offset strategy for the displayed track. You can
select between the following strategies: Parallel, Geographic,
Present Leg or No Offset.
· Specify the Distance for the track offset in the selected offset
strategy. The default values for maximum and minimum offset
you can set are 1000 meters and 0.01 meters respectively.
· Specify the Direction for the track offset (applies only to the
Geographic offset strategy).
When running in Auto Track mode, you can only perform track
offset if you have selected Always allowed as your track edit
strategy (see Selecting track edit strategy on page 125).
Also, one of the following Auto Track states must be displayed on
the status display in the upper left corner of the Posplot view (see
Displayed information on page 158 for a more detailed description
of Auto Track states):
· No WP Control
· Approach track
· Approach circle
· Approach WP Retarding
· On track
· Pass constant
· Retarding at WP
· Approach last
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When applying a new track offset, the initial track is shown as

dashed grey lines on the Posplot view. The new offset track is
shown as solid blue lines.
You can select to display or not to display the initial and/or offset
track on the Posplot view from the Posplot view control dialog
box. Refer to page 258 for a description on how to show/hide the
tracks.
Click Offset on the Track menu. The Track Offset dialog box is
displayed. See Figure 57.
Figure 57 Track Offset dialog box
Note The selected offset track replaces the initial track. In order to get
the initial track back, select No Offset in the Track Offset dialog
box. Alternatively you can select and read it from the Track Editor
dialog box (click the Open File button on the Track Editor dialog
box and select the file name for the initial track). You can also edit
the existing waypoint table in the Track Editor dialog box.
Note When running in Auto Track (move-up) mode, you are not allowed
to change track offset when the vessel follows the circle in a
waypoint turn. Refer to subsection Limitations in Move-up mode
on page 154 for a more detailed description of this special
operational situation.
Note When running in Auto Track (move-up) mode, you are only allowed
to select Parallel or No Offset as Strategy in the Track Offset dialog
box.
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Parallel
The whole track is moved a distance to left or right perpendicular
to the current leg direction. The resulting offset track is an exact,
but displaced copy of the initial track. The direction of the parallel
movement can be seen in the Direction text box of the Track
Offset dialog box. When you enter a positive value in the Distance
text box, this is interpreted as being an offset to starboard when
looking in the direction of ascending WP numbers along the track.
A negative value results in an offset to port. The selected track
direction (forward/reverse) has no influence on the resulting track
offset.
You are only allowed to select Parallel as the new offset strategy
when the vessel is “On Track”. Refer to page 158 for a description
of Auto Track states.
Figure 58 Parallel offset strategy
In this example, with Parallel offset strategy selected, the distance

for the track offset is set to a positive value of 50 m and the function
enabled when the vessel is positioned between WP 3 and WP 4.
The new track, as shown as a solid line in Figure 58, is offset 50
m to starboard perpendicular to the current leg direction. A new
waypoint table is generated based on the settings in the Track
Offset dialog box and the waypoint table for the initial track.
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Geographic
The whole track is moved by a specified distance and in a specified
direction (relative to North). The resulting offset track is an exact,
but displaced copy of the initial track.
Figure 59 Geographic offset strategy
In this example, with Geographic offset strategy selected, the

distance for the track offset is set to a positive value of 100 m and
the direction of the track offset is set to 60 degrees relative to North.
122 173222/C
Present Leg
Only part of the track is offset. The two waypoints, the one behind
and the other in front of the present vessel position on the track, are
moved perpendicular to the direction of the present leg. The sign
convention used is the same as for the Parallel offset strategy. The
resulting offset track will obtain a new topography. The length of
the present leg will remain the same, but the length of the two
adjoining legs on the track will change.
You are only allowed to select Present Leg as the new offset
strategy when the vessel is “On Track”. Refer to page 158 for a
description of Auto Track states.
Figure 60 Present Leg offset strategy
In this example, with Present Leg offset strategy selected, the

distance for the track offset is set to a positive value of 50 m. The
track offset function is then enabled when the vessel is positioned
between WP 3 and WP 4. Only WP3 and WP4 are now offset 50m
starboard perpendicular to the present leg direction. In addition the
distance between WP2 and WP3 and between WP4 and WP5 has
become shorter. The new offset track is shown as a solid line in
Figure 60.
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No Offset
No offset is added. When you select this offset strategy, the track
will be restored to its initial unedited track, which will then be
displayed on the Posplot view (solid line in blue).
Figure 61 No Offset offset strategy

In this example, with No Offset offset strategy selected, the
distance for the track offset is by default set to 0 m. Regardless of
where the vessel is positioned on the track, it will be restored to its
initial track. The restored track is shown as a solid line in Figure
61.
Displayed error information
When using the Track Offset dialog box, the following error
information will be presented in the status bar area in the lower left
corner of the display, and also on dedicated dialog boxes (see
Figure 62), if you by mistake perform any illegal actions:
· Track offset value too small
· Track offset not allowed, wrong mode
· Erroneous Track offset strategy
· Track table is empty
· Erroneous coordinate system
Figure 62 dpview dialog box - error information example
124 173222/C
Storing the new offset track in a waypoint

table
You can save the new offset track in a new waypoint table or
overwrite an existing waypoint table. See Viewing and editing the
waypoint table on page 114.
Note A new offset track saved to disk only consists of one single track.
It does not contains any offset information.
Selecting track edit strategy

Click Edit Strategy on the Track menu. The Track Edit Strategy
dialog box is displayed. See Figure 63.
Using this dialog box you can select the strategy to be in force when
editing tracks either by using the Track Editor dialog box or the
Track Offset dialog box. The selected edit strategy sets the “rules”
for when and which waypoints on a track you can edit.
Figure 63 Track Edit Strategy dialog box

The following track edit strategies are available:
Always allowed You are always allowed to edit all waypoints on a track using the
Track Editor dialog box.
Caution When running in Auto Track mode, the selected offset strategy
and the present Auto Track state is decisive for when you are
allowed to use the Track Offset and the Track Editor dialog boxes
to change waypoints (see Track offset on page 119 for a more
detailed description of Auto Track states and offset strategies).
Not on present leg Using the Track Editor dialog box you are allowed to edit all
waypoints on the track, except for the two waypoints describing
the present leg. You are not allowed to edit any waypoints using the
Track Offset dialog box. This is because all four selectable
strategies for track offset will affect the waypoints for the present
leg as well.
Not in Auto Track You are not allowed to edit any waypoints using the Track Editor
Mode or Track Offset dialog box when you are in Auto Track mode. You
are however allowed to use the Track Editor dialog box and also
the Track Offset dialog box with Geographic selected to edit
waypoints when running in other system modes.
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Auto Track mode settings

The features available in the move-up, low speed and high speed
modes are selected from the Track Settings dialog box. To display
this dialog box, either click Settings on the Track menu, or press
the Track Setup button in the Controls button group. This dialog
box has six pages. The features that you can select from these pages
are described in the following sections:
· Track Settings - Control (see page 126)
· Track Settings - Set-up (see page 130)
· Track Settings - Heading (see page 133)
· Track Settings - Speed (see page 136)
· Track Settings - Turn (see page 140)
· Track Settings - Receive (see page 142)
Track Settings - Control

Either click Settings on the Track menu, or press the Track Setup
button in the Controls button group. The Track Settings dialog
box is displayed. Click the Control tab. The dialog box shown in
Figure 64 is displayed.
Figure 64 Track Settings dialog box - Control page
126 173222/C
Next Waypoint
Allows you to choose the number of the waypoint at which to begin
the track operation. You must select the start waypoint number
before entering the Auto Track mode.
If configured, you can select a track resume point as the start
waypoint (select 0 under Next Waypoint).
When leaving Auto Track mode (move-up, low speed or high
speed) during a track operation, the current vessel position on the
track is saved as a track resume point. This resume point is
displayed as a filled circle of fixed size on the Posplot view.
If you select 0 (the track resume point) as the start waypoint the
next time you enter Auto Track mode (low speed or high speed),
the start waypoint will be the position where you left the track
operation the previous time.
You are not allowed to enter Auto Track (move-up) mode when
you have selected 0 (the track resume point) as the start waypoint
for move-up operations.
When it is possible to select a track resume point, the text 0: Track
resume point is displayed under Next Waypoint.
Note When entering Standby mode, the track resume point is cleared.
Figure 65 Track resume point as start waypoint

Tracking Mode
If all three tracking modes are available on your vessel, you can
select between move-up, low speed or high speed operation.
For both move-up, low speed and high speed operation, you can
select the tracking mode before entering the Auto Track mode and
also change the tracking mode during operation in Auto Track
mode:
· When switching from low speed to high speed mode, the
Heading Setpoint will be set to System Selected (page 134)
and the Waypoint Speed Strategy will be set to Constant
Speed (page 138).
· When switching from high speed to low speed mode, the
Heading Setpoint will be set to Operator (present heading).
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Leg Offset
Allows you to offset the path of the vessel to either side of the
defined track. This does not in any way change the track
definition stored in the waypoint table.
A positive Leg Offset will offset the vessel to the left of the
original track, and a negative Leg Offset will offset the vessel to
the right of the original track, where “left” and “right” are
relative to the direction of ascending WP numbers. The selected
track direction (forward/reverse) or the heading of the vessel has
no influence on the resulting Leg Offset.
The Leg Offset value you enter is the distance in meters
perpendicular to the track. For example, if a Leg Offset of 20 m
is used, the vessel’s rotation point will be 20 m to the left of the
track and perpendicular to the track leg. When making a
clockwise turn at constant speed, the vessel will make the
“outer” turn.
Entering Leg Offset will reduce the radius of inner turns. If the
leg offset becomes too large compared to the waypoint turn
radius, the following message:
WaypointLeg Offset warning
<WP no.> <leg offset> <limit>
will be reported.
This warning will be given if the leg offset is 50% or more of
current waypoint Turn Radius when the Waypoint Speed
Strategy is Constant Speed.
When the Waypoint Speed Strategy is Slow down at
Waypoint, the limit is set to be fixed at 1m.
The above message will only be given when your vessel is
running an “inner” turn when passing a waypoint.
Leg Offset can only be used when the vessel is following a
track. It cannot be used when at the last waypoint.
Note When you use the Leg Offset function in Auto Track (move-up)
mode, the Moved, Left and Total Distance shown in the Progress
field of the Move-up dialog box (refer to Figure 79) will differ from
the actual travelled distance for he vessel.
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Track Direction
Allows you specify the direction in which the defined track is to
be followed. The result of selecting Forward or Reverse depends
on the tracking mode (low speed or high speed) and whether or not
the system is already in Auto Track mode.
· Before entering the Auto Track mode:
- Selecting Forward means that the waypoints are to be
followed in ascending order of waypoint number, beginning
with the selected Next Waypoint.
- Selecting Reverse means that the waypoints are to be
followed in descending order of waypoint number,
beginning with the selected Next Waypoint.
· When already in Auto Track (low speed) mode:
- When already following the track in reverse order of
waypoint number, selecting Forward causes the vessel to
stop on the track. When you then deselect the Stop button
(by pressing the button twice), the vessel continues along the
track in the forward direction.
- When already following the track in ascending order of
waypoint number, selecting Reverse causes the vessel to
stop on the track. When you then deselect the Stop button
(by pressing the button twice), the vessel moves back along
the track in the reverse direction.
See Changing track direction (low speed mode) on page 147.
Note If selecting either Forward or Reverse will cause the vessel to stop
on the track, this is indicated by the Stop button on the dialog box.
This feature is provided as a warning that a stop will occur when
you click OK or Apply.
· When already in Auto Track (high speed) mode:
- When already following the track in reverse order of
waypoint number, selecting Forward causes the vessel
either to stop on the track in preparation for reversing
direction or to turn through 180 degrees, as selected by
Reverse Action (see page 132).
- When already following the track in ascending order of
waypoint number, selecting Reverse causes the vessel either
to stop on the track in preparation for reversing direction or
to turn through 180 degrees, as selected by Reverse Action
(see page 130).
See Changing track direction (high speed mode) on page 148.
Note If selecting either Forward or Reverse will cause the vessel to stop
on the track, this is indicated by the Stop button on the dialog box.
This feature is provided as a warning that a stop will occur when
you click OK or Apply.
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Track Settings - Set-up

box is displayed. Click the Set-up tab. The dialog box shown in
Figure 66 Track Settings dialog box - Set-up page

· Specify how the vessel should approach the track when starting
a track operation: either towards the track leg or towards the
start waypoint.
· Specify the action to take when stopping on the track: either to
slow down, stop and stay, or to slow down, stop and go back.
You can also specify the force that is to be used for stopping the
vessel on the track.
· Specify whether a wheel-over point warning should be given.
· Specify the action to take in event of position dropout.
· Specify the action to take when reversing course: whether or not
to turn, and if so to port or starboard.
· Specify whether to stop at the last waypoint or continue to a
locally generated waypoint.
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Approach Track
Determines the strategy for approaching the track. The approach
speed depends on the Along Speed Setpoint and the Across Speed
Setpoint. See Track Settings - Speed on page 136.
Track Leg The vessel moves obliquely towards the “current” track leg. If you
choose this option, you must make sure that the vessel is “past” the
previous waypoint when you enter Auto Track mode (see
Recommended start position on page 145).
Note When the vessel is far away from the selected start waypoint, or far
away from the track leg connected to the selected start waypoint,
the system will select Waypoint as strategy for approaching the
track even if you have selected Track Leg.
Waypoint The vessel moves on a straight line towards the start waypoint.
Figure 67 Approach track

Stop On Track
Defines the strategy for stopping on the track either as a result of
pressing the Stop button twice or when changing the Track
Direction (see page 129).
Stay The vessel slows down, stops and stays at this position.
Go Back The vessel slows down, stops and goes back to the position it had
when the stop action was initiated.
Force Defines the percentage of the maximum available force to be used
for stopping on the track. The value that you should choose
depends on the type of operation.
WOP Warning
Specifies whether a warning is to be given before a turn is initiated
at a waypoint (Wheel-Over Point), and allows you to set the time
in minutes before reaching the waypoint at which a warning
message is to be given.
This feature is available in low speed and high speed modes.
Note The turn will be made even if the warning message is not
acknowledged.
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Position Dropout Action

You can select the action to be taken in the event of the system
losing acceptable position reference information in the Auto Track
mode:
Stop The vessel stops.
Dead Reckoning The system continues calculating the position based on the last
measurements and calculations and the vessel continues tracking
using Dead Reckoning.
See also Position Dropout on page 271.
Reverse Action
In high speed mode, this option allows you to specify the action
that is to be taken when the track direction is changed between
Forward and Reverse (see page 129).
This procedure is described in Changing track direction (high
speed mode) on page 148.
Go Astern Stop on the track in preparation for reversing direction, without
changing heading.
Turn 180 Deg Turn through 180 degrees.
Figure 68 Turn 180 degrees (high speed mode)

Turn Direction When Turn 180 Deg is selected, you can specify that the turn
should be either to Starboard or to Port.
Stop at Last Waypoint
In low speed mode, this option allows you to specify the action to
be taken when the vessel reaches the last waypoint, either to stop
or not.
Active When the Active check box is selected, the vessel will stop at the
last waypoint.
With this check box cleared, the vessel will, when it has passed the
last waypoint, continue towards a locally generated waypoint. The
position of this waypoint is 10 000 meters away from the last
waypoint, with the same track direction as the last leg in the
waypoint table.
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Track Settings - Heading

box is displayed. Click the Heading tab. The dialog box shown in
· In move-up, low speed and move-up mode, specify how the
vessel heading is to be controlled:
- By specifying a fixed heading which will be used
irrespective of the track course and the environmental
conditions.
- Using the heading defined in the waypoint table for each
track leg.
- Using the heading which requires the minimum power to
maintain, calculated according to the environmental forces
and the vessel speed.
- By setting the heading to be always towards the next
waypoint.
- By setting the heading to correspond to the tangent of the arc
for the turn radius used when passing waypoints.
In low speed and move-up mode, you can also deselect the Yaw
axis (so that the vessel heading is no longer controlled
automatically) and use the manual joystick to control the vessel
heading. See Joystick heading control on page 146.
In high speed mode, the vessel heading is continuously updated
to return the vessel to the track if it should drift off track. If
required, you can specify limits for turning the rudders or
azimuth thrusters when running in high speed mode (see
page 149).
· In high speed mode, specify a limit for the difference between
the vessel heading and the track direction (the drift angle).
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Figure 69 Track Settings dialog box - Heading page
Heading Setpoint
This feature applies only in low speed and move-up mode. In high
speed mode, the vessel heading is always controlled to minimise
the cross-track error while maintaining the wanted speed.
In low-speed and move-up mode, this feature allows you to specify
how the vessel heading is to be controlled. You must specify the
required method after entering Auto Track mode. When you first
enter Auto Track (low speed or move-up) mode, the heading
setpoint is set to the present heading.
System selected The vessel will automatically adopt the heading setpoint selected
in the list box:
Waypoint Table: the heading defined in the waypoint table.
Minimum Power: the heading that requires the minimum power
to maintain.
Towards Waypoint: the heading that points directly to the next
waypoint.
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Along Arc: the heading that correspond to the tangent of the arc
for the turn radius used when passing waypoints. When sailing on
track between waypoints, the vessel will have a heading pointing
directly to the next waypoint.
When you have selected this heading setpoint strategy, you can
also select to specify a fixed offset to the heading setpoint in the
Offset text box. A positive value offsets the heading setpoint to
starboard.
Operator The vessel will maintain the specified fixed heading (if this is
possible in the prevailing environmental conditions, with the
presently available thruster forces and with the present speed
setpoint).
Drift Angle Limit
This feature applies only in high speed mode.
Allows you to set a limit for the Drift Angle (the angle between the
vessel heading and the track leg direction).
Figure 70 Drift angle
No limit There will be no warning given if the drift angle Limit is reached
and the drift angle will not be restricted to this limit.
Alarm Only If the drift angle reaches the specified Limit, an alarm message
will be issued.
Use Limit Automatically restrict the drift angle to the specified Limit.
Limit The required drift angle limit.
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Track Settings - Speed

box is displayed. Click the Speed tab. The dialog box shown in
· Specify how the vessel’s speed along the track is to be
controlled. In both the move-up, low speed and high speed
modes, the along speed can be controlled in two different ways:
- Using the speed defined in the waypoint table for each track
leg.
- By manually specifying a speed which will be used for all
track legs.
In the high speed mode only, you can also deselect the Surge
axis (so that the forward speed of the vessel is no longer
controlled automatically) and use the manual joystick to control
the vessel speed. See Joystick speed control on page 148.
Depending on the thruster configuration and vessel design the
maximum speed for a vessel in move-up or low speed mode
should be less than approximately 3 knots since the effect of the
lateral thrusters is reduced at speeds higher than this.
· Specify the across speed setpoint. When the vessel is
approaching the track for the first time, or following a leg offset,
this setpoint is used to determine the component of the vessel
speed that is perpendicular to the track direction.
· In the move-up and low speed modes, specify the strategy to be
used for passing waypoints:
- Slowing down at each waypoint before continuing to the
next. This strategy should be used when it is important for
the vessel to pass exactly over each waypoint.
- Passing the waypoint at constant speed, following an arc of
a circle between the two track legs.
In the high speed mode, only the constant speed strategy is used.
· In the high speed mode, specify the strategy to be used for speed
control: either automatic or according to a speed/force table. In
move-up and low speed modes, the speed control is always
automatic.
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Figure 71 Track Settings dialog box - Speed page

Along Speed Setpoint
Allows you to specify the strategy for determining the vessel speed
along the track:
Waypoint table The speed setpoint for each leg is taken from the waypoint table.
Operator The speed setpoint that you specify here will be used for all track
legs. When Operator is selected, you can change the speed
setpoint at any time. When running in Auto Track mode, you can
also change the speed setpoint using the methods described on
page 196.
Across Speed Setpoint
Allows you to specify the across speed setpoint. When the vessel
is approaching the track for the first time, or when returning to
track after having followed a track offset, this setpoint is used to
determine the component of the vessel speed that is perpendicular
to the track direction.
Note The Across Speed Setpoint is not used for normal cross-track
excursions. It is the controller gain setting that determines the force
to be used to return the vessel to the track following a normal
deviation from the track (see page 211).
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Waypoint Speed Strategy

Defines the strategy for passing waypoints: either to slow down at
each waypoint or to pass each waypoint at a constant speed. The
Slow down strategy is available only in low speed mode. In high
speed mode the Constant speed strategy is always used.
Slow down at The vessel slows down at each waypoint before continuing to the
Waypoint next. The SDP system automatically calculates the required speed
reduction and the distance from the waypoint at which the slowing
down should start.
Waypoint reached This limit is used in the Slow down mode and defines the radius
limit of a circle with its centre at the current waypoint. The waypoint is
considered to be reached within this circle. When the vessel enters
this circle it begins to change heading if necessary.
The limit circle is displayed around the current waypoint on the
Posplot view.
Figure 72 Slowing down at waypoints
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Constant speed The vessel passes each waypoint with constant speed. To maintain
a constant speed when passing a waypoint, the vessel has to make
the turn on an arc of a circle. You can specify how the radius of the
turn is obtained using the Track Settings - Turn dialog box (see
page 140).
The turn radius at each waypoint is displayed on the Posplot view.
Figure 73 Passing waypoints at constant speed
Note Refer to subsection Limitations in Move-up mode on page 154 for

restrictions when Constant speed is selected as Waypoint Speed
Strategy when in Move-up mode.
Speed Control
In high speed mode, this feature allows you to define how the
required vessel speed is to be maintained. In move-up and
low-speed mode the speed control is always Automatic.
Automatic Control the vessel speed automatically according to position
and/or speed measurements.
Speed/Force Table Use constant pitch/rpm to obtain the required speed according to
the speed/force table. This table is built into the SDP system and
is configured as part of the tuning process when the system is
installed. This feature can be used to compensate for unreliable
position measurements.
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Track Settings - Turn

box is displayed. Click the Turn tab. The dialog box shown in
Using this dialog box, you can specify the turn radius to be used
when passing waypoints at constant speed. The radius of the turn
can be:
· Taken from the waypoint table for each waypoint.
· Calculated automatically by the system according to the vessel
speed setpoint, the currently-selected rotation speed setpoint,
the angle of the turn and the vessel’s turning characteristics.
· Specified manually (common for all waypoints).
Figure 74 Track Settings dialog box - Turn page
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Turn Radius for Waypoint turn

This dialog box allows you to specify how the radius of the arc
along which the vessel will pass the current waypoint is to be
determined. This feature is used always in high speed mode, and
when the Constant speed waypoint-passing strategy is selected in
move-up and low-speed modes (see Waypoint Speed Strategy on
page 138).
Figure 75 Turn radius
If the turn arcs of two waypoints touch each other, the system will
automatically reduce the turn radius.
Waypoint Table The turn radius defined for the current waypoint in the waypoint
table will be used.
Automatic (Using The turn radius will be calculated automatically by the system.
Rotate Speed) The calculated value depends on the vessel speed, the
currently-selected rotation speed, the angle of turn and the vessel’s
turning characteristics:
· Higher vessel speed causes a larger turn radius.
· Lower rotation speed causes a larger turn radius.
Note If you choose Automatic (Using Rotate Speed), you should check
that the rotation speed is set to a suitable value (see page 204). For
example, if the rotation speed is very low, the turn radius can
become very large.
Operator The turn radius specified here will be used for all waypoints.
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Track Settings - Receive

box is displayed. Click the Receive tab. The dialog box shown in
Figure 76 is displayed. This dialog box allows you to receive/send
waypoint data from/to an external computer.
Figure 76 Track Settings dialog box - Receive page
Receive Track/Waypoints from external Source and Send to
Enable reception Enables and disables the reception of waypoints from an external
source.
Enable sending Enables and disables the transmission of waypoints to an external

source. Both Enable reception and Enable sending can be
selected at the same time.
Include in Waypoint Allows you to append waypoints to an existing table and to

Table from number overwrite existing waypoints. See Receiving waypoints from an
external source on page 117.
Receive from Source Specifies the data source that the waypoints are to be received
from.
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Properties of external Track at reception

Before receiving waypoints you must specify the properties of the
data that are to be received.
Appropriate properties will normally follow the Receive from
Source selection.
Cartesian Select this option box if the waypoints to be received are in a
Cartesian coordinate system (North, East).
Geodetic Select this option box if the waypoints to be received are in a
Geodetic coordinate system (Latitude, Longitude).
UTM Select this option box if the waypoints to be received are in a UTM
coordinate system (North, East, UTM zone).
US State Plane Select this option box if the waypoints to be received are in a US
State Plane coordinate system (North, East, State Plane Zone).
When you select US State Plane, the Zone text box is displayed
where you can select the State Plane Zone.
Datum For geodetic, UTM or US State Plane Zone data, select the datum
in which the received waypoints are defined. Refer to the
discussion of coordinate systems on page 224.
False Easting For UTM data, select this check box if the waypoints are received
with False Easting.
False Northing For UTM data, select this check box if the waypoints are received
with False Northing.
Zone For UTM data, select the appropriate UTM zone.
For US State Plane Data, select the appropriate state plane zone.
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Preparation for Auto Track mode

Before entering Auto Track mode:
page 296).
2 Ensure that the required wind sensors are enabled (see
page 300).
3 Ensure that the required VRS are enabled (see page 304).
4 For running in Auto Track (high speed) mode, ensure that at
least one speed sensor is enabled.
5 Ensure that the required position-reference systems are
6 Ensure that the required thrusters, propellers and rudders are
7 Ensure that the waypoint table is correct.
8 Use the Track Settings dialog box to set the required options
and operating parameters for the Auto Track mode. In
particular, ensure that the required Next Waypoint (for low
and high speed), Tracking Mode (move-up, low speed or
high speed mode) and Track Direction (for low speed and
high speed modes) are selected on the Track Settings -
Control dialog box (see page 126).
9 If required, you can set warning and alarm limits for
cross-track deviation (see page 218).
10 Use Manual or Auto Position mode to come to a reasonable
distance from the first waypoint (for low and high speed).
- If you have chosen Approach Track - Track Leg (rather
than Waypoint) refer to Recommended start position
below.
- For high speed mode, refer also to Safe start sector below.
11 For move-up mode, use Manual or Auto Position mode to
position the vessel accurately on the track close to or exactly
on the start position for the first move-up operation.
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Recommended start position (low speed and

high speed)
If you choose Approach Track - Track Leg (rather than
Approach Track - Waypoint), you must ensure that your vessel
is “past” the previous waypoint before you enter Auto Track mode.
For example, in Figure 77, WP7 is chosen as the start waypoint and
Track Leg is chosen as the approach strategy. In this situation you
might expect the vessel to approach the track leg between WP6 and
WP7. However, the vessel start position is not “past” WP6 (as
defined by a perpendicular from the leg WP6-WP7 drawn from
WP6). In this situation, the start waypoint is changed automatically
to WP6 and the vessel will approach the track leg WP5-WP6.
Figure 77 Start position considerations
In this example, the vessel start position is “past” WP5 (as defined
by a perpendicular from the leg WP5-WP6 drawn from WP5), so
the start waypoint is not further changed to WP5.
Safe start sector (high speed)

Before starting Auto Track in high speed mode, you must ensure
that the selected start waypoint lies within a “safe start sector” of
50 degrees either side of the vessel heading.
If this is not the case, then the system will not enter Auto Track
(high speed) mode, the previous mode will be automatically
reactivated and an error message will be displayed:
WAYPOINT OUTSIDE START SECTOR
In the event of the wrong start waypoint being selected, this feature
can prevent a large unexpected turn when entering Auto Track
mode.
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Running in Auto Track (low speed) mode

1 Ensure that the procedures described in Preparation for Auto
Track mode have been carried out (page 144).
2 Press the Auto Track button in the Modes button group
twice.
- The Auto Track lamp becomes lit.
- The position setpoint is set to the selected start waypoint.
- The heading setpoint is set to the present heading.
- The vessel begins to approach the track maintaining the
present heading.
3 If a heading other than the present heading is required, use
the Track Settings - Heading dialog box to select the
required heading mode (see page 133).
4 The vessel follows the track defined in the waypoint table.
5 See Displayed information on page 158 for a description of
the graphic displays and messages that are provided in Auto
Track mode.
6 The vessel stops at the last waypoint or continues to a locally
generated waypoint 10 000 meters away from the last
waypoint (see page 132).
7 The system remains in Auto Track mode until you change to
another mode.
Joystick heading control
In the low speed mode, you can deselect the yaw axis for automatic
control and use the manual joystick to control the vessel heading:
1 Press the Yaw button in the Mode button group twice.
3 To return to automatic heading control, press the Yaw button
twice again:
- The Yawstatus lamp is lit.
Stopping on the track
To stop the vessel while in Auto Track mode:
1 Press the Stop button in the Controls button group twice.
- The Stop lamp becomes lit.
2 The vessel will slow down and stop, and then either stay at
this position or go back to the position it had when the Stop
button was pressed twice (depending on the selected Stop
On Track strategy - see page 131).
To continue on the track, press the Stop button twice again. The
Stop lamp becomes unlit.
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Changing track direction (low speed mode)

To change the direction in which the track is being followed in low
speed mode, change the Track Direction setting (Forward or
Reverse) on the Track Settings - Leg Offset dialog box (see
page 129) and click OK or Apply.
· The status lamp of the Stop button in the Controls button
group becomes lit.
· The vessel will slow down and stop, and then either stay at this
position or go back to the position it had when the change of
direction was requested (depending on the selected Stop On
Track strategy - see page 131).
To continue on the track in the opposite direction, deselect the Stop
button (by pressing it twice). The Stop lamp becomes unlit and
the vessel begins to follow the track in the opposite direction
(without changing heading).
Note When Heading Setpoint - System Selected - Towards Waypoint is
selected (refer to page 134), the “towards waypoint” direction is
determined by the Track Direction (Forward or Reverse) when the
system first enters Auto Track mode. Even though Towards
Waypoint is selected, the vessel heading will not change when
changing direction in low speed mode.
Running in Auto Track (high speed) mode

twice.
- The position setpoint is set to the selected start waypoint.
- The heading is controlled to minimise the cross-track
error while maintaining the wanted speed.
- The vessel begins to approach the track.
3 The vessel follows the track defined in the waypoint table.
Track mode.
5 When the vessel reaches the last waypoint, it continues at the
same speed on the extension of the last track leg.
6 The system remains in Auto Track mode until you change to
another mode.
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Joystick speed control

In the high speed mode, you can deselect the surge axis for
automatic control and use the manual joystick to control the thrust
and hence the vessel speed in the alongships direction.
1 Press the Surge button in the Modebutton group twice.
- The Surge status lamp becomes unlit.
2 Control the vessel’s speed manually using the joystick.
3 To return to automatic speed control, press the Surge button
twice again.
- The Surge status lamp is lit.

To stop the vessel while in Auto Track mode:
button was pressed twice (depending on the selected Stop
Changing track direction (high speed mode)

To change the direction in which the track is being followed in high
speed mode, change the Track Direction setting (Forward or
Reverse) on the Track Settings - Control dialog box (see
page 129) and click OK or Apply.
The way in which the vessel changes track direction depends on the
Reverse Action setting (Go Astern or Turn 180 Deg) on the
Track Settings - Set-up dialog box (see page 132):
· If Go Astern is selected:
- The status lamp of the Stop button in the Controls button
group becomes lit.
- The vessel will slow down and stop, and then either stay at
this position or go back to the position it had when the change
of direction was requested (depending on the selected Stop
To continue on the track in the opposite direction, deselect the
Stop button (by pressing it twice). The Stop lamp becomes
unlit and the vessel begins to follow the track in the opposite
direction (without reversing heading).
148 173222/C
· If Turn 180 Deg is selected, the vessel executes a 180 degree

turn either to port or to starboard (depending on the Turn
Direction setting on the Track Settings - Set-up dialog box
(see page 132). Note that a turn to port begins with an initial turn
to starboard, and vice versa.
Setting rudder/azimuth limits

In the high speed mode, you can set limits for turning the rudders
and/or azimuth thrusters.
On the Thruster menu, click Rudder/Azimuth Set-up. The
Rudder/Azimuth Set-up dialog box is displayed. The options
available on this dialog box depend on the vessel configuration.
The example dialog box shown in Figure 78 shows only the option
that is relevant for Auto Track high speed mode.
Figure 78 Rudder/Azimuth Set-up dialog box
In Auto Track high speed mode, the system will not turn the
rudders/azimuth thrusters beyond the specified limit. At high
speeds, a relatively small limit such as 5 degrees is often used.
Free run
In the high-speed mode, you can select Free run from the
Thruster allocation dialog box. See Thruster control modes on
page 326. The Free run thruster allocation mode must be activated
if full speed is to be available.
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Running in Auto Track (move-up) mode

2 Check that the vessel is exactly on track. If not, use Manual
or Auto Position mode to position the vessel accurately on
track.
twice.
- The vessel stays in position on track.
- The vessel heading is determined by the options selected on
the Track Settings - Heading dialog box (see page 133).
4 Select Move-up tracking mode on the Control page of the
Track Settings dialog box (see Track Settings - Control on
page 126).
Note You can also select Move-up tracking mode before entering the
Auto Track mode.
5 Click Move-up on the Track menu. The Move-up dialog
box is displayed (see below).
Note You should always display the Move-up dialog box during move-up
operations.
Note You should be aware of that there are some operational limitations
and deviations when running your vessel in Auto Track (move-up)
mode compared to running the vessel in Auto Track (low speed or
high speed) mode. Refer to subsection Limitations in Auto Track
(move-up) mode on page 154 for detailed information.
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Move-up dialog box

· Move the vessel a specified distance (to new position setpoint)
forward or backward along the track.
· Monitor the progress of the present move-up (moved and left
distance) and the total distance moved when the move-up is
performed in more than one step.
· Specify the speed setpoint and acceleration factor for the vessel
during a move-up.
Figure 79 Move-up dialog box
Distance Total Shows the accumulated total distance the vessel shall move during
the move-up operation. If you click the Reset button before you
initiate a new move-up operation, this text box will be cleared and
then show the distance you apply for the next move-up.
Distance Left Shows the distance left to move in the present move-up operation.
Distance Moved Shows the accumulated distance the vessel has moved along the
track since you started the first move-up operation. If you click the
Reset button before you initiate a new move-up operation, this text
box will be cleared and then start to count the distance the vessel
has moved in the next move-up you initiate.
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Note If you use the Leg Offset function (refer to subsection Leg Offset on
page 128) when running your vessel in Auto Track (move-up)
mode, the Moved, Left and Total Distance shown in the Progress
field will differ from the actual travelled distance for the vessel.
If you change the Track Direction on the Control page of the Track
Setting dialog box when running your vessel in Auto Track
(move-up) mode, the Moved, Left and Total Distance shown in the
Progress field will all be set to zero (refer to Figure 84).
Distance Correction Contains the distance you want to move the vessel. When you click
OK or Apply, the position setpoint along the track will be changed
with the specified distance correction and the value in the Distance
Correction box then resets to zero. You can also apply a new
distance correction during an ongoing move-up if you want to
adjust the distance to move.
Increment Changes the value in the Distance Correction box by the number
shown. You can adjust the increment value by either entering the
required value or clicking the up and down arrows. Each click on
the Forw or Back button changes the value in the Distance
Correction box by the shown increment value. The minimum
value you are allowed to enter in the Increment text box is 0.1m.
Speed Setpoint The speed setpoint that will be used for move-up when you click
OK or Apply. You can adjust the speed setpoint by either entering
the required value or clicking the up and down arrows. The value
specifies the maximum speed during the move-up. The maximum
speed may not be reached if the move-up distance is too short or
if the specified speed setpoint is too high.
The speed setpoint used for move-up is the same as the along speed
setpoint selected (Waypoint Table or Operator) on the Speed
page on the Track Settings dialog box (see Track Settings - Speed
on page 136).
Caution If you have selected Waypoint Table as the along speed setpoint,
this will be the speed setpoint used for move-up. This speed
setpoint will not be shown in the Move-up dialog box (the Speed
Setpoint text box is shown shaded containing the last operator
selected speed setpoint).
Acceleration Factor The acceleration factor that will be used for move-up when you
click OK or Apply. You can adjust the acceleration factor by either
entering the required value or clicking the up and down arrows.
The value specifies the fraction of the available acceleration to be
applied when commencing and ending a move-up. If you for
example set the acceleration factor to 30, this means that 30% of
the currently available thrust will be used to accelerate the vessel.
152 173222/C
Move-up procedure
1 Enter the distance to move in the Increment text box. Press
the Forw or Back button (depending on direction to move).
The Distance Correction text box then shows the selected
distance. If you have selected a backward move-up, a
negative number is shown.
2 Click Apply to start the move-up operation.
3 The vessel starts moving using the selected auto track and
move-up settings. Monitor the progress of the move-up in
the Moved, Left and Total text boxes.
Track mode.
5 The vessel stops on track when the move-up operation is
complete.
6 You are now ready to start the next move-up operation.
7 The system remains in Auto Track (move-up) mode until you
change to another mode.
Joystick heading control

In the move-up mode, you can deselect the yaw axis for automatic
control and use the manual joystick to control the vessel heading:
1 Press the Yaw button in the Modebutton group twice.
3 To return to automatic heading control, press the Yaw button
twice again:
- The Yawstatus lamp is lit.

To stop the vessel while in Auto Track (move-up) mode:
button was pressed (depending on the selected Stop On
Track strategy - see page 131).
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Limitations in Auto Track (move-up) mode

The following limitations apply when running in Auto Track
(move-up) mode:
a You are not allowed to select Move-up tracking mode on
the Control page of the Track Settings dialog box (refer
to Figure 64) if you on the same page have selected 0 (the
Track resume point) as the start waypoint for the
move-up operations.
b You are not allowed to change track offset when
following the circle in a waypoint turn with Constant
Speed selected as Waypoint Speed Strategy (Pass
Constant is displayed in the upper left corner of the
Posplot view, refer to Figure 80) on the Speed page of the
Track Settings dialog box (refer to Figure 71), and with
Always Allowed selected in the Track Edit Strategy
dialog box (refer to Figure 63). As you can see from the
Track Offset dialog box shown in Figure 81, you are not
allowed to enter any value into the Distance text box.
Figure 80 Pass constant displayed when following the circle in

a waypoint turn
Figure 81 Track Offset dialog box - Entering of offset values

disabled
154 173222/C
c You are only allowed to select Parallel or No Offset as

Strategy in the Track Offset dialog box (refer to Figure
82). You should also be aware of the limitations which
applies to change of track offset when your vessel follows
the circle in a waypoint turn as stated in paragraph (b)
above.
Figure 82 Track Offset dialog box - Only Parallel track offset

is allowed in Move-up mode
d When running in Auto Track (move-up) mode, with

Waypoint Table selected as Along Speed Setpoint on
the Speed page of the Track Settings dialog box, you are
not allowed to change the Speed Setpoint in the
Move-up dialog box (refer to Figure 83).
Figure 83 Move-up dialog box - Limitations to setting of speed

setpoint when system selected
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e When running in Auto Track (move-up) mode and then

changing the Track Direction on the Control page of the
Track Settings dialog box, the three text boxes showing
Moved, Left and Total Distance for move-up Progress
in the Move-up dialog box, will all be set to zero (refer
to Figure 84).
Figure 84 Move-up dialog box - Progress indicators zeroed

when changing direction
156 173222/C
f When running in Auto Track (Low Speed or High Speed)

mode with Towards Waypoint selected as Heading
Setpoint (on the Heading page of the Track Settings
dialog box), and then entering Move-up mode, the
following text will be shown in the Message area on the
Control page of the Track Settings dialog box (refer to
Figure 85):
Move-up selected:
Heading Mode will be set to Along Arc
and the System selected Heading Setpoint will

automatically be set to Along Arc.
Figure 85 Track Settings dialog box - Control page. Message

stating new heading setpoint when entering Move-up mode
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Displayed information
The track that is defined in the waypoint table is displayed on the
Posplot view.
The cross track error is displayed on the General and Deviation
views.
The current operating mode is displayed in the status bar:
· TRACK MOVE UP in move-up mode
· TRACK LOW SP in low speed mode
· TRACK HIGH SP in high speed mode
A status display is provided in the upper-left corner of the Posplot
view.
Figure 82 Example Auto Track status display

This status display provides the following information:
· The current Auto Track state (for example, Approach
first WP)
· The distance to the next waypoint
· The next waypoint number
The Auto Track states that may be displayed are described below:
Approach circle Approaching the turn circle in a waypoint turn (Waypoint Speed
Strategy - Constant Speed).
Approach first Approaching the turn circle at the start waypoint (Waypoint
circle Speed Strategy - Constant Speed).
Approach first WP Approaching the first waypoint on a straight line from the start
position (Approach Track - Waypoint).
Approach last Approaching the last waypoint in the track.
Approach WP Approaching the track and within the Waypoint reached limit
Retarding of the waypoint (Waypoint Speed Strategy - Slow down at
waypoint).
Approach track Approaching the track (Approach Track - Track Leg).
At last WP Low speed and Move-up mode: Stationary at the last waypoint of
the track.
High speed mode: Past last waypoint and continuing with same
speed on the extension of the last leg.
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No WP Control Temporary idle state.

On track Following a track leg.
Pass constant Following the circle in a waypoint turn (Waypoint Speed
Strategy - Constant Speed).
Pass first WP Following the turn circle of the start waypoint.
Retarding at WP Following the track and past the Waypoint reached limit of the
waypoint (Waypoint Speed Strategy - Slow down at waypoint).
Retarding at Past the Waypoint reached limit of the start waypoint (Waypoint
first WP Speed Strategy - Slow down at waypoint).
Turn 180 Reversing on track (Reverse Action - Turn 180 Deg).

· Controller gain selection (see page 211).
· Joystick gain control (see page 215).
· Thruster control modes (see page 326).
· Setting the rotation speed (see page 204).
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Autopilot mode
The Autopilot mode enables the vessel to steer along a selected
course by accurately and automatically controlling the vessel’s
heading. The vessel speed can be controlled either from the
joystick on the operator panel or from external thruster levers.
It is also possible to have remote control of heading, speed and
cross-track error compensation from an external route planning
system (such as the Simrad Planning Station).
The Conning view provides useful information in Autopilot mode
(see page 370).
Speed control from joystick

1 While still in Manual or Auto Position mode, move the
vessel to the required heading.
2 Check that the required thrusters are enabled.
3 Use the Main page in the Gain dialog box (see page 212) to
set the controller gain (High, Medium or Low).
4 Use the Autopilot Settings dialog box to set the required
steering parameters:
- Rudder/azimuth limits and steering mode (see page 162).
- Gain adjustment (Counter Rudder and Auto Turn, see
page 167).
- Wind compensation (see page 170).
5 Enable speed sensors (see page 307).
6 Press the Autopilot button in the Modes button group twice.
- The Autopilot and Yaw status lamps are lit.
- The vessel heading is controlled automatically (see
Changing heading on page 161).
- The vessel speed is controlled from the joystick.
7 Move the joystick in the alongships direction until the
wanted demand on the thrusters/propellers is reached.
8 When sufficient speed is reached, you can select Free run
from the Thruster allocation dialog box. See Thruster
control modes on page 326.
- The Free run thruster allocation mode must be activated
if full speed is to be available.
9 To leave the Autopilot mode, go to the Manual mode by
pressing the Manual button in the Modes button group
twice.
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Speed control from external levers

1 While still in Manual or Auto Position mode, move the
vessel to the required heading.
2 Use the Autopilot Settings dialog box to set the required
steering parameters:
- Rudder/azimuth limits and steering mode (see page 162).
- Gain adjustment (see page 167).
- Wind and thruster moment compensation (see page 170).
3 Set the MANUAL/DP/AUTOPILOT thruster mode switch
to the AUTOPILOT position.
- Thruster pitch/rpm is controlled from the external levers.
- Thruster/rudder azimuth is controlled by the SDP system.
4 Enable speed sensors (see page 307).
5 Press the Autopilot button in the Modes button group twice.
- The Autopilot and Yaw status lamps are lit.
- The vessel heading is controlled automatically (see
Changing heading on page 161).
6 Use the external thruster levers to control the vessel speed.
7 To leave the Autopilot mode, go to the Manual mode by
pressing the Manual button in the Modes button group
twice.
8 Set the MANUAL/DP/AUTOPILOT thruster mode switch
to the DP position.
Changing heading
There are several ways to change heading in Autopilot mode.
· As described in Changing the heading setpoint on page 199.
· By deselecting Yaw and changing the heading by rotating the
joystick control. Select Yaw again when the desired heading is
reached.
Note When changing the heading setpoint from the Change Heading
dialog box, the turn direction will depend on the new heading
setpoint. The shortest turn is always used.
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Rudder/azimuth limits and steering mode

Using either the Steering page of the Autopilot Settings dialog or
the Rudder/Azimuth Set-up dialog box, you can:
· Set angle limits for the rudders and/or azimuth thrusters within
which the rudders/azimuth thrusters are allowed to operate
under manual and automatic heading control.
· Select which pre-configured steering group is to be used for
steering the vessel.
· Select the steering mode which determines how the selected
steering group is used to steer the vessel.
To display the Autopilot Settings dialog box, click Autopilot
Settings on the Controller menu. Click the Steering tab.
To display the Rudder/Azimuth Set-up dialog box, click
Rudder/Azimuth Set-up on the Thruster menu.
The options that are available on these dialog boxes depend on the
vessel configuration.
Figure 86 Autopilot Settings dialog box - Steering page

and Rudder/Azimuth Set-up dialog box
162 173222/C
The system is preconfigured with:

· Which propulsion units can be used for steering in Autopilot
mode (steering units)
· Which propulsion units shall only provide alongships force in
Autopilot mode (force units)
· How the steering units are grouped into steering groups
The dialog boxes shown in Figure 86 would be displayed for the
example vessel configuration shown in Figure 87. This example
vessel has three steering groups, each comprising two steering
units. All the thrusters are configured for use as force units.
Figure 87 Example vessel configuration
Limits
Automatic In Autopilot mode with automatic heading control, the system will
not turn the rudders/azimuth thrusters beyond the specified limit.
At high speeds, a relatively small limit such as 5 degrees is often
used.
Manual In Autopilot mode with manual (joystick) heading control, the
system will not turn the rudders/azimuth thrusters beyond the
specified limit. This limit is usually set to a high value so that the
maximum steering effect can be achieved in an emergency
situation (for example, the maximum physical angle for rudders or
60 degrees for azimuth thrusters).
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Steering mode
The Steering mode determines how the steering units within the
active steering group are used to steer the vessel. This option is not
available if there is only one steering unit.
Synchronous Both steering units have the same azimuth angle and both generate
the directional force demand.
Asynchronous Auto Only one steering unit is used to generate the directional force,
while the other is fixed alongships. The steering unit is selected
automatically depending on the turn direction.
Asynchronous The starboard steering unit generates the directional force.
Starboard The port steering unit is fixed alongships.
Asynchronous Port The port steering unit generates the directional force. The
starboard steering unit is fixed alongships.
Figure 88 shows the effect of the various steering modes when the
aft steering group (comprising the two aft outer steering units) is
selected.
Figure 88 Autopilot steering modes
164 173222/C
Steering group
In Autopilot mode, you can select which pre-configured steering
group is to be used for steering the vessel. This option is not
available if there is only one defined steering group.
In the example shown in Figure 87, you can select between the
Bow, Middle and Aft steering groups.
Figure 89 shows the effect of selecting these steering groups when
the Synchronous steering mode is also selected.
Steering units belonging to groups which are not selected for
steering provide only alongships force.
Figure 89 Autopilot steering groups
Maximum steering force

When slowly increasing the force demand in Autopilot mode, the
system will apply force using the steering units first, before using
the force units. In this way, steering is prioritised over alongships
propulsion.
The limit at which the system begins to apply force using the force
units in addition to the steering units is determined by the Max
Steering Force entry.
The Max Steering Force entry is not displayed on the dialog box
if the vessel is configured with only one steering group and there
are no additional force units.
In the example illustrated in Figure 90, the Max Steering Force
is set to 70%:
· No thrust is applied using the force units until the force demand
reaches 70% on the steering units.
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· When the force demand is equal to 70% on the steering units,

they are frozen at this level until the force units also reach 70%.
· Above this level, the force demand will increase equally on both
the steering and force units.
Figure 90 Autopilot maximum steering force
166 173222/C
Autopilot gain
In addition to the standard Low, Medium and High gain level
settings of the controller (see page 211), you can also set the
Counter Rudder gain and the Auto Trim gain using either the
Gain page of the Autopilot Settings dialog box or the Autopilot
page of the Gain dialog box:
· To display the Autopilot Settings dialog box, click Autopilot
Settings on the Controller menu. Click the Gain tab.
· To display the Gain dialog box, either click Gain on the
Controller menu, or press the Control Setup button in the
Controls button group. Click the Autopilot tab.
Figure 91 Autopilot Settings dialog box - Gain page

and Gain dialog box - Autopilot page
Both the Counter Rudder and the Auto Trim can be set in the
range from 50 to 150%, with a default of 100%.
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Counter Rudder
The Counter Rudder serves two purposes, firstly to give a smooth
transition to a new heading after a major course change has been
made, and secondly to enable the autopilot to stabilize the vessel
on a straight course.
If the Counter Rudder setting is too low, there may be an
overshoot past the new heading and it may take a long time before
the new heading is stabilized.
If the Counter Rudder setting is too high, there may be an over-
correction followed by a small overshoot past the new heading, and
the vessel may then tend to oscillate around the new heading. A
typical symptom here is an over-active rudder.
Figure 92 Effects of Counter Rudder settings
168 173222/C
Auto Trim
The Auto Trim corrects for static heading deviation due to weather
forces.
A low Auto Trim setting (minimum 50%) results in a slower
correction of static heading deviation.
A high Auto Trim setting (maximum 150%) results in a faster
correction of static heading deviation.
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Wind force and thruster moment

compensation
Using the Compensate page of the Autopilot Settings dialog box,
you can enable or disable wind force compensation and thruster
moment compensation.
Click Autopilot Settings on the Controller menu. The Autopilot
Settings dialog box is displayed. Click the Compensate tab.
Figure 93 Autopilot Settings dialog box - Compensate page
Environment
Wind Forces You can enable or disable wind force compensation by
Compensation selecting or deselecting the Wind Forces compensation check
box. When wind force compensation is enabled, the vessel will
react much quicker to sudden changes in wind speed and direction.
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Thrusters
When the vessel speed is controlled by external levers and the
vessel heading is controlled by the SDP system, the SDP system
normally compensates automatically for the turning moment
generated by the force thrusters. When the Moment
compensation check box is selected for a thruster, the SDP system
reads the feedback signal from that thruster and takes account of
the resulting turning force.
If there is known to be an fault situation where the feedback from
a particular force thruster is unreliable, you can deselect the
corresponding Moment compensation check box. The SDP
system will then no longer compensate for the effect of this
thruster.
Remote control from external system

In Autopilot mode, the vessel heading, speed and cross-track error
can also be controlled from a remote route planning system such
as the Simrad Planning Station (SPS).
When remote control is enabled, dynamic information such as
heading and speed setpoints and deviations are calculated by the
remote system. Based on this information, the SDP system
performs the required thruster force allocation.
At the STC operator station, you can specify the degree of control
that is to be passed to the external system by selecting the axes that
are to be under automatic control:
· Yaw for heading control
· Surge for speed control
· Sway for cross-track error compensation
Remote control of speed and cross-track error are only possible if
the required information is available from the remote system.
Selecting remote autopilot control

Use the following procedure to select remote autopilot control:
1 Enter Autopilot mode as described previously.
2 Press the Remote Control button in the Modes button
group.
a If the remote system has already requested control, the
Remote Control status lamp is lit.
b If the remote system has not yet requested control, the
Remote Control status lamp flashes until the request is
received.
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While the Remote Control status lamp is lit, the SDP system
receives and uses setpoint and deviation information from the
remote system.
Select local or remote control of heading, speed and cross-track
error as described below.
Heading control
When remote control is active, select the Yaw axis to enable remote
heading control. In this case, the local procedures described under
Changing the heading setpoint on page 199 are not available
except that you can use the Present Heading button.
the Yaw axis and control the vessel heading by rotating the joystick
control.
Speed control
If remote speed control is allowed, you can select the Surge axis
to enable remote control.
You can at any time deselect the Surge axis and control the vessel
speed using the joystick.
Cross-track error compensation

When remote control is active, you can select the Sway axis to
enable remote cross-track error compensation.
Returning to local autopilot control

To return to local autopilot control, press the Remote Control
button again. The Remote Control status lamp is extinguished.

· Joystick gain control (see page 215)
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Auto Area Position mode

In the Auto Area Position mode, the system keeps the vessel within
an allowed area with minimum use of power. This mode is
intended for stand-by operations where the vessel must remain
within a specified geographical area.
The system allows the vessel to drift away from the centre of the
area due to environmental forces. Automatic or manual bias forces
can be applied to reduce the drift-off speed. The
propellers/thrusters are used to return the vessel to the area centre
only when the operational limits are reached.
During the position drift-off phase, you can either allow the vessel
heading to drift within specified limits or apply full automatic
heading control.
Position control
Area definition
The area within which the vessel is allowed to drift is defined as
an ellipse.
Area Boundary (Alarm Limit)
Activation Limit
Environmental
Load Early Warning Limit
Area Centre
Drift--off
Path
Return
Path
Figure 94 Position control in Auto Area Position mode
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You must define three position limits:

· The area boundary (alarm limit).
· An activation limit (at a specified distance from the area
boundary).
· An early warning limit (specified as a time before reaching the
activation limit).
The defined area boundary and activation limit are displayed on
the Posplot view as shown in Figure 96.
Drift-off
Initially the vessel is allowed to drift away from the centre of the
area, but the drift-off speed can be reduced by biasing the
propellers/thrusters. Such biasing can be done either automatically
by the SDP system based on the measured environmental forces
and the distance from the area centre, or manually using the
joystick (see Setting the bias forces).
During the drift-off period, the system controls the heading of the
vessel in order to maintain an optimum heading with respect to
drift-off speed and/or roll motion (see Heading Control).
The status message Drifting is displayed on the Posplot view.
Early Warning Limit
When the vessel drifts away from the area centre, it will first pass
the early warning limit. You specify this limit as a time before
which the vessel is expected to reach the activation limit. At this
point the system issues a warning message:
POSITION EARLY WARNING
This message indicates that the propellers/thrusters may soon be
activated to bring the vessel back towards the area centre.
The system checks if sufficient power and thrust capacity are
presently available to perform this operation. If this is not the case,
you will be alerted to enable additional thrusters.
Activation limit
When the activation limit is reached, the status message Move
Back is displayed on the Posplot view and the system issues an
information message:
POSITION MOVE BACK
The system then begins to manoeuvre the vessel back to the area
centre. Steady thruster forces are used to obtain smooth positioning
with a minimum variation of power.
If the vessel should reach the area boundary for any reason, you
will be alerted by an alarm message:
POSITION OUTSIDE AREA
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Return to drift-off phase

When the vessel’s position is close enough to the area centre and
its motion has ceased, the manoeuvering thrust demand is
removed, leaving only the bias forces. The process then starts over
again.
Heading control
The system monitors and controls the vessel’s heading in a
different way to the vessel’s position.
You can set the required heading setpoint using the standard SDP
heading control functions (see page 199). This means that you can
choose either Operator Selected or System Selected heading.
In the Auto Area Position mode, the System Selected heading is
the heading that requires the minimum power to maintain in the
current environmental conditions. If you choose System Selected
heading, the system maintains this heading at all times.
Note The remainder of the description below applies only if you choose
an Operator Selected heading.
If you choose Operator Selected heading (the default when
entering the Auto Area Position mode), you must specify two
heading limits:
· Early warning limit
· Activation limit
Figure 95 Heading control in Auto Area Position mode
Drift-off phase
Initially the system applies steady thruster forces to compensate
for the wind forces, but allows the vessel heading to drift away
from the heading setpoint.
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Early warning limit

The vessel heading is allowed to drift away from the heading
setpoint until it reaches the early warning limit. At this point the
system issues a warning message:
HEADING EARLY WARNING
This message indicates that the propellers/thrusters may soon be

activated to bring the vessel back to the wanted heading.
The system checks if sufficient power and thrust capacity are
presently available to perform this operation. If this is not the case,
you will be alerted to enable additional thrusters.
Activation limit
When the activation limit is reached, the system issues an
information message:
HEADING MOVE BACK
The system then begins to manoeuvre the vessel back to the wanted
heading.
Full automatic heading control

For more precise control of the heading, you can set both the
warning and activation limits to zero. The system then provides
full automatic heading control This may be suitable in situations
when the position drift-off rate would become very large if the
heading were not kept at the optimum value. The disadvantage is
an increase in power consumption.
Operating procedure
page 296).
3 Position the vessel within the required area using the Manual
or Auto Position modes.
4 Set up the required area definition using the Area Pos
Set-up dialog box.
- The defined area is displayed on the Posplot view.
5 Set the required bias forces using the Propeller Bias dialog
box.
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6 Press the Auto Area button in the Modes button group

twice.
- The status lamp for the Auto Area button is lit.
- The position setpoint is moved to the centre of the defined
area (see Figure 96).
- The heading setpoint is set to the present vessel heading.
7 Select the required heading setpoint (see Heading control
above).
Figure 96 Example Posplot view in Auto Area Position mode
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Defining the area

To set up the required area definition, position limits and heading
limits, click Area Pos Set-up on the Area menu. The Area Pos
Set-up dialog box is displayed.
Figure 97 Area Pos Set-up dialog box
Area definition
Name A number of predefined area definitions are available for your
vessel. Select the required name from the list box. If the area to be
defined is not available in the predefined list, enter the required
parameters directly in the New boxes.
Add Name Click Add Name to enter a new name for an area definition. A
simulated keyboard is displayed. Enter the required name and then
click Enter on the keyboard.
Figure 98 Display keyboard
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Delete Name Deletes the area definition specified in the Name box.
File - Load Writes the area definition selected by Name into the New boxes.
File - Save Saves the area definition currently in the New boxes under the
selected Name. This allows you to save new area definitions or
save changes to existing area definitions.
Get Current Pos Reads the vessel’s estimated position and writes this in the
Position - New boxes. This provides a simple method for setting
the current vessel position as the centre of the area definition.
Position N,E The position to be used for the centre of the area ellipse. You can
freely change the values in the New boxes. When you click OK or
Apply, the New values are written into the Actual boxes and are
used by the system.
Orientation The orientation of the major axis of the area ellipse (clockwise
from North).
Length The length of the area ellipse.
Width The width of the area ellipse.
Erase Area The area definition remains displayed on the Posplot view after
you leave the Auto Area Position mode. Clicking Erase Area
removes the area definition from the display.
Position limits
Early Warning The length of time before the activation limit is predicted to be
reached at which a warning message is issued. The prediction is
based on the current vessel motion.
Activation Limit The location of the activation limit, given as a distance inwards
from the area boundary.
Note You should switch off the controller position limits (see page 217)
during operation in Auto Area Position mode.
Heading limits
Early Warning The angular deviation of the vessel’s estimated heading from the
heading setpoint at which a warning message is to be given.
Activation Limit The angular deviation of the estimated heading from the heading
setpoint at which a return to the setpoint is to be activated.
Note If you are using early warning and activation limits, you should
switch off the controller heading limits (see page 218). If you set
the heading early warning and activation limits to zero to obtain
full automatic heading control then you can continue to use the
normal controller heading limits. If you choose to use the System
Selected heading, then neither the warning and activation limits
nor the controller heading limits are active.
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Setting the bias forces

To set the required propeller bias, either click Propeller Bias on
the Area menu, or press the Prop Bias button in the Controls
button group. The Propeller Bias dialog box is displayed.
Figure 99 Propeller Bias dialog box
Control
Automatic Thruster bias is automatically applied according to the filtered
wind forces and the distance from the area centre. To select
automatic bias, first select the Automatic - New option box and
then click OK or Apply.
Manual The thruster bias is determined by the position of the manual
joystick. To select manual bias, first select the Manual - New
option box and then click OK or Apply. During the drift-off phase,
you can then use the joystick to define the magnitude and direction
of the thruster bias forces.
Joystick Control
Lock Joystick When manual bias is selected, you can select the Lock Joystick
check box and then click OK or Apply to lock the manual bias at
the current value. The bias forces are then no longer affected by the
position of the joystick.
The joystick lock status is shown on the status bar at the bottom of
the display screen (see page 41).

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Anchor Watch mode

The Anchor Watch mode is intended for use by a vessel that is lying
to an anchor. The system monitors the position of the vessel within
a defined area and issues the following alarm message if the vessel
reaches the boundary of this area:
POSITION OUTSIDE AREA
No propeller/thruster forces are used to maintain the vessel
position in the Anchor Watch mode, but you can request automatic
heading control if required. For example, when lying to a single
bow anchor, you can select automatic heading control and enable
an aft thruster to hold the vessel heading stable.
The allowed anchor area is defined by minimum and maximum
distances from the anchor, the bearing to the anchor, and the sector
width as shown in Figure 100.
Figure 100 Anchor area definition
Operating procedure
page 296).
3 Select the anchor to be deployed and set up the required area
definition using the Anchor Watch Set-up dialog box (see
below).
4 Position the vessel ready to drop anchor using the Manual
mode.
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5 When the anchor is dropped, click Anchor Down on the

Anchor Watch Set-up dialog box to define the anchor
position on the sea bed.
- The anchor area is displayed on the Posplot view.
6 Remain in Manual mode until the anchor is set.
7 Press the Anchor Watch button in the Modes button group
twice.
- The status lamp for the Anchor Watch button is lit.
- The position setpoint is moved to the defined anchor
position. (See Figure 101).
- The system monitors the vessel position relative to the defined
area and issues an alarm if the boundary is reached.
8 If automatic heading control is required, press the Yaw
button in the Modes button group twice and enable the
appropriate thrusters.
heading.
- You can change the heading setpoint as required (see
page 199).
Note In Anchor Watch mode, the force acting on the vessel due to the
anchor line is not known. To prevent instability in the Vessel Model
when using automatic heading control, the Error Compensation
Force (presented as Current on the Posplot view) is set to zero and
heading control is based almost entirely on direct measurements
from the gyrocompass.
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Figure 101 Example Posplot view in Anchor Watch mode
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Defining the anchor area

To set up the required anchor area and select the anchor to be
deployed, click Anchor Watch Set-up on the Area menu. The
Anchor Watch Set-up dialog box is displayed.
Figure 102 Anchor Watch Set-up dialog box
Define Legal Area

Maximum Anchor Maximum distance from the vessel (rotation point) to the anchor.
Distance See Figure 100.
Minimum Anchor Minimum distance from the vessel (rotation point) to the anchor.
Distance See Figure 100.
Bearing to Anchor Orientation of the anchor area sector. See Figure 100.
Sector Width Angular width of the allowed anchor area. See Figure 100.
Record Anchor Position

(Anchor) You must select from the list box the name of the anchor that is to
be deployed.
Anchor Down When the anchor has been dropped, clicking Anchor Down
defines the anchor position on the sea bed and displays the anchor
area definition on the Posplot view.
Anchor Up The area definition remains displayed on the Posplot view until
you click Anchor Up.
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Follow Target mode

The Follow Target mode allows the vessel to follow a moving
submerged target such as a Remotely Operated Vehicle (ROV),
while keeping the vessel at a constant position relative to the target.
The submerged target must be equipped with a hydroacoustic
reference transponder in order for the system to monitor its
position. The horizontal distance between the moving transponder
and the vessel must be within the operational range of the HPR
system. In addition to a mobile reference transponder on the target,
an additional fixed position-reference system is required.
You can define a circle of operation within which the target can
move without causing the vessel to move. The vessel only moves
when the target reaches the boundary of this circle. The radius of
this circle (the “reaction radius”) can be up to 1000m.
The vessel moves when
the target reaches the Vessel’s initial position
boundary of the circle
The target reaches the

boundary of the reaction
circle which causes the Target’s initial position
vessel to move
The target moves within
the reaction circle without
causing the vessel to move
Figure 103 Follow Target mode
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Entering Follow Target mode

You can enter the Follow Target mode from either the Manual or
Auto Position mode.
1 Enable a suitable fixed position-reference system as the
reference origin (see page 264).
2 At the HPR Control Unit, activate the transponder on the
submerged target that is to be tracked and set the type to
Mobile.
3 Enable the HPR position-reference system.
4 Set the required reaction radius and filter constant using the
Follow Target dialog box. See Changing the reaction radius
/ filter constant below.
5 On the Posplot view, monitor the relative positions of the
vessel and the mobile transponder on the submerged target.
6 When the mobile transponder is at the required position
relative to the vessel, press the Follow Target button in the
Modes button group. The Follow Mobile Transponder
Figure 104 Follow Mobile Transponder dialog box
7 Select the name of the mobile transponder from the list box
and click OK.
- The Follow Target status lamp is lit.
- The Surge, Sway and Yaw status lamps are lit.
- The reaction radius is displayed on the Posplot view as a
circle around the filtered position of the mobile
transponder. See Figure 105.
As the mobile transponder moves, both the vessel’s position
setpoint and the position of the reaction radius circle remain
unchanged.
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When the mobile transponder reaches the edge of the reaction

radius circle, the position setpoint is updated automatically to
restore the vessel to the same position relative to the target, and the
reaction radius circle is redrawn around the new position of the
mobile transponder.
Figure 105 Posplot view in Follow Target mode
Changing the reaction radius / filter

constant
To change the reaction radius and filter constant, click Follow
Target on the Controller menu. The Follow Target dialog box is
displayed.
Figure 106 Follow Target dialog box

Enter the required reaction radius (between 0 and 1000m) and the
required filter constant (between 0 and 100%, where 0%
corresponds to no filtering and 100% corresponds to maximum
(preconfigured) filtering). The filtered position is displayed as a
filled black circle of constant size (not dependent on selected
display range) as shown in Figure 105.
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Heading control
All of the standard methods for heading control are available as
described in Changing the heading setpoint (page 199).
In the Follow Target mode, choosing System Selected heading
from the Change Heading dialog box will keep the vessel at the
heading that requires the minimum power to maintain in the
present environmental conditions.
Position control
When in Follow Target mode, you can change the distance to the
target whenever necessary. All of the standard methods for
position control are available as described in Changing the
position setpoint (page 190).

· Set position limit (see page 217)
· Set heading limit (see page 218)
· Set vessel speed (see page 196)
· Set rotation speed (see page 204)
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COMMON OPERATING PROCEDURES

This section describes operating procedures that are common
to more than one main operational mode.
For operating procedures for the main DP modes, refer to

Main DP operating procedures.
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Changing the position setpoint

There are two methods for changing the position setpoint:
· You can mark the new setpoint on the Posplot view.
· You can specify the coordinates of the new setpoint using the
Change Position dialog box.
You can also specify the speed at which the vessel should try to
move during a change of position.
Note The two methods for changing the position setpoint cannot be used
at the same time. When the Change Position dialog box is open you
cannot mark a new setpoint on the Posplot view. If you begin
marking a new setpoint on the Posplot view and then open the
Change Position dialog box, the marking process is terminated.
Marking on the Posplot view

With the Posplot view displayed in the working area, you can
change the position setpoint using the trackball.
1 Click on the position setpoint symbol in the Posplot view.
- The Position dialog box is displayed.
Figure 107 Changing the position setpoint
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2 Move the setpoint symbol with the trackball.

- The setpoint symbol moves on the display and the
position coordinates are updated dynamically in the
Position dialog box.
3 Click again to fix the setpoint symbol at the required
position.
- A temporary position setpoint symbol is displayed at the
new position and the coordinates, distance and true
direction from the current position setpoint are displayed
in the Position dialog box.
4 Either click OK to accept the new position setpoint, or click
Cancel to continue with the existing setpoint.
Using the Change Position dialog box

Either click Change Position on the Controller menu, or press the
Change Position button in the Controls button group. The
Change Position dialog box is displayed. This dialog box
provides two ways of specifying the required position setpoint:
· Absolute for defining the setpoint using absolute coordinates
· Incremental for defining the setpoint relative to the existing
setpoint
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Range/Bearing
To define the position setpoint using range and bearing, click the
Range/Bearing tab on the Position dialog box. The
Range/Bearing page is displayed (see Figure 108).
Figure 108 Change Position dialogue box - Range/Bearing

page
New Setpoint Shows the coordinates that will be used for the new position
setpoint when you click OK or Apply.
A temporary setpoint symbol is displayed on the Posplot view
showing the position of the New Setpoint relative to the Current
Setpoint.
Range/Bearing To define a new position setpoint, enter the range and bearing in
these text boxes.
Start position You can decide whether the new position setpoint is to be
calculated relative to the Current Setpoint or the Estimated
Position by clicking the matching radio button.
Bearing You can select either True or Relative bearing by clicking the
matching radio button.
From Current Set- Shows the Distance and True Direction of the New Setpoint
point to New Setpoint position relative to the Current Setpoint position.
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Incremental
To define the position setpoint relative to the existing setpoint,
click the Incremental tab of the Change Position dialog box. The
dialog box shown in Figure 109 is displayed.
Figure 109 Change Position dialog box - Incremental page
setpoint when you click OK or Apply.
Setpoint.
Increment This area of the dialog box is used to adjust the New Setpoint
coordinates by applying position increments:
· You can select either Relative or True increments:
- If you select Relative, you can apply increments
Forward/Aft and Port/Starboard.
- If you select True, you can apply increments North/South or
East/West.
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· You can enter an increment by typing a value into the increment

spin box. You can adjust the size of the increment by clicking
the up or down arrows next to the increment spin box.
· To add the selected increment in a particular direction to the

New Setpoint coordinates, click on Forw/Aft/Port/Stbd or
North/South/West/East as appropriate. Each time you click
one of these, the New Setpoint coordinates are adjusted and the
temporary setpoint symbol on the Posplot view is moved
accordingly.
Current Setpoint Shows the coordinates of the current position setpoint.
Present Position Shows the coordinates of the present position of the vessel.
From Current Set- Shows the Distance and True Direction of the New Setpoint
point to New Setpoint position from the Current Setpoint position.
Absolute
To define the position setpoint using absolute coordinates, click the
Absolute tab of the Change Position dialog box. The dialog box
shown in Figure 110 is displayed.
Figure 110 Change Position dialog box - Absolute page
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setpoint when you click OK or Apply. You can enter New
Setpoint coordinates by:
· Entering the required coordinates directly into the New
Setpoint boxes.
· Typing the required coordinates directly into the New Setpoint
boxes
· Selecting Current Setpoint.
· Selecting Previous Setpoint.
· Selecting Present Position.
Setpoint.
Current Setpoint Shows the coordinates of the current position setpoint. Clicking
the button writes these coordinates into the New Setpoint boxes
(for example, to undo changes that you have made to New
Setpoint).
Previous Setpoint Shows the coordinates of the previous position setpoint. Clicking
the button writes these coordinates into the New Setpoint boxes.
You can therefore use this feature to return the vessel to a previous
position.
Present Position Shows the coordinates of the present position of the vessel.
Clicking the button writes these coordinates into the New Setpoint
boxes.
After you select Present Position, the position coordinates
continue to be updated here, but not in the New Setpoint boxes.
From Current Set- Shows the distance and true direction of the New Setpoint
point to New Setpoint position from the Current Setpoint position.
Stopping a change of position

To set the vessel’s present position as the position setpoint, press
the Present Position button in the Controls button group twice.
This will interrupt a requested change of position.
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Setting the vessel speed

You can specify the speed at which the vessel should try to move
during a change of position. This speed applies only when the surge
and sway axes are under automatic control.
As the vessel approaches the position setpoint, the speed setpoint
is reduced towards zero.
The following methods are available for changing the vessel speed
setpoint:
· Using the Speed page of the Change Position dialog box.
· Using the Speed Setpoint dialog box.
· In Auto Track mode only: using the Track Settings dialog box
(see page 137).
Note If you set the vessel speed setpoint to 0.0, the vessel will not change
position.
Using the Change Position - Speed dialog box

Click the Speed tab of the Change Position dialog box. The dialog
box shown in Figure 111 is displayed.
Figure 111 Change Position dialog box - Speed page

Either use the slider to set the required speed or enter the required
speed in the New Speed Setpoint box.
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Using the Speed Setpoint dialog box

Click Speed Setpoint on the Controller menu. The Speed
Setpoint dialog box is displayed.
Figure 112 Speed Setpoint dialog box
Either enter the required value in the Speed Setpoint box or use
the up and down arrows to adjust the setpoint by the selected
increment or decrement (Inc/Dec Step).
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Setting the acceleration

You can specify the acceleration and retardation factors for the
vessel speed in surge and sway axes at start and stop during a
change of position.
As the vessel starts a change of position, the vessel speed is
increased to the speed setpoint using the selected acceleration
factors in surge and sway axes.
As the vessel approaches the new position setpoint, the vessel
speed is reduced to zero using the selected retardation factors in
surge and sway axes.
To set the acceleration and retardation factors for the vessel speed
in surge and sway axes during a change of position, click the
Acceleration tab of the Change Position dialog box. The dialog
box shown in Figure 113 is displayed.
Figure 113 Change Position dialog box - Acceleration page
Either use the up and down arrows to set the required acceleration
and retardation factors in steps of 1.0%, or enter the values in the
Surge and Sway text boxes. The acceleration and retardation
factors can be set in the range from 0.0 to 100.0%, and represent
percent of maximum available acceleration and retardation.
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Changing the heading setpoint

There are three methods available for changing the heading
setpoint:
· You can mark the new setpoint on the Posplot view.
· You can specify the new heading setpoint using the Change
Heading dialog box.
· You can set the new heading setpoint using the Heading Wheel
and its three associated buttons on the operator panel.
You can also specify the speed at which the vessel should try to
rotate during a change of heading.
Note The first two methods for changing the heading setpoint can not be
used at the same time. When the Change Heading dialog box is
open you can not mark a new setpoint on the Posplot view. If you
begin marking a new setpoint on the Posplot view and then open
the Change Heading dialog box, the marking process is
terminated.
Marking on the Posplot view

With the Posplot view displayed in the working area, you can
change the heading setpoint using the trackball.
1 Click on the heading setpoint symbol (at the edge of the
position plot).
- The Heading dialog box is displayed (see Figure 114).
2 Move the setpoint symbol with the trackball.
- The setpoint symbol moves along the edge of the position
plot and the corresponding heading is updated
dynamically in the Heading dialog box.
3 Click again to fix the setpoint symbol at the required
heading.
- A temporary heading setpoint symbol is displayed.
- The new heading setpoint and the difference from the
current heading setpoint are displayed in the Heading
dialog box.
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4 Either click OK to accept the new heading setpoint, or click

Cancel to continue with the existing setpoint.
Figure 114 Changing the heading setpoint
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Using the Change Heading dialog box

Either click Change Heading on the Controller menu, or press
the Change Heading button in the Controls button group. The
Heading page of the Change Heading dialog box is displayed.
Figure 115 Change Heading dialog box - Heading page
Enter New
Heading Setpoint Shows the heading that will be used as the new heading setpoint
when you click OK or Apply.
When Operator Selected is chosen under Strategies, you can
enter the Heading Setpoint by:
· Entering the required heading directly in the Heading Setpoint
box.
· Entering the required coordinates directly into the Heading
Setpoint box.
· Increasing or decreasing the value in increments of one degree
by clicking the arrows next to the Heading Setpoint text box:
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· Selecting Current Setpoint.

· Selecting Previous Setpoint.
· Selecting Present Heading.
When System Selected is chosen under Strategies, you can not
change the Heading Setpoint value.
A temporary heading setpoint symbol is displayed on the Posplot
view showing the proposed heading setpoint.
Note When changing the heading setpoint from the Change Heading
dialog box when in Autopilot mode, the turn direction will depend
on the new heading setpoint. The shortest turn is always used.
Strategies
System Selected If you choose System Selected under Strategies, the displayed
system–selected heading is written into the Heading Setpoint
box. When you click OK or Apply, the system will continue to
determine what the heading setpoint should be.
The heading chosen by the system depends on the current
operational mode. For example, in Auto Position mode the system
will select the heading that requires the minimum power to
maintain in the current environmental conditions. This heading
will change continuously according to the prevailing
environmental forces on the vessel.
Operator Selected If you choose Operator Selected under Strategies, you are free
to enter the Heading Setpoint using any of the other methods
described here.
Note When in Autopilot mode, where System Selected has no meaning,
the Strategies group box is not shown.
From Current Setpoint to New Setpoint

Shows the difference in heading between the current setpoint and
the new Heading Setpoint. This value is updated dynamically
when you enter the new heading setpoint.
Alternatives
Current Setpoint Shows the current heading setpoint. Clicking the button writes this
heading into the Heading Setpoint box (for example, to undo a
change that you have made to Heading Setpoint).
Previous Setpoint Shows the previous heading setpoint. Clicking the button writes
this heading into the Heading Setpoint box. You can therefore use
this feature to return the vessel to a previous heading.
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Present Heading Shows the present vessel heading. Clicking the button writes this
heading into the Heading Setpoint box.
After you select Present Heading, the heading continues to be
updated here, but not in the Heading Setpoint box.
Using the Heading Wheel

You can change the heading setpoint using the Heading Wheel and
its three associated buttons, Dec, Set and Inc. By default the
Heading Wheel/buttons only work in Autopilot mode. If
configured, you can also use the Heading Wheel in other modes.
To activate the Heading Wheel, one of its three associated buttons
must be pressed.
To change the heading setpoint:
1 Press the Dec, Set or Inc button once to display and change
the heading setpoint.
- The Heading Setpoint dialog box is shown on the
display.
Figure 112 Heading Setpoint dialog box

2 With the Heading Setpoint dialog box displayed, rotate the
Heading Wheel clockwise or counter-clockwise to increase
(to starboard) or decrease (to port) the heading setpoint, or
use the Inc and Dec buttons (typically one degree for each
press).
Note The Heading Setpoint dialog box must be displayed if rotation of
the Heading Wheel is to have an effect. You can click Close at any
time to remove the dialog box from the display. When it is not used,
the dialog box is automatically closed.
Stopping a change of heading

To interrupt a requested change of heading click Present Heading
(under Alternatives) in the Change Heading dialog box (see page
201).
You may also interrupt a requested change of heading by setting
the vessel’s present heading as the heading setpoint, press the
Present Heading button in the Controls button group twice.
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Setting the rotation speed

You can specify the speed at which the vessel should try to rotate
during a change of heading. This rotation speed applies only when
the yaw axis is under automatic control.
As the vessel approaches the heading setpoint, the rotation speed
is reduced towards zero.
To set the vessel rotation speed, click the Speed (Rot) tab of the
Change Heading dialog box. The dialog box shown in Figure 116
is displayed.
Figure 116 Change Heading dialog box - Speed (Rot) page

Either use the slider to set the required rotation speed, use the up
and down arrows to set the rotation speed in steps of 1 deg/minute
or enter the value in the Rotation Speed Setpoint text box.
Note When the vessel rotation point is at a position other than the centre
of gravity of the vessel, you may find that the actual rotation speed
is less than the wanted speed that you have specified. This is
because the speed of movement of the centre of gravity is limited
in proportion to the wanted vessel speed (see Setting the vessel
speed on page 196) and the distance of the rotation point from the
centre of gravity.
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Setting the acceleration

You can specify the acceleration and the retardation factors for the
vessel rotation speed at the start and finish of rotation during a
change of heading.
As the vessel starts a change of heading, the rotation speed is
increased to the rotation speed setpoint using the selected
acceleration factor.
As the vessel approaches the heading setpoint, the rotation speed
is reduced to zero using the selected retardation factor.
To set the vessel acceleration and retardation factor for the vessel
rotation speed during a change of heading, click the Acceleration
tab of the Change Heading dialog box. The dialog box shown in
Figure 117 is displayed
Figure 117 Change Heading dialog box - Acceleration page
Either use the up and down arrows to set the required acceleration
and retardation factors in steps of 1.0% or enter the values in the
Acceleration Factor and Retardation Factor text boxes. The
acceleration and retardation factors can be set in the range 0.0 to
100%, and represent percent of maximum available acceleration
and retardation.
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Rotation point
The rotation point is the point about which the vessel is
commanded to rotate in the yaw axis. The rotation point is usually
defined as the vessel’s centre of gravity. During certain operations,
an alternative rotation point may be required.
The point about which the vessel is commanded to rotate in the yaw
axis is usually defined as the vessel’s centre of gravity. During
special operations, an alternative rotation point may be required.
The alternative rotation points that are available depend on
whether the vessel heading is under automatic or manual (joystick)
control.
Automatic control
For automatic heading control, up to 20 rotation points can be
predefined for your vessel in fixed positions relative to the centre
of gravity. You can also manually enter the coordinates of the
required rotation point. The rotation point can be located
anywhere, even outside the vessel itself. The available alternative
rotation points are displayed on the Alt. Rot. Point view (see
page 210).
To define the rotation point click Alt. Rot. Point on the Controller
menu. The Auto page of the Alternative Rotation Point dialog
box is displayed as shown in Figure 118.
Figure 118 Alternative Rotation Point dialog box - Auto page
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This dialog box allows you either to select a predefined rotation

point or to enter the required coordinates manually, and then to
preview the position of the new rotation point before applying the
change. All coordinates are measured from the centre of gravity of
the vessel. When automatic position control is active, you can
change the rotation point only when the position mode (shown in
the status bar) is PRESENT.
Note When the vessel’s rotation point is set to a position other than CG
and the speed setpoint at the same time is set to zero, it will not be
possible to perform a change of heading.
Coordinates The predefined rotation points are identified in the list box either
by name or by number. When you select a predefined rotation
point, its coordinates are displayed in the Surge and Sway boxes
and its position is shown by a green circle on the Preview display.
Alternatively, if you select Manual Input in the list box, you can
enter the coordinates of the required rotation point directly in the
Surge and Sway boxes.
In Use The In Use boxes show the coordinates of the currently-active
rotation point in the Surge and Sway axes.
Preview A red circle on the Preview display shows the position of the
currently-active rotation point (In Use). A green circle shows the
position of the proposed rotation point (Coordinates).
Note On the Posplot view, the position of the currently-active rotation
point is shown as a small circle. When the rotation point is other
than the centre of gravity of the vessel, the coordinates of the
alternative rotation point (ARP) are displayed on the Posplot view
(see Figure 119).
Figure 119 ARP display on Posplot view
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Joystick control
When the vessel is under manual heading and sway control using
Manual mode, it is possible to specify that the vessel should rotate
about the fore or aft part of the vessel instead of midships which
is the default. This feature can be useful when leaving or
approaching another vessel or a fixed structure such as a quay.
Note In Manual mode the vessel will not pivot accurately around the
selected rotation point, since the system will not use information
from the position-reference system for the axis in joystick control.
For example, when manoeuvering alongside a quay which lies to
starboard, you may want to move the stern of the vessel in towards
the quay without the bow moving out, while at the same time
applying a small thrust to starboard. This would be quite difficult
when using the centre of the vessel as the rotation point. By
selecting the fore part of the vessel as the rotation point, you can
easily use the joystick both to rotate the vessel counter-clockwise
about the bow and to move the vessel to starboard.
Before you can specify a rotation point for joystick manoeuvering,
the following conditions must be satisfied:
· The system must be in Manual mode.
· Both the yaw and sway axes must be under manual control. The
surge axis can be under either manual or automatic control.
· A suitable configuration of thrusters must be enabled. For
example, if you want the vessel to rotate about the aft part of the
vessel, there must be at least one thruster enabled forward of the
vessel centre.
If any of these conditions are not satisfied when you attempt to
select a manual rotation point, a message is displayed:
MANUAL ROTATION POINT NOT POSSIBLE
Additional information displayed with this message explains the
reason for the message.
To define the required manual rotation point, click Alt. Rot. Point
on the Controller menu. The Alternative Rotation Point dialog
box is displayed. Click the Joystick tab. The dialog box shown in
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Figure 120 Alternative Rotation Point dialog box - Joystick

page
This dialog box allows you to select the required manual rotation
point (subject to the preconditions described above).
Fore Rotate about the fore part of the vessel.
Center (Normal) Rotate about the centre of the vessel.
Aft Rotate about the aft part of the vessel.
Note When having selected Fore or Aft as rotation point for joystick
manouvering, the text ARP: Joystick Fore or ARP: Joystick Aft is
displayed on the Posplot view to indicate rotation point in use.
Figure 121 shows the ARP display on Posplot view when running
in Manual mode (not in mixed manual/auto modes) and rotation
point other than Center has been selected.
Figure 121 ARP display on Posplot view.
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Alt. Rot. Point view

The Alt. Rot. Point view shows the position of all the alternative
rotation points that are available when the vessel is under
automatic control. The coordinates are relative to the centre of
gravity.
Figure 122 Example Alt. Rot. Point view
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Controller gain selection

You can select one of three predefined controller gain levels; high,
medium or low. The selected gain level applies to any of the surge,
sway and yaw axes when they are under automatic control.
If configured, you can also perform customized setting of the
controller gain level, with individual gain factor settings for the
surge, sway and yaw axes.
Different gain factors for each of the three standard gain levels are
defined to suit the characteristics of your vessel. The deviations in
position, speed, heading and rotation rate are multiplied by the
selected gain factor to obtain the required force demand.
The most suitable gain level depends on the vessel characteristics,
the weather conditions and the required positioning accuracy.
Operational experience therefore plays a large part in determining
the optimum gain level, but you should bear in mind the following
general points:
· High gain provides the quickest vessel response, the most
accurate manoeuvering, and the smallest positioning window.
· Medium gain provides a slower vessel response than high gain.
· Low gain provides the slowest vessel response and the largest
positioning window.
For all three predefined controller gain levels, and also for the
customized controller gain level, the gain factors are reduced when
the position deviation is close to zero. Therefore, under ideal
conditions (optimum Vessel Model and constant environmental
forces), there will be little difference between the effect of the
various gain levels (both the three predefined and the customized)
since the position deviation will be minimal.
Under less than ideal conditions there can be some variation in the
vessel position and you should set the gain level to control the
speed and extent of the variation according to the general
comments given above.
For both predefined and customized controller gain settings you
can enable relaxed controller gain within a specified relaxed
control circle having the position setpoint as centre. With relaxed
controller gain enabled, the position gains are modified to vary
within the relaxed control circle. This means that the force demand
used to bring the vessel back to position setpoint is very low within
the radius, and then increases up to normal values close to the
border of the area defined by the radius (the gain varies
exponentially within the area).
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Note The radius for relaxed controller gain is not a position limit, it is
only the area within which the controller gains are very low. If the
vessel drifts outside this area, the gains will increase. How far
outside depends on the controller gain setting (the
high-medium-low predefined controller gain or the customized
controller gain in surge, sway and yaw axes).
Either click Gain on the Controller menu, or press the Control

Setup button in the Controls button group. The Main page of the
Gain dialog box is displayed.
Figure 123 Gain dialog box - Main page
Predefined Select the required controller gain level using the High/Medium/
Controller Gain Low option buttons. The gain factors in use for each of the three
gain levels are shown in paranthesis. The values in paranthesis may
vary depending on vessel configuration.
The currently selected gain level is indicated on the status bar at the
bottom of the display screen (see page 41).
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Customized Select this check box when you want to perform customized
Controller Gain settings of the gain level. Selecting this check box makes the
High/Medium/Low option buttons unavailable.
Select the customized setting for gain factors in the Surge, Sway
and Yaw axes by clicking the arrows or typing in a new gain factor
in the corresponding text boxes.
When you deselect the Enable check box, the last values entered
for gain factors in the Surge, Sway and Yaw axes are saved for
later use.
The currently selected gain factors in the Surge, Sway and Yaw
axes are shown graphically to the left of the numerical values.
Relaxed Controller If you want to use relaxed control, select the Enable check box or
Gain (if included) press the Relax Control button in the Controls
button group. When having selected this check box, the In Use
check box will also be selected automatically within a few seconds,
indicating that relaxed controller gain is active. The Gain indicator
on the status bar turns shaded to indicate use of relaxed control.
Select the radius for relaxed controller gain by clicking the arrows
or typing in a value in the Radius text box. The relaxed control
radius is indicated by a shaded circle on the Posplot view, with the
position setpoint as centre.
Note Relaxed controller gain can however only be used when the vessel
is in Auto or Mixed Manual mode.
To disable relaxed control, deselect the Enable check box and then
click Apply or OK. When having deselected the Enable check
box, the In Use check box will also be deselected automatically
within a few seconds, indicating that relaxed controller gain is no
longer active.
Note Enabling/disabling of relaxed controller gain can only be
performed from the Main page of the Gain dialog box, and not
directly by pressing the Relax Control button. When you press the
Relax Control button, the Main page of the Gain dialog box is
displayed.
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If you disable relaxed control while in Auto or Mixed Manual

mode, the position setpoint will be set to the vessels present
position. This to avoid an instant increase in surge and sway
demand when suddenly starting to use the normal controller gain
settings. In addition a message is also given.
When leaving Auto or Mixed Manual mode with relaxed control
active, it is automatically disabled and:
· The In Use check box is deselected
· The shaded circle on the Posplot view disappears
· The Gain indicator on the status bar turns solid black
· The Relax Control button (if included) starts flashing. This is
to warn you that if you enter Auto or Mixed Manual mode again,
the relaxed control will be invoked once more.
· A message is given.
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Joystick gain and environmental compensation

The applied thruster force for axes that are under manual joystick
control can be scaled in various ways to give a different response
to movement of the joystick, depending on the configuration and
operational requirements of your vessel. This section describes a
general implementation of the joystick gain control. Further
information may be provided with the configuration information
for your vessel.
You can also combine joystick control with environmental
compensation in each of the three axes. The system then
automatically compensates for the environmental forces acting on
the vessel by providing the thrusters with the necessary extra thrust
in the appropriate direction.
To change the joystick gain or select environmental compensation,
either click Joystick on the Controller menu, or press the
Joystick Setup button in the Controls button group. The
Joystick dialog box is displayed.
You can also change the joystick gain by pressing the Joystick
High Gain button in the Controls button group. The status for the
joystick gain will be dynamically updated in the Joystick dialog
box to reflect this change (see Figure 124).
Figure 124 Joystick dialog box
Gain
High The maximum force available from all thrusters can be used. This
increases the vessel’s response to movement of the joystick
compared to the Low option.
Low The maximum applied thruster force for axes that are under
manual control is limited to about 50% of the available force from
all thrusters.
Note When changing joystick gain by pressing the Joystick High Gain
button, the status for the High and Low option buttons is also
changed.
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Scale
Linear Linear relationship between movement of the joystick and force
exerted by the thrusters. Affects both the Low and High gain
options.
Progressive Progressive relationship between movement of the joystick and
force exerted by the thrusters. At small movements of the joystick
the change in thruster force is low but increases with increasing
movements. Affects both the Low and High gain options.
Environmental compensation
Surge/Sway/Yaw You can combine joystick control with environmental
compensation in each of the three axes. The system then
automatically compensates for the wind current forces acting on
the vessel by providing the thrusters with the necessary extra thrust
in the appropriate direction.
If position-reference measurements are available, the system also
performs automatic compensation for the calculated “current”
forces.
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Controller limits
You can set alarm and warning limits for position deviation,
heading deviation and cross–track error, and alarm limits for roll,
pitch and heave motion.
Position limits
Click Limits on the Controller menu. The Position page of the
Limits dialog box is displayed.
Figure 125 Limits dialog box - Position page
Position
You can set warning and alarm limits for position deviation. When
the vessel’s actual position differs from the wanted position by
more than the warning limit, a warning message is displayed.
When the vessel’s actual position differs from the wanted position
by more than the alarm limit, an audible alarm is given and an
alarm message is displayed.
You can activate or change these limits at any time. However, the
limits are active only when both the surge and sway axes are under
automatic control.
To change the limits, you can either enter new values directly in the
text boxes or use the up and down arrow buttons to increment or
decrement the current values.
To activate the limits, select the Position - Active check box. You
can activate either the alarm limit only, or both the warning and
alarm limits. You cannot activate only a warning limit; if you click
the Warning - Active check box, the corresponding alarm limit is
also activated.
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When active, the position limits are displayed as solid lines or

circles on the General view (page 239), the Deviation view
(page 243), and the Posplot view (page 252). When inactive, the
position limits are shown as dashed lines or circles on the General
view and the Deviation view.
Note In all modes, the position limits are inhibited until a requested
change in position is completed.
Heading
You can set warning and alarm limits for heading deviation. When
the vessel’s actual heading differs from the wanted heading by
more than the warning limit, a warning message is displayed.
When the vessel’s actual heading differs from the wanted heading
by more than the alarm limit, an audible alarm is given and an
alarm message is displayed.
limits are active only when the yaw axis is under automatic control.
To activate the limits, select the Heading - Active check box. You
can activate either the alarm limit only, or both the warning and
alarm limits. You cannot activate only a warning limit; if you click
the Warning - Active check box, the corresponding alarm limit is
also activated.
When active, the heading limits are shown as solid lines on the
General view (page 239), the Deviation view (page 243), and the
Posplot view (page 252). When inactive, the heading limits are
shown as dashed lines on the General view and the Deviation view.
Note In all modes, the heading limits are inhibited until a requested
change in heading is completed.
Cross
You can set warning and alarm limits for cross–track deviation.
When the vessel is in Auto Track mode and moves away from the
track by more than the warning limit, a warning message is
displayed. When the vessel moves away from the track by more
than the alarm limit, an audible alarm is given and an alarm
message is displayed.
limits are active only in Auto Track mode.
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To activate the limits, select the Cross - Active check box. You can
activate either the alarm limit only, or both the warning and alarm
limits. You cannot activate only a warning limit; if you click the
Warning - Active check box, the corresponding alarm limit is also
activated.
When active, the cross–track limits are shown as solid lines on the
General view (page 239) and the Deviation view (page 243).
When inactive, the cross-track limits are shown as dashed lines.
VRS limits
Click Limits on the Controller menu. The Limits dialog box is
displayed. Click the VRS tab. The dialog box shown in Figure 126
is displayed.
Figure 126 Limits dialog box - VRS page
The system monitors the roll, pitch and heave motions of the vessel
as measured by the Vertical Reference System (VRS). You can
specify maximum alarm limits for each motion. If an alarm limit
is exceeded, an audible alarm is given and an alarm message is
displayed.
To activate the limits, select the Active check boxes.
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Quick current update

All the forces acting on the vessel that are not measured directly,
such as waves and sea current, together with any errors in the
measured forces, are calculated over a period of time by the Vessel
Model, and the appropriate thrust is applied to counteract them.
(Refer to Section 1, System overview for a description of the Vessel
Model.) These unknown forces are regarded by the system as being
entirely due to sea current since this is usually the main component.
Under normal circumstances, the major components of the
“current” force change only slowly and the best positioning
performance is achieved by calculating them over a long period of
time.
However, during some operations there can be more rapid changes
in the “current force”. For example:
· When manoeuvering in or around channels, rivers, harbours or
breakwaters, there may be sudden changes in the sea current.
· When relatively large forces are not measured accurately, such
as the pipe tension in a pipe-laying operation, there may be
sudden errors in the measured forces.
Such sudden changes in the “current” force would normally result
in a position offset which would then be slowly corrected. In these
types of situations, you can use the Quick Current Update function
to reduce the offset more quickly. When the Quick Current Update
function is enabled, changes in the “current” force are integrated
more rapidly by the Vessel Model. You can specify the reaction rate
separately for each axis.
A timer is included so that the Quick Current Update function is
automatically switched off after a specified period.
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To enable or disable the Quick Current Update function, either

click Quick Current on the Controller menu or press the Quick
Current button in the Controls button group. The Quick Current
Figure 127 Quick Current dialog box
Enable Enable or disable the Quick Current Update function.

Duration The duration of the function, after which it will be automatically
switched off.
Time left The timer starts when you select Enable and then click OK or
Apply. The Time left field shows the remaining time before the
function will be automatically disabled.
Error gain For each axis you can specify a gain modification factor. The factor
modification factors is specified as a percentage of the normal reaction to deviation in
that axis caused by “current” forces. A larger factor results in a
larger reaction and hence a shorter integration time for the
“current” forces.
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POSITION INFORMATION
This section discusses how the various coordinate systems are
handled, and describes associated display views that provide
position information.
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Coordinate systems
Position information from position-reference systems may be
received by the SDP system in many different forms:
· Global position-reference systems such as GPS provide
position information as Latitude and Longitude in a geodetic
coordinate system. The applicable datum must be known (for
example: WGS84, ED87).
· Some global position-reference systems provide positions in
the UTM projection (a flat surface projection, defined by a
UTM zone and north and east distance from the 0-point of this
zone). The applicable datum must be known (for example:
WGS84, ED87).
· Local position-reference systems such as HPR provide
positions in local cartesian coordinates (defined by
two-dimensional measurement of the north/south (X) and
east/west (Y) distance from a locally-defined reference origin,
such as the position of a transponder).
Whatever type of position-reference systems are enabled, all
position input is converted into an cartesian system, relative to a
selected “system UTM zone” and using a selected “system datum”.
The following dialog boxes are used to set up the required
conditions for the handling and conversion of position information
from the position reference systems, and to and from the display
(see Figure 128):
· Using the Track Settings dialog box (Receive page) you can
provide information about input waypoint data (from an
external track source) for use in the Auto Track mode. See
page 142.
· Using the Reference System Set-up dialog box you can
provide information about the input position data from each
reference system. See Reference system set-up on page 276.
The following characteristics can be specified:
- input datum
- with or without false easting and northing (if these are
present in the position input, they are removed, since the
SDP controller must work with consistent position data)
- offset of antenna or sensor head from the vessel’s centre of
gravity
- fix offset to be applied to the origin of the reference system
- update period and accuracy.
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· Using the Navigation dialog box (Datum / Zone page) you can
specify the datum and UTM zone that are to be used internally
by the controller, so that information from global reference
systems using different datums can be normalised. This is
necessary when working with anything other than local
reference systems. See System datum and UTM zone on
page 227.
· Using the Navigation dialog box (Local Datum page) you can
specify the parameters for converting information from a global
reference system or from an external track source that uses a
non-standard datum to the system datum used by the controller.
See Local datum parameters on page 228. Not shown on
Figure 128.
· Using the Position dialog box you can select the datum for
display of position information. See Display presentation on
page 232.
· Using the Position dialog box you can select how position
information is to be presented on the display. See Display
presentation on page 232.
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TRACK SETTINGS DIALOG BOX - RECEIVE PAGE

On the Track menu, click Settings
WAYPOINT
INPUT
INPUT FORMAT AND DATUM FORMAT AND

DATUM CONVERSION
REF SYS
REFERENCE SYSTEM SET-UP DIALOG BOX INPUT
On the Sensors menu, click Refsys Set-up
FORMAT AND
INPUT FORMAT AND DATUM DATUM CONVERSION
FOR EACH
REFERENCE SYSTEM
NAVIGATION DIALOG BOX - DATUM / ZONE PAGE

On the System menu, click Navigation
SYSTEM DATUM CONTROLLER
INTERNAL CARTESIAN COORDINATE

SYSTEM UTM ZONE SYSTEM IN SYSTEM DATUM
AND RELATIVE TO SYSTEM UTM ZONE
POSITION DIALOG BOX

On the DisplayUnits menu, click Position
DATUM FOR DISPLAY DATUM CONVERSION

FOR DISPLAY
FORMAT FOR DISPLAY FORMAT CONVERSION

FOR DISPLAY
DISPLAY AND OPERATOR

DIALOGUES COMMUNICATION
CD2709
Figure 128 Dialog boxes for handling position information
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System datum and UTM zone

The controller always uses an internal cartesian coordinate system,
with a specified system datum and relative to a specified system
UTM zone:
· All position information from global reference systems which
use a different datum are converted internally to the system
datum. (To select the datum to be used for display of position
information, see Display presentation on page 232).
· Geographic position information from global reference
systems are converted into UTM positions within the system
UTM zone.
· Position information in UTM format that is received in a
different UTM zone are converted to the system UTM zone.
You can either specify the required system UTM zone or have the
UTM zone calculated automatically from the received positions.
Automatic calculation is only performed at start-up. The UTM
zone will not be changed while in a DP mode.
You can apply a fixed offset to the system UTM zone.
Note You can define the system datum and UTM zone only when the
system is in Standby mode and there are no reference systems
enabled.
On the System menu, click Navigation. The Datum / Zone page
of the Navigation dialog box is displayed.
Figure 129 Navigation dialog box - Datum / Zone page
Datum The required system datum.

Semimajor Axis The semimajor axis of the earth ellipsoid for the selected system
datum. For information only.
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Flattening The inverse flattening of the earth ellipsoid for the selected system
datum. For information only.
Zone The required system UTM zone. (Not available if the UTM zone
is calculated automatically.)
Zone Offset Allows you to apply a fixed offset to the received longitude degrees
when calculating which UTM zone a position is in. You can offset
the system UTM zone up to ¦6°, (normally ¦3°). The Zone
Offset is typically used where the maps used have an offset, for
example Shell NAM.
Calculate UTM Zone If you select Calculate UTM Zone automatically, the system
zone automatically is calculated automatically from the received geodetic position
measurements.
Local datum parameters

If position information from a global reference system or an
external track source is based on a LOCAL datum (see Reference
system set-up on page 276), you can define the transformation
parameters from this datum to WGS84.
Only one set of transformation parameters is available, so input
conversion from only one LOCAL datum to WGS84 can be
handled at any one time. The defined transformation parameters
will be used for all reference systems that are set as LOCAL.
Note You can define the local datum parameters only when there are no
reference systems enabled.
On the System menu, click Navigation. The Navigation dialog
box is displayed. Click the Local Datum tab. The dialog box
Figure 130 Navigation dialog box - Local Datum page
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Semimajor Axis The semimajor axis of the earth ellipsoid for this local datum.
Flattening The inverse flattening of the earth ellipsoid for this local datum.
Translation The required translation from the local datum to WGS84.
Rotation The required rotation from the local datum to WGS84.
Scale The required scaling from the local datum to WGS84.
Meridian convergence
Heading values are normally regarded as being relative to true
north, where true north is always parallel with the meridian lines
on the earth’s curvature.
Readings from gyrocompasses are always relative to true north,
whereas the SDP controller operates in a UTM grid.
Figure 131 shows an example of meridian convergence for a UTM
zone with its north axis parallel to the meridian at the zone centre.
At the centre of the zone there is no difference between UTM grid
north and true north. When moving away from the centre of the
zone, the curvature of the earth causes the direction of true north
to deviate from the UTM grid north. This difference (called
meridian convergence) increases with the distance from the
equator.
Meridian Convergence = Grid North - True North
MERIDIAN MERIDIAN
CONVERGENCE CONVERGENCE
(> 0) (< 0)
TRUE HDG TRUE HDG

GRID HDG GRID HDG
GRID HDG = GRID HDG =

TRUE HDG + MC TRUE HDG + MC
(where MC > 0) (where MC < 0)
(GRID HDG is greater (GRID HDG is less than

than TRUE HDG) TRUE HDG)
Cd2721
Figure 131 Meridian Convergence - Example for Zone 32
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For high precision navigation and to show correct values when

combining gyro measurements, local and global position reference
systems, the meridian convergence is taken into account. By
default the automatic calculation of meridian convergence is set to
ON. When automatic calculation of meridian convergence is
selected, it is automatically calculated, continuously updated and
applied to the SDP controller.
You can choose between using a manual input of meridian
convergence and an automatic calculation. A facility for
calculating the meridian convergence at any position is included.
When automatic calculation of meridian convergence is selected,
it is automatically calculated, continuously updated and applied to
the SDP controller. Having applied the meridian convergence, you
can choose whether to display heading values relative to true north
or grid north on the display views and dialog boxes.
Selecting between automatic calculation and

manual input of the meridian convergence
To display the meridian convergence, and to be able to select
between automatic calculation and manual input, click
Navigation on the System menu. The Navigation dialog box is
displayed. Click the Meridian Convergence tab. The Meridian
Convergence page is displayed (see Figure 132).
Figure 132 Navigation dialog box - Meridian Convergence

page
Actual Position and The two position fields show the actual position used for
Meridian automatic calculation of the meridian convergence. The text box
Convergence below shows the calculated value for meridian convergence. This
value is continuously updated and used by the SDP controller.
Automatic calculationSelect this option button to use automatic calculation of meridian
convergence.
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Manual Input Select the option button to use manual input of the meridian
convergence value. You can either type a value directly into the
text box, or use the Calc. Convergence page (see page 133) to
calculate a value based on position info you enter. You can then
enter this value into the Manual Input text box.
Calculating the meridian convergence
manually
To calculate the meridian convergence at a specified position, click
the Calc. Convergence tab of the Navigation dialog box. The
Calc. Convergence page is displayed (see Figure 133).
Figure 133 Navigation dialog box - Calc. Convergence page

Position for The position at which you want to calculate the meridian
calculation convergence. As default the actual position coordinates are used.
Zone for calculation The system UTM zone you have selected (either manually or
calculated automatically) on the Datum / Zone page of the
Navigation dialog box (see Figure 129).
Calculate Press this button to calculate the meridian convergence for the
Convergence position coordinates you have entered in the Position for
calculation fields. The result is shown in the text box to the right.
Note After having calculated the meridian convergence, you must then
enter this value into the Manual Input text box on the Meridian
Convergence page. Just clicking Apply after completed
calculation will NOT result in this value being used by the
controller even if you already have selected the Manual Input
option button on the Meridian Convergence page.
Heading display
When the meridian convergence has been calculated and applied,
you can display heading values either as the true heading (relative
to true north), or as the grid heading (relative to grid north).
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On the Display Units menu, click Heading. The Heading dialog

box is displayed.
Figure 134 Heading Type dialog box
Display presentation
You can select whether position information is to be presented on
the display as Cartesian XY, UTM, Geographic or US State Plane.
The most appropriate display presentation for position information
depends on the operational situation. For example, if you are using
only a local position-reference system such as HPR, then you will
normally use a Cartesian XY presentation.
To select the display format for positions, click Position on the
Display Units menu. The Position dialog box is displayed.
Figure 135 Position dialog box
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Presentation Datum
If you select UTM, Geographic or US State Plane presentation
for position coordinates, you must also select a presentation datum
for the displayed positions, since a global position must be related
to a specific datum if it is to be unambiguous.
You can select any of the available datums from the displayed list.
A datum describes the earth as an ellipsoid using two parameters:
Semimajor Axis and Flattening. When you select a datum, the
values of these parameters are displayed. By clicking on the
Details button, you can display the datum transformation
parameters for conversion from WGS84 to the selected datum.
Figure 136 Presentation Datum dialog box - transformation

parameters
You can also display positions in a locally-defined datum. If you
select LOCAL in the Presentation Datum list box on the
Position Format dialog box, you must click on the Details button
and define all the required transformation parameters.
Note The transformation parameters must always be relative to WGS84,
even if the system datum is defined different from WGS84.
Figure 137 Presentation Datum dialog box - transformation

parameters for local datum
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Semimajor Axis The semimajor axis of the earth ellipsoid for the local datum.
Flattening The inverse flattening of the earth ellipsoid for the local datum.
Translation The required translation from WGS84 to the local datum.
Rotation The required rotation from WGS84 to the local datum.
Scale The required scaling from WGS84 to the local datum
System Click System if the LOCAL display datum should be the same as
the LOCAL datum defined for the input reference system or
external track source (see Local Datum Parameters on page 228).
The appropriate inverse transformation parameters are displayed.
Presentation
Defines the coordinate system to be used when displaying
positions.
Cartesian XY Displays positions in a local cartesian coordinate system. The positions
are presented as two distances relative to the local origin point:
· X distance north/south
· Y distance east/west
The length unit to be used is specified by the Length Unit option.
Figure 138 Example Cartesian XY presentation
In dialog boxes where you can enter a position, the entry fields are
presented as shown below. Enter positive values for north or east,
negative values for south or west.
Figure 139 Example Cartesian XY position input
234 173222/C
UTM Displays positions in the Universal Transverse Mercator

projection. Positions are represented by north and east distance and
UTM Zone (with compensation for false northing and false easting
if appropriate; see UTM Properties). If you select this option you
must also select the datum that is to be used for the conversion from
the internal coordinate system to these coordinates (see
Presentation Datum).
Figure 140 Example UTM presentation
presented as shown below. Enter positive values for north,
negative values for south.
Figure 141 Example UTM position input
Geographic Displays positions in a global geographic coordinate system.

Positions are presented as latitude and longitude in the format
specified by the Format option. If you select this option you must
also select the datum that is to be used for the conversion from the
internal coordinate representation to these coordinates (see
Presentation Datum).
Figure 142 Example Geographic presentation
presented as shown in below. You can click on the N/S button to
switch between north and south coordinates, and click on the E/W
button to switch between east and west coordinates
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Figure 143 Example Geographic position input
US State Plane Displays positions in the US State Plane coordinate system.

Positions are represented by north and east distance to the origin
of the State Plane Zone (see State Plane Zone). If you select this
option you must also select the datum that is to be used for the
conversion from the internal coordinate system to these
coordinates, typically NAD-27 or NAD-83 (see Presentation
Datum).
Figure 144 Example US State Plane presentation

presented as shown below. Enter positive values for north or east,
negative values for south or west.
Figure 145 Example US State Plane position input
Format / Length unit

For Cartesian, UTM and US State Plane presentation, allows you
to select the length unit to be used.
Figure 146 Length unit for Cartesian XY, UTM and US State
Plane presentation
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For Geographic presentation, allows you to select the display

format for latitude and longitude.
Figure 147 Format for Geographic presentation

An example of the selected format is displayed in the dialog box.
UTM Properties
For UTM presentation, allows you to specify a fixed offset by
selecting false easting and/or false northing and also to specify
hemisphere.
Figure 148 UTM properties for UTM presentation

False Easting When UTM presentation is selected you can specify that a fixed
offset of 500 000 m is to be added to the east/west component of
a UTM position before it is displayed, in order to avoid the display
of negative coordinates.
False Northing When UTM presentation is selected, and the Hemisphere is set to
South, you can specify that a fixed offset of 10 000 000 m is to be
added to the north/south component of a UTM position before it
is displayed, in order to avoid the display of negative coordinates
for positions in the southern hemisphere. (10 000 000 m is the
approximate distance from the Equator to the North Pole in a UTM
grid.)
· Without false northing, UTM positions in the southern
hemisphere are presented with zero at the Equator and
approximately 10 000 000 m at the South Pole.
· With false northing, UTM positions in the southern hemisphere
are presented with 10 000 000 m at the Equator and
approximately 0 at the South Pole.
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Hemisphere When operating in the southern hemisphere, you can select South
as the Hemisphere to allow False Northing to be added to the
north/south component of UTM positions. This is for display
purposes only and has no effect on the controller coordinate
system. When you select North as the Hemisphere, the
False Northing check box appears dimmed.
State Plane Zone

For US State Plane presentation, allows you to select the relevant
state plane zone to be used.
Figure 149 State plane zone for US State Plane presentation
SPCS27 and SPCS83 is defined for NAD27 and NAD83

respectively. Hence the proper datum should also be set, i.e. select
NAD27 as datum when you use SPCS27 and select NAD83 when
you use SPCS83.
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General view
The General view shows a combination of graphical and numerical
performance data. The information displayed depends on the
current operational mode.
Position, heading and speed

The information shown in Figure 150 is always displayed on the
General view.
Figure 150 Example General view in Manual mode
The estimated position. If you click on this

value, the position setpoint is displayed in
another colour for a few seconds.
The estimated heading. If you click on this

value, the heading setpoint is displayed in
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The estimated rotation speed.
The estimated true speed (relative to the

ground) both forward/aft (surge axis) and
port/starboard (sway axis).
Position and heading deviation

In most of the DP operating modes:
· the deviation between the present position and the position
setpoint is displayed whenever both the surge and sway axes are
under automatic position control
· the deviation between the present heading and the heading
setpoint is displayed whenever the yaw axis is under automatic
heading control
Figure 151 Example General view in Auto mode
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The position deviation is shown both

graphically and numerically.
Using the view control dialog box you can

select either a true or a relative display.
Refer to the Deviation view (page 243) for a

detailed description of this display.
The heading deviation is shown both


Cross track error

In the Auto Track mode, the position deviation is replaced by a
display of the cross track error as shown in Figure 152.
Figure 152 Example General view in Auto Track mode
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The cross track error is shown both


View controls
To display the view control dialog box:
1 Place the cursor anywhere in the General view and click the
right trackball button.
- A pop-up menu is displayed.
- The Performance view control dialog box is displayed.
Figure 153 Performance view control dialog box - General

view controls
True True display of position deviation. The graphical display of

position deviation is displayed in a fixed orientation (north up).
Relative Relative display of position deviation. The graphical display of
position deviation is displayed relative to the vessel heading (head
up).
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Deviation view
The Deviation view shows a combination of graphical and
numerical performance data. The information is displayed using
large, clear text and graphical symbols. The information displayed
depends on the current operating mode.
Position and heading

The information shown in Figure 154 is always displayed on the
Deviation view.
Figure 154 Example Deviation view in Manual mode
The estimated position. If you click on this

value, the position setpoint is displayed in
Estimated heading. If you click on this value,

the heading setpoint is displayed in another
colour for a few seconds.
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Position and heading deviation

In most of the DP operating modes:
· the deviation between the present position and the position
setpoint is displayed whenever both the surge and sway axes are
under automatic position control
· the deviation between the present heading and the heading
setpoint is displayed whenever the yaw axis is under automatic
heading control
Figure 155 Example Deviation view in Auto Position mode
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The position deviation is shown both

The deviation is indicated dynamically by a

filled circle whose radius represents the
deviation from the position setpoint. The
colour of the circle changes with respect to
the warning and alarm limits for position
deviation (if active). If the deviation exceeds
the available display range, a plus (+) sign is
displayed in the circle.
An arrow symbol shows whether the

estimated position is moving towards or
away from the position setpoint. The position
of the arrow symbol indicates the bearing
from the position setpoint to the estimated
position.
When the position warning and alarm limits

are active, they are shown as full circles.
When inactive, they are shown as dashed
circles.
Using the view control dialog box you can

select either a true or a relative display.
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The heading deviation is shown both

The heading deviation is indicated

dynamically by a two-directional bar which
represents the deviation from the heading
setpoint. The colour of the bar changes with
respect to the warning and alarm limits for
heading deviation (if active). If the deviation
exceeds the available display range, a plus (+)
sign is displayed in the bar.

estimated heading is moving towards or away
from the heading setpoint.
When the heading warning and alarm limits

are active, they are shown as full lines. When
inactive, they are shown as dashed lines.
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Cross track error

In the Auto Track mode, the position deviation is replaced by a
display of the cross track error as shown in Figure 156.
Figure 156 Example Deviation view in Auto Track mode
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The cross track error is shown both

The cross track error is indicated dynamically

by a two-directional bar which represents the
deviation from the track. The colour of the
bar changes with respect to the warning and
alarm limits for cross track deviation (if
active). If the deviation exceeds the available
display range, a plus (+) sign is displayed in
the bar.

estimated position is moving towards or
away from the track and whether the
estimated position lies to the left or to the
right of the track.
When the warning and alarm limits are

active, they are shown as full lines. When
inactive, they are shown as dashed lines.
View controls
1 Place the cursor anywhere in the Deviation view and click
the right trackball button.
2 Click Control on this menu.
Figure 157 Performance view control dialog box - Deviation

view controls
True True display of position deviation. The graphical display of

position deviation is displayed in a fixed orientation (north up).
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Relative Relative display of position deviation. The graphical display of

position deviation is displayed relative to the vessel heading (head
up).
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Numeric view
The Numeric view shows performance data in numerical form.
Figure 158 Example Numeric view
Position setpoint, present position and

position deviation.
The position deviation as range and both true

and relative bearings from the present
position to the setpoint position.
Heading setpoint, present heading and
heading deviation.
Rotation rate setpoint and present rotation
rate.
Vessel speed setpoint, present speed and true
or relative direction of movement (as selected
using the view control dialog box). In Auto
Track mode, the across speed setpoint is also
shown.
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Warning and alarm limits for position

deviation, heading deviation and cross track
error. The check boxes show whether the
limits are currently active.
View controls
1 Place the cursor anywhere in the Numeric view and click the
Figure 159 Performance view control dialog box - Numeric

view controls
True True display of direction of vessel movement (relative to the North

direction).
Relative Relative display of direction of vessel movement (relative to the
vessel heading).
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Posplot view
The Posplot view displays the vessel’s position relative to the
position and heading setpoints and to other displayed objects, such
as the location of position–reference systems or transponders. The
prevailing wind and current are displayed.
Using the Posplot view control dialog box (see page 257), you can
select either a true or a relative display, with either the position
setpoint or the present position at the centre of the display.
Using an EBL function you can measure distances and bearings on
the display.
The Posplot view example shown in Figure 160 shows some of the
available display features. The key which follows the example
describes all the standard features of the Posplot view. Additional
features which relate to specific operational modes are described
together with the appropriate operating procedure.
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Figure 160 Example Posplot view
Compass rose marked with degrees. The

north/south and east/west geographical axes
are displayed. The red portion of the
north/south axis indicates the direction of
north.
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Vessel symbol that indicates the position of

the vessel, relative to known reference points
and directions. The centre of gravity of the
vessel is marked with a small cross. The
currently–selected rotation point is marked
with a small circle. The size of the vessel
symbol is dynamically scaled according to
the selected display range.
Position setpoint symbol. By selecting and

moving this symbol you can change the
position setpoint (see page 190).
When relaxed controller gain is enabled

(selected from the Main page on the Gain
dialog box), the radius for relaxed control is
shown as a shaded area with the position
setpoint as centre. The area around this circle
is click-sensitive. You can easily adjust the
relaxed control radius by clicking in this area
to open the Gain dialog box - Main page to
set a new value. If you select to hide the
setpoint from the Show page on the Posplot
view control dialog box (see Figure 162), the
shaded area indicating the relaxed control
radius will also be hided.
Position carrot (the small asterisk). When the

position setpoint is changed, the position
carrot moves towards the new setpoint. The
speed of the carrot’s movement depends on
the speed setpoint. The force demand to move
the vessel depends on the position deviation
between the vessel and the carrot.
Heading setpoint symbol. By selecting and

moving this symbol you can change the
heading setpoint (see page 199).
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Present heading symbol.
Heading carrot (the small pointer between the

heading setpoint symbol and the present
heading symbol). When the heading setpoint
is changed, the heading carrot moves towards
the new setpoint. The speed of the carrot’s
movement depends on the rotation speed
setpoint. The force demand to rotate the
vessel depends on the heading deviation
between the vessel and the carrot.
Display range value and decrease/increase

buttons. The range is the distance from centre
to edge of plot. The Ú button decreases the
displayed range. The Ù button increases the
displayed range.
The spacing between grid lines or circles.
The grid spacing is automatically adjusted
when decreasing/increasing the display
range.
Wind arrow. The arrow rotates around the

compass rose to show the relative wind
direction (filtered measurement from the
wind sensor). An arrow pointing toward the
plot indicates “comes from” direction, and an
arrow pointing outwards from the plot
indicates “goes to” direction. The direction of
the arrow depends on the units setting for
wind direction as selected using the Units
dialog box (see page 58).
Relative wind speed and direction (filtered

measurements from the wind sensor). A “s.”
in front of “deg” in unit for wind direction
means “setting” (goes to) if selected using the
Units dialog box (see page 58).
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Sea current arrow. The arrow rotates around

the compass rose to show the sea current
direction. An arrow pointing toward the plot
indicates “comes from” direction, and an
arrow pointing outwards from the plot
indicates “goes to” direction. The direction of
the arrow depends on the units setting for sea
current direction as selected using the Units
dialog box (see page 58).
Sea current speed and direction. A “s.” in

front of “deg” in unit for current direction
means “setting” (goes to) if selected using
the Units dialog box (see page 58).
Transponder symbol for a position reference

system.
A circle around a transponder symbol

indicates that this transponder is the
Reference Origin. An empty circle indicates
that the Reference Origin transponder has
been deselected.
Position warning and alarm limit circles

(centred on the position setpoint). With
automatic surge and sway control, and with
position limits enabled, these circles indicate
the warning and alarm limits for position
deviation. When the vessel reference point
crosses the warning limit circle a warning is
given. When the vessel reference point
crosses the alarm limit circle an alarm is
given.
Heading warning and alarm limit markers

(centred on the heading setpoint). With
automatic yaw control, and with heading
limits enabled, these markers indicate the
warning and alarm limits for heading
deviation. When the vessel heading crosses
the warning limit a warning is given. When
the vessel heading crosses the alarm limit an
alarm is given.
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EBL symbol. This feature allows you to view

the coordinates of positions on the display
(see page 262). EBL stands for Electronic
Bearing Line.
View controls
1 Place the cursor anywhere in the Posplot view and click the
- A pop–up menu is displayed.
- The Posplot view control dialog box is displayed.
3 Click the required tab.
Mode
Figure 161 Posplot view control dialog box - Mode page
Relative, Relative display centred on the vessel. The compass rose is

Vessel displayed relative to the vessel heading, while the heading of the
vessel symbol is fixed. The vessel symbol is placed with the
currently-selected rotation point at the centre of the display.
Relative, Relative display centred on the position setpoint. The compass
Position Setpoint rose is displayed relative to the vessel heading, while the heading
of the vessel symbol is fixed. The position setpoint (wanted
position) is placed at the centre of the display.
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True, True display centred on the vessel. The compass rose is displayed
Vessel in a fixed orientation (north-up), while the heading of the vessel
symbol is shown relative to the compass rose. The vessel symbol
is placed with the currently–selected rotation point at the centre of
the display.
True, True display centred on the position setpoint. The compass rose
Position Setpoint is displayed in a fixed orientation (north-up), while the heading of
the vessel symbol is shown relative to the compass rose. The
position setpoint (wanted position) is placed at the centre of the
display.
Show
Figure 162 Posplot view control dialog box - Show page
Show/Hide Display or remove various features of the Posplot view.

The Setpoint, Carrot, Refsys and Wind/Current features are
described in this section.
Track is described on page 119.
Org. Track is described on page 119.
RAM (Riser Angle Monitoring) is described in a separate Riser
Angle Monitoring operator manual.
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Grid
Figure 163 Posplot view control dialog box - Grid page
Show Show or hide the grid.

Spacing The spacing (distance) between grid lines or circles. You can
change the grid spacing by clicking the down arrow and select a
new value from the drop down list.
The grid spacing is automatically adjusted when decreasing/
increasing the display range.
Type The type of grid.
Range
Figure 164 Posplot view control dialog box - Range page
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Distance from Center Allows you to specify the display range explicitly by typing in a to
Edge of Plot value in the text box.
Increase Range / Allows you to increase or decrease the display range according to
Decrease Range fixed steps.
Trace
Figure 165 Posplot view control dialog box - Trace page
Trace line You can display or remove a line trace of the vessel movements
(Show) and specify the sample rate (Sampling) and extent of the
trace (Memory). The trace shows the path followed by the
currently–selected vessel rotation point.
Figure 166 Example Posplot trace
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Trend symbols You can display or remove a series of vessel symbols showing the
vessel movement (Show) and specify the sample rate (Sampling)
and extent of the trend display (Memory).
Figure 167 Example Posplot trend
Note When changing the Posplot view to close range or long range, the
vessel symbol changes from showing the correct form and
dimensions of the vessel into a simplified shape with a constant
size. The normal vessel symbol is “trended” even when the
simplified symbol is displayed.
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EBL
The EBL function allows you to view the geographic coordinates
of any position on the Posplot view, the distance of this position
from the present position of the vessel, and both the true and
relative bearings to the position from the present position of the
vessel.
To display the EBL:
1 Click on the EBL symbol (Electronic Bearing Line).
- The EBL dialog box is displayed (see Figure 168).
2 Move the trackball.
- A dotted line is displayed from the present vessel position
to the position indicated with the trackball.
- The coordinates, range, and true and relative bearings of
the indicated position are displayed in the EBL dialog
box.
3 Click again to fix the indicated position.
- The EBL dialog box is continuously updated with the
relative range and bearing from the vessel to the indicated
position.
Figure 168 The EBL function
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POSITION-REFERENCE SYSTEMS
This section describes how to set up and use the
position–reference systems and also the associated display
views that show the performance of the position-reference
systems.
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Position–reference systems
Continuous measurements of the vessel’s position are essential for
dynamic positioning. Several different position–reference systems
are normally used.
Coordinate systems
The types of coordinate systems used by the position–reference
systems and by the SDP system, and the set-up procedures required
for conversion of input position information, are described in
Coordinate systems (see page 224).
The reference origin

Each position–reference system provides position measurements
relative to a known reference point specific for that reference
system.
The reference point of the first position–reference system selected
and accepted for use with the system becomes the reference origin
(the origin in the internal coordinate system). Position information
from any other reference systems is then calibrated according to
this coordinate system.
This coordinate system remains as the reference origin until all
position–reference systems are de-selected and a new
position–reference system is selected as the reference origin.
Selecting a particular position–reference system as the reference
origin does not mean that the SDP system treats it as being better
or more reliable than any other position–reference system. It
concerns only the location of the reference origin.
The reference origin selected should be the one that is most
appropriate to your operational requirements.
The position of the reference origin is indicated on the Posplot
view (if within the range of the view). The reference system
defining the reference origin is marked with an asterisk on the
Refsys view.
Note Recalibrating the origin reference system will give new
coordinates for the reference origin system (can vary from zero).
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Tests on position measurements

The SDP system performs a series of tests on each
position–reference system to check that their position
measurements are accurate enough for use. The following online
tests are performed:
· A freeze test rejects repeated measurements. If the variation in
the measured position is less than a system set limit over a given
period of time, the position-reference system is rejected.
· A prediction test detects sudden jumps or large systematical
deviations in the measured position. The limit for the prediction
test is a function of the estimated position in the Vessel Model
and the actual measurement accuracy.
· A variance test monitors the measurement variance and
compares the variance value with a calculated limit.
· A slow-drift test (bias test) gives a warning of systematical
deviations and/or slow-drift (before the system is rejected by
the prediction test).
· A median test detects position measurements that differ from
the median position value with more than a predefined limit.
The test is mainly designed to detect slowly drifting
position-reference systems.
If the results of the prediction, median and variance tests suggest
that the position measurements from a particular reference system
are not accurate, then that system’s measurements are not used.
The characteristics of the active position–reference systems are
shown on the RefSys view (see page 280).
Standard deviation of position measurements

For all position-reference systems, circles are placed around a
representative sample of position measurements. The size of the
circles relate to the spread, in metres, of the samples of positions
measurements. The radii of the circles correspond to the standard
deviation of the measurements of each position-reference system.
The standard deviations are also trended on the Refsys view (see
page 280).
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Freeze test
If a position-reference system has an internal error causing the
same measurements to be continuously sent to the Vessel Model,
the SDP system could, if no precautions were taken, mistake the
data for good and stable measurements.
To prevent repeated measurements to be used, the variation in the
measured position is monitored. If the variation in the measured
position is less than a system set limit over a given time period, the
position-reference system is rejected. The following alarm
message is displayed in the Message Line:
Reference position frozen
You should disable the frozen position-reference system.
Note By configuration, the freeze test is disabled for some
position-reference systems (usually GPS, GPS/GLONASS and
Artemis) due to the resolution of the data from these
position-reference systems.
Prediction test
The prediction test detects sudden jumps in the measured position,
and immediately rejects those that lie outside the limits. The test
will also reject data that drift away from the Vessel Model’s
predictions. The limit for the Prediction test is a function of the
estimated position in the Vessel Model and the actual measurement
accuracy (calculated variance).
The following warning message is displayed:
Reference prediction error
When this warning message is displayed, you should verify that the
correct position-reference system is rejected. This can be done
selecting the state Monitor for the position-reference system in
question (see Figure 169). You can then either recalibrate or
disable the position-reference system that causes the prediction
error.
The prediction error limit of the most accurate position-reference
system at any time, called the Minimum Prediction Error Limit, is
displayed on the Refsys view.
Irrespective of the accuracy of a position-reference system, the
prediction error limit is usually not set to less than 4 m. This is done
to avoid rejecting accurate position-reference systems. The
operator may moreover select between three preconfigured
acceptance limits, Low, Normal and High (see Acceptance limits
for the Prediction Test, page 274).
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Relative weighting and the Variance test

Based on the calculated variance for each position–reference
system, the system assigns a weighting to the measurements. In
this way, the system is able to place more emphasis on the
position–reference systems that are providing the best
measurements. The higher the system’s variance, the lower its
weighting factor. The SDP system places most emphasis on the
position-reference system with the highest weighting factor.
The following warning message is displayed in the Message Line
if the variance of a position-reference system exceeds a system-set
limit:
Reference high noise
The position-reference system is not rejected in this event, but the

system places little emphasis on the position-reference system in
question.
The variance test detects if the variance in the measured values
exceeds the reject limit. The variance reject limit is based on the
expected variance of the position-reference system. The following
warning message is displayed in the Message Line when a
position-reference system is rejected due to too high variance:
Reference high variance
You should disable the position-reference system if the event of

high variance is recurring. No corrective actions are necessary if
the problem is intermittent only.
The Bias test

When two or more position-reference systems are in use, the slow
drift test detects when measurements from one position-reference
system differ from the other(s). The limit is taken as 80 % of the
prediction error limit.
The purpose of the test is to give an early indication of systematic
errors before the reference system is rejected by the prediction test.
This test only gives a warning to the operator, not an automatic
rejection of data. The following warning message is displayed:
Reference high offset
When this warning message is displayed, you should examine

which position-reference system is drifting, using the Refsys view
(see page 280). Recalibrate or disable the position-reference
system that causes the prediction error.
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The Median test

The median test can be carried out when three or more
position-reference systems are in use. The median position is
computed from the filtered measurements that are independent of
the Vessel Model. The median test is primarily intended to reject
slowly drifting position-reference systems. Unlike the prediction
test, the median test is independent of the SDP model. This implies
that a position-reference system can be rejected even though its
measurements do not deviate from the Vessel Model, as is often the
case with slowly drifting position-reference systems.
When the median test is active, a colour coded circle with radius
equal to the median test limit and with centre at the median value
of all positions given by the position-reference systems, is
displayed on the Refsys view. The Median Test Limit is taken as
80 % of the Minimum Prediction Error Limit.
The operator may choose to have an inaccurate position-reference
system rejected, or only to have a warning displayed.
The following warning message is displayed if measurements
from a position-reference system exceeds the limit, but rejection
of the position-reference system is not selected by the operator:
Reference high offset
The operative recommendations are the same as for the “Reference
Median Reject” warning message.
Controlling the position-reference systems

You can enable and disable the position–reference systems using
the buttons in the Sensors button group. You can enable, disable
and monitor the status of the position-reference systems using the
Enable page on the Reference System dialog box.
Buttons
The Sensors button group contains buttons which enable or
disable each of the available position–reference systems. Each
button has a status lamp which shows the status of the reference
system:
· Off: disabled
· Flashing: either enabled and calibrating, or enabled and
calibrated but rejected by the DP, or not providing
data
· On: enabled and accepted (acceptable position
measurements are being received)
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Dialog box
On the Sensors menu, click Refsys. The Enable page of the
Reference System dialog box is displayed.
Figure 169 Example Reference System dialog box - Enable

page
This dialog box provides Enable check boxes to enable or disable

each of the available position–reference systems, and also
Monitor check boxes for selecting position-reference systems to
monitor.
The Accepted check boxes show which position–reference
systems are currently enabled and accepted.
Note The Monitor and Enable check boxes for each position-reference
system are mutually exclusive. If the Monitor check box of an
enabled position-reference system is selected, this
position-reference system is disabled. If the Enable check box of a
monitored position-reference system is selected, Monitor is
de-selected for this position-reference system.
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Enabling the first position-reference

system
Before enabling the first position–reference system, ensure that the
vessel speed is as low as possible.
If the system has been in Manual mode for more than a few minutes
without an enabled position–reference system, first go to Standby
mode and then back to Manual mode to reset the Vessel Model.
1 Ensure that the required gyrocompasses are enabled.
2 Ensure that the required position–reference system is active
and available.
3 Enable the position–reference system.
- An initial calibration of the position–reference system is
performed.
- The button status lamp for the selected position-reference
system will flash during the calibration process.
4 Check that the status lamp of the selected position–reference
system button becomes steadily lit to indicate that acceptable
position measurements are being received.
5 Check that the following message is displayed in the
Message Line:
REFERENCE ORIGIN <system> <N> <E>
- The origin of this position–reference system is now used
as the reference origin.
Enabling other position-reference systems

The other position-reference systems that are enabled can be in
monitoring state. This is indicated on the Refsys view, here you
will see the status for these systems as Mon Online. To change the
status from monitoring to enabled for other reference systems:
1 Enable the other position–reference systems by clicking on
the Enable check-box or the system you want to use.
- The position measurements from the selected
position–reference systems are calibrated against the
reference origin.
- The button status lamps for the selected
position-reference systems will flash during the
calibration process (up to 20 seconds).
2 Check that the status lamps of the selected
position–reference systems become steadily lit or the status
shows Online in the Refsys view, indicating that acceptable
position measurements are being received and that the
calibration process was successful. The following message
should be displayed for each system:
CALIBRATION OK <system>
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3 If the variation in the position measurements from a selected

position–reference system is too high during the calibration
process, the status lamp will continue flashing and the
following message will be displayed in the Message Line for
each system:
CALIBRATION ERROR <system>
- This may be due to an error in the position–reference
system or too high expected accuracy for the
position-reference system. See page 276 for how to
change value. The system will continue trying to calibrate
the system until it is disabled.
Continuous measurements of the vessel’s position are essential for
dynamic positioning. Several different position-reference systems
are normally used.
Changing the reference origin

To change the reference origin:
1 Disable all position-reference systems.
2 Wait until the status message Lost (in red) is shown in the
RefSys view for all disabled position-reference systems.
3 Enable the position–reference system that is to provide the
reference origin.
4 Enable additional position–reference systems if required.
Position dropout
If the vessel position is under automatic control and all
position–reference input is lost (e. g. HPR: no response from the
transponder) or rejected, the following message is displayed:
NO REFERENCE SYSTEM ACTIVE

After 30 seconds without reference input, the following alarm is
given:
POSITION DROPOUT
This means that the system is currently using only the estimated
position from the Vessel Model, and that this position has not been
updated with measured positions for at least 30 seconds (”dead
reckoning” mode).
When this message is generated, the wanted position is set
automatically to the current estimated vessel position.
The status lamps of all previously enabled position–reference
systems will be flashing as the system tries to recalibrate.
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You can remain in POSITION DROPOUT, but the following points

must be noted:
· The displayed vessel position is the estimated position from the
Vessel Model. After a few minutes, the vessel may begin to pick
up speed in some direction, without this being reflected on the
display.
· A calibration of the lost position–reference systems may occur
at any time. This will have no immediate effect, but if the
calibrated system is unreliable or drifting, the vessel may begin
to move. In this case you should examine the Posplot view for
any jumps in the displayed vessel position.
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The recommended action in POSITION DROPOUT (if operational

circumstances allow) is:
1 Return the system to manual joystick control in all axes and
use the joystick to manoeuvre the vessel.
2 When at least one reliable position–reference system is
successfully calibrated, return to the required operational
mode.
Changing the position-reference system

relative weights
The position-reference system relative weights can be changed
using the Weight page of the Reference System dialog box.
On the Sensors menu, click RefSys. The Reference System
dialog box is displayed. Click the Weight tab. The dialog box
Figure 170 Reference System dialog box - Weight page
Normal Provides standard relative weight between the enabled

position-reference systems, i.e. all systems with equal estimated
variance get equal weights.
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Reduced GPS Weight Reduces the influence from the measured GPS positions relative
to measurements from other position-reference systems. This is
especially important if you have an oscillating GPS system, as
often will be the case in equatorial waters due to ionospheric
degradation of GPS. In this way a position-reference system with
slow update rate, such as a LBL system, will get higher influence
on the model than a GPS system with a faster update rate.
Example showing typical relative weights when using two GPS
and one HPR LBL with similar accuracy levels:
GPS-1 GPS-2 HPR LBL
Normal: 0.33 0.33 0.33
Reduced GPS Weight : 0.10 0.10 0.80
The relative weights used are shown on the RefSys view (see page
280).
Acceptance limits for the Prediction Test

The acceptance limits for the Prediction Test can be changed. The
alternative selected depends on the complexity of the operation.
Click the Validation tab on the Reference System dialog box. The
Validation page is displayed (see Figure 171).
Figure 171 Reference System dialog box - Validation page

Low Narrow limit. Corresponds to a Minimum Prediction Error
circle with a small radius. For example drive-off due to thruster
errors will be detected.
Normal Medium limit. For instance transitory position drift-off due to
rough sea will be allowed.
High Wide limit. Suitable for example, for sailing in Mixed/Manual
mode at high speed.
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Changing the settings of the Median Test

The median test settings can be changed using the Validation page
of the Reference System dialog box. Click the Validation tab on
the Reference System dialog box. The Validation page is
displayed, see Figure 171.
The median test can be performed providing at least three
position-reference systems are operational (status is Online in the
Refsys view). A position-reference system in monitoring state or
a lost position-reference system is not counted into the number of
reference systems used for median testing. There are no
restrictions as to system mode, present position etc. The limitations
for the median test are computed as 80% of the minimum
prediction error.
The settings of the median test can be changed as follows:
Off Turns off the median testing. This is indicated with the text OFF
in the Median Test field on the Refsys view and by removal of the
median test limit circle from the plot on the Refsys view.
Warning Turns on the median testing. The median test limit circle is shown
on the plot on the Refsys view together with the limit value in the
Median Test field. The warning
REFERENCE MEDIAN DEVIATION <system>
<limit for accepted median deviation>
<actual median deviation>
is issued when the difference between the position data from a
specific position-reference system and the median of all online
reference systems exceeds a preset warning limit.
Warning and Turns on the median testing. The median test limit circle is shown
Reject on the plot on the Refsys view together with the limit value in the
Median Test field. The warning:
REFERENCE MEDIAN REJECT <system>
<limit for accepted median deviation>
<actual median deviation>
is issued when the difference between the position data from a
specific position-reference system and the median of all online
reference systems exceeds a preset combined warning and reject
limit. The position-reference system is rejected.
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Reference system set-up

You can use the Reference System Set-up dialog box (see Figure
172) to define the input conversion that is required for each
reference system:
· For global reference systems, you must specify the datum that
is used by that system so that the position information can be
converted to the selected system datum.
· For global reference systems on UTM format (for example
Konmap and Syledis), you must specify whether the position
information is received with false northing and/or false easting
so that these can be removed.
· For all reference systems you can specify the offset from the
antenna or sensor head on the vessel to the vessel’s centre of
gravity so that the position information can be adjusted for this
offset.
· For all reference systems you can specify an offset (the true
coordinates) for the origin of the reference system unless your
system is configured to disallow offset for global reference
systems.
· For all reference systems you can specify an update period and
an accuracy.
Note You can define the characteristics of a reference system only when
that system is not enabled for use or monitoring. Update period
and accuracy can also be specified when in operation.
On the Sensors menu, click Refsys Set-up. The Reference
System Set-up dialog box is displayed.
Figure 172 Reference System Set-up dialog box
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(Reference system) Select the name of the reference system from the list box.
Type Displays the type of the selected reference system:
· GLOBAL: the position measurements from this system
provide an absolute geographic position in the specified
Datum.
· LOCAL: the position measurements from this system provide
a position relative to an origin whose geographic position is
unknown.
If you apply a Position offset value to a LOCAL system, the
displayed Type changes to GLOBAL.
Datum For a global reference system, the datum in which the position
measurements are received. If this datum is different from the
selected system datum, conversion to the system datum will be
performed.
If position information from a global reference system is based on
a datum other than those listed above, you can select LOCAL. You
must then use the Navigation dialog box to define the required
transformation parameters (see Local datum parameters on
page 228). Conversion from only one LOCAL datum can be
handled at any time. If a LOCAL reference system is used, the
datum will automatically be set to the system datum selected on the
Datum/Zone page of the Navigation dialog box (see System
datum and UTM zone on page 227).
With False North For a global reference system, select this check box if the reference
system provides position measurements which include false
northing.
With False East For a global reference system, select this check box if the reference
system provides position measurements which include false
easting.
CG Offset Allows you to specify the offset (Ahead, Stbd and Down) from the
antenna or sensor head on the vessel to the vessel’s centre of
gravity. The received position information is then adjusted for this
offset.
Position Allows you to specify the North and East geographic position of
the reference system origin. For a system such as Artemis, this
would be the position of the fix antenna. For an HPR system, this
would be the position of the transponder on the sea bed. Depending
on the configuration of your system, this feature may be allowed
only for local reference systems. To use the specified fix offset (to
add these values to the received coordinates and thereby offset the
origin of the reference system), you must select the Enabled check
box. When you apply a Position offset value to a LOCAL
reference system, the displayed Type changes to GLOBAL.
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Expected values Allows you to specify an Update Period and an Accuracy for the
selected position-reference system. The Update Period is only
used for HPR systems. The Accuracy value is used for calibration
purposes and when testing the accuracy of the position-reference
system. The system performs validation (minimum/maximum
checks) of the data you enter in the Update Period and Accuracy
text boxes, and issues a warning message if the data is outside
limits. See Figure 173.
Figure 173 Min/Max check failed: Reference System Set-up

message box
Details Pressing this button opens up an expansion to the Reference

System Set-up dialog box (see Figure 174). This expansion
contains facilitates for setting up a quality filter, defined as a
general satellite navigation system filter for both GPS, GLONASS
an GNSS reference systems. Refer to detailed description in the
following sub-section.
Note The Details button is only present in the Reference System Set-up
dialog box when one of the above satellite navigation reference
systems have been selected in the list box.
Quality Filter
With a satellite navigation system selected, and the Details button
pressed to show the quality filter, you can specify a number of filter
parameters specifically for the selected system. For each filter
parameter you can specify a Filter Action, which can be either
None, Warning (data used, warning given) or Alarm (data
rejected, alarm given).
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Figure 174 Reference System Set-up dialog box- Expanded with Quality Filter for
satellite navigation systems
No Diff Data Allows you to select a filter action if no differential data are
available/received. This is considered to be an important
parameter, and a warning or an alarm must always be given. You
are thus not allowed to select None as action
Min Number of Allows you to type in the minimum number of satellites (³ 3) in

Satellites (³3) the corresponding text box and to select filter action. The number
of satellites entered must be larger than or equal to the
preconfigured number displayed on the dialogue box (3 in the
example shown).
Max HDOP Allows you to type in a maximum value for the HDOP (Horizontal
(1.0-10.0) Dilution Of Precision) in the text box and to select filter action.
The HDOP is a figure of merit for the quality of the derived
position and clock bias estimates. This figure is based on the
geometry of the satellite constellation. The more spread out the
satellite positions are, the lower the HDOP becomes. Low figures
result in low position and clock bias errors.
Min DQI (3-9) Allows you to type in a minimum value for the DQI (Differential
Quality Indicator) in the text box and to select filter action. DQI
is defined by UKOOA (United Kingdom Offshore Operators
Association)/IMCA as a simple quality figure. It is derived from
HDOP, redundancy and availability of correctives, and is not
generally available from all GPS receivers.
UTC Freeze Detect Allows you to select a filter action for the UTC (Universal Time
Coordinated, i.e. common standard time) freeze detect function.
This quality filter function does only apply when receiving
telegrams containing clock data.
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Refsys view
The Refsys view shows the individual and resulting performance
of the position–reference systems that are currently enabled.
The general characteristics of position–reference systems are
described on page 264.
Figure 171 Example Refsys view
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The display range value, decrease/ increase

buttons and grid spacing value. The range is
the distance from centre to edge of plot. The
Ú button decreases the display range. The Ù
button increases the display range.
You can adjust the grid spacing using the
Refsys view control dialog box (see Figure
174). The grid spacing is automatically
adjusted when decreasing/ increasing the
display range.
The centre of the plot is the present vessel

position. Using the Refsys view control
dialog box (see Figure 172), you can select
either a true or a relative display.
A colour coded circle is displayed with a

radius equal to the median test limit and
centred on the median position. This circle
will only be shown when the median test is
active.
When the median test is inactive, the Median

Test Limit field will show OFF and the circle
will not be shown. Refer to subsection
Changing the settings of the Median Test for
detailed information about when the median
test is active.
A colour coded circle is displayed with a

radius equal to the minimum prediction error
limit and centred on the present vessel
position.
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The Figure displays a zoomed-in view of the

centre of the plot
For each position-reference system, the

capital letter with no circle around it
represents the last raw data position
measurement for this system.
For each position-reference system, the small

inner circle with a capital letter inside
represents the filtered position measurement
for this system.
The small crosses represent a one minute

trace of the raw data measurements from a
selected position-reference system.
Indicates the legends used for plotting.

Colour coding and capital letters help to
differentiate the various position- reference
systems.
Numerical values for the minimum

prediction error limit and the median test
limit. The two circles to the left indicate the
colour coding used on the plot.
The Median Test field will show the text

OFF when you have set the Median Test to
Off on the Test Settings page of the
Reference System dialog box (see Figure
169). The text OFF will also be displayed
when less than three position-reference
systems are operational.
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By clicking on one of the position-reference

system names in the lower-left corner of the
view, you can plot a one minute trace of the
raw data position measurements for the
selected system. Each position sample is
indicated with a “+” on the plot. The name of
the selected system is shown. Click Clear to
stop plotting and to remove the raw data
position samples from the plot.
The status for each position-reference system

or transponder: either Calibrating, Online
or Lost. For reference systems in monitoring
state, the status text is shown with Mon as
prefix (for example Mon Online and Mon
Lost). If the measurements are acceptable,
Calibrating and Online are displayed in
green (if the last sample was received) or in
orange (if the last sample was not received).
If the measurements are lost, Lost is
displayed in red.
The position-reference system that is

providing the Reference Origin is marked
with an asterisk.
A unique capital letter and colour code is

assigned to each position-reference system to
make it more easy to differentiate the various
systems on the plot.
Numerical value and horizontal bar showing

the weighting applied to the measurements
from each position-reference system during
the last second. The sum of weights of
position-reference systems with Online
status is always one (1.0). If no new update is
received from a specific position-reference
system during the last second, the weight for
this system is set to zero (and Online shown
in orange).
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Using the Refsys view control dialog box

(see Figure 172), you can display a selected
trend plot (by selecting Trend plot on the
Main page). Note colour coding.
You can also select the Y-axis scale range

(either auto or manual scaling) and the time
span.
Using the Refsys view control dialog box

(see Figure 172), you can display numerical
values for the calibrated position (for each
position-reference system) as used by the DP
system (by selecting Position on the Main
page). The data are presented according to
current display units /position selection. Note
colour coding.
Using the Refsys view control dialog box,

you can select to display numerical values for
the calibration offset for each
position-reference system / transponder in
relation to the origin coordinate system (by
selecting Transponder Coordinates on the
Main page). Note colour coding.
Using the Refsys view control box, you can

select to display numerical values of raw
(uncompensated and untransformed)
position measurements (for each
position-reference system) as received by the
DP system (by selecting Raw Position on the
Main page). The type of reference system
determines how the position is displayed:
either as Surge/Sway, North/East,
Latitude/ Longitude or as Range/Bearing
position format. Note colour coding.
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View controls
To display the view control dialog box, either click on the
position/trend display of the RefSys view (lower right), or:
1 Place the cursor anywhere in the RefSys view and click the
- A pop–up menu is displayed.
- The Refsys view control dialog box is displayed.
3 Click the required tab.
Main
Figure 175 Refsys view control dialog box - Main page

Plot Orientation To display the RefSys plot relative to the North direction (True)
or the vessel heading (Relative).
Position Select this option button to display calibrated position as used by
the system. These numerical data are displayed at the lower-right
corner of the view.
Transponder Select this option button to display the calibration offset from
Coordinates measured position to internal representation of position. For origo
transponders this number shall always be 0.0. These numerical
data are displayed at the lower-right corner of the view.
Raw Position Select this option button to display the raw (uncompensated)
position as received by the DP system. The type of reference
system determines how the position is displayed: either as
Surge/Sway, North/East, Latitude/Longitude or as Range/ Bearing
position format. These numerical data are displayed at the
lower-right corner of the view.
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Trend plot Select this option button to display a trend plot at the lower-right
corner of the view. You select the type of trend plot to be displayed
with the Graph drop down list box.
Graph The type of trend plot to be displayed. You can select between the
following options: RefSys Bias E, RefSys Bias N, RefSys
StdDev, RefSysWeight or none.
Time span The time span for the trend plot.
Scale... Allows you to set the upper and lower limits for the y–axis plot
scale. You can select between auto and manual scaling of the y-axis
scale (see Figure 176).
Figure 176 Y-Axis Range dialog box

Auto Selecting this option will set the Y-axis range automatically
Manual Allows you to set the upper and lower scale limits manually.
Grid
Figure 177 Refsys view control dialog box - Grid page
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Show To show or hide the grid.

Type The type of grid.
Range
Figure 178 Refsys view control dialog box - Range page
Distance from Center Allows you to specify the display range explicitly by typing in a
to Edge of Plot value in the text box.
Increase Range / Allows you to increase or decrease the display range according to
Decrease Range fixed steps.
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LTW view
The LTW view allows you to monitor the performance of a
Light–Weight Taut Wire (LTW) position–reference system.
The position of the depressor weight is shown relative to the

position of the gimbal head (the centre of the graphic display). The
maximum operational area is also shown.
Figure 179 Example LTW view
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The gimbal head alongship and athwartship

axes. The intersection of the axes represents
the gimbal head position and is always at the
centre of the display.
The symbol represents the position of the

depressor weight relative to the gimbal head.
The maximum operational area.
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The display range value, decrease/increase

buttons and grid spacing value. The range is
the distance from centre to edge of plot. The
Ú button decreases the display range. The Ù
button increases the display range.
You can adjust the grid spacing using the
view control dialog box (see below). The grid
spacing is automatically adjusted when
decreasing/increasing the display range.
Shows the status of the Mooring On signal

from the LTW system. This signal indicates
when the depressor weight is on the sea bed.
The angle of the taut wire in the alongship and

athwartship directions as measured at the
gimbal head.
The Along angle is positive when the gimbal

head is forward of the depressor weight.
The Athw angle is positive when the gimbal

head is to starboard of the depressor weight.
The position of the depressor weight relative

to the gimbal head.
The Along position is positive when the

depressor weight is forward of the gimbal
head.
The Athw position is positive when the

depressor weight is to starboard of the gimbal
head.
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The wire length as measured by the gimbal

head.
The depth of the depressor weight relative to

the gimbal head, measured by the wire length
when the depressor weight was lowered to
the sea bottom.
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View controls
1 Place the cursor anywhere in the LTW view and click the
- The Light Taut Wire Plot view control dialog box is
displayed (see Figure 180).
Figure 180 Light Taut Wire Plot view control dialog box
Grid
Show To show or hide the grid.
Square Square grid.
Circular Circular grid.
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Light Taut Wire Graphics

LTW 1/2/3/4 Allows you to select the LTW system whose position information
is to be displayed in the main graphic area of the view.
Range
Range Allows you to specify the display range explicitly by typing in a
value in the text box
Incr.Range/ Allows you to increase or decrease the display range according to
Decr.Range fixed steps.
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SENSORS
This section describes how to use the available sensors such
as gyrocompasses, wind sensors, vertical reference systems,
speed, water depth and draught sensors.
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Gyrocompasses
At least one gyrocompass must be enabled at all times to provide
heading information to the system for automatic control of
heading.
Normally, all the available gyrocompasses will be run up and
enabled for use. The system then receives and compares the signals
from all the gyrocompasses, but uses only one of them to calculate
the vessel’s heading. You can specify which gyrocompass is
preferred for use by the system:
· When two gyrocompasses are enabled, the system will use the
preferred gyrocompass.
· When three gyrocompasses are enabled, and all three provide
the same measurements, the system will use the preferred
gyrocompass. If the measurements are different, the system will
use the gyrocompass with the median value of the three. If the
difference between the measurement from one of the
gyrocompasses and the median value exceeds a predefined
limit, the measurements from this gyrocompasses are rejected
and an alarm will be reported.
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Sensors
Enabling gyrocompasses
To control the gyrocompasses, either click Gyro on the Sensors
menu, or press the Gyro button in the Sensors button group. The
Gyro page of the Sensors dialog box is displayed.
Figure 181 Example Sensors dialog box - Gyro page
Ok The OK status for each gyrocompass is shown in the matching Ok

check box. The status for all channels from the gyrocompass must
be OK for the check box to be selected. This check box is for
information only.
Enable Each gyrocompass has an associated Enable check box. Selecting
this check box enables the signals from the gyrocompass. The
system will automatically disable a gyrocompass if it is not OK, i.e.
clear the Enable check box, and also make the check box
unavailable.
Preference This option button allows you to specify which gyrocompass is
preferred for use by the system.
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In Use The gyrocompass that is currently used by the system to calculate

the vessel’s heading is indicated in the In Use check box. If the
gyrocompass is not OK or a failure is detected, the check mark is
cleared from the In Use check box and the system will
automatically switch to another gyrocompass enabled for use. This
check box is for information only.
Gyro Heading The measured heading from the gyrocompass.
Added Correction This text box allows you to specify a gyrocompass correction to
compensate for a possible offset of the ships gyrocompass
compared with a surveyors gyrocompass. The text box is
unavailable and appears dimmed when the corresponding
gyrocompass is enabled.
Used Heading The measured heading from the gyrocompass with added
correction.
Gyro status lamp

The Gyro button in the Sensors button group has a status lamp
which shows the status of the gyrocompasses:
· On: at least one gyrocompass is enabled and
accepted by the system
· Flashing: the measurements from one of the enabled
gyrocompasses are not accepted by the system or
an error situation exists in at least one of the gyro-
compass channels if only a single gyrocompass
has been enabled
· Off: no gyrocompasses are enabled
Displayed heading information

You can examine the measured values from the gyrocompasses in
more detail on the Sensors view (see page 316).
Faulty gyrocompasses
If measurements from a gyrocompass are not accepted by the
system, or if at least one of the channels for a gyrocompass is faulty,
a message is given with information about the failure. The message
may define the faulty compass directly; for example, COMPASS 1
NOT READY.
Alternatively it may indicate only that there is a difference between
the measurements from the available gyrocompasses. In the latter
case you must try to find the faulty compass by comparing the
received measurements with an alternative source of heading
information.
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Sensors
In the following examples it is assumed that two gyrocompasses

are available, that both gyrocompasses are enabled and that Gyro
1 is in use:
· If there is a failure on Gyro 2 (the gyrocompass that is not in
use), disable the signals from Gyro 2 and rectify the fault.
· If a fault is detected on Gyro 1 (the gyrocompass that is in use),
the system will switch to Gyro 2 automatically if Gyro 2 is
enabled. Disable the signals from Gyro 1 and rectify the fault.
· If there is a failure on a gyrocompass and the system cannot
detect which compass is faulty; for example, COMPASS
DIFFERENCE:
1 Check the values from the gyrocompasses on the Sensors
view and use an alternative compass to find which
gyrocompass is faulty.
2 Disable the faulty gyrocompass and rectify the fault.
When a faulty gyrocompass is repaired, you should enable it again.
Heading dropout
If the vessel heading that is estimated by the Vessel Model differs
significantly from the measured vessel heading, a HEADING
PREDICTION ERROR message is given. If this continues for more
than 2 seconds, the system will assume that the information from
the gyrocompasses is unreliable and will stop updating the Vessel
Model with the measured heading. This situation will cause a
HEADING DROPOUT alarm to be given. The same alarm will occur
if no gyrocompasses are enabled, or if there is a total gyrocompass
malfunction.
It is not possible to operate with automatic heading or position
control in a HEADING DROPOUT situation.
Recommended action in HEADING DROPOUT:
1 Return to Standby mode to reset the Vessel Model.
2 Enable the required gyrocompasses.
3 Go to Manual mode to restart the Vessel Model. The
estimated heading from the Vessel Model is then reset to the
measured gyrocompass heading.
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Wind sensors
At least one wind sensor should be enabled at all times to provide
the system with wind speed and direction information.
Normally, input from all the available wind sensors will be
enabled. The system then receives and compares the signals from
all the sensors, but uses only one of them to calculate the wind force
acting on the vessel.
You can specify which wind sensor is preferred for use by the
system. If no errors are detected in the wind sensor measurements,
the system will always use the preferred sensor.
The raw measurements of wind speed and direction are filtered
internally (using a Kalman filter with both low and high frequency
parts), to estimate the most reasonable speed and direction values
to be used by the SDP system.
Enabling wind sensors

To control the wind sensors, either click Wind on the Sensors
menu, or press the Wind button in the Sensors button group. The
Wind page of Sensors dialog box is displayed.
Figure 182 Example Sensors dialog box - Wind page
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Sensors
Ok The OK status for each wind sensor is shown in the corresponding

Ok check box. The status for all channels from the wind sensor
must be OK for the check box to be selected. This check box is for
information only.
Enable Each wind sensor has an associated Enable check box. Selecting
this check box enables the signals from the wind sensor.
Preference When more than one wind sensor is enabled, this option button
allows you to specify which wind sensor is preferred for use by the
system.
In Use The wind sensor that is currently used by the system to calculate
the wind force acting on the vessel is indicated by the In Use check
box. If the wind sensor is not OK, the check mark is cleared from
the In Use check box. This check box is for information only.
Relative Speed The displayed wind speed is the measured wind speed, relative to
the vessel, not corrected for vessel motion.
Relative Dir. The displayed wind direction is the measured direction, relative to
the vessel heading, not corrected for vessel motion.
Wind status lamp

The Wind button in the Sensors button group has a status lamp
which shows the status of the wind sensors:
· On: at least one wind sensor is enabled and accepted
by the system
· Flashing: the measurements from one of the enabled wind
sensors are not accepted by the system or an error
situation exists in at least one of the wind sensor
channels if only a single wind sensor has been
enabled
· Off: no wind sensors are enabled
Operating without wind sensor input

There can be situations where you want to temporarily stop using
the input from the wind sensors, such as during helicopter
operations or when operating close to another large structure
where there may be sudden disturbances of the measured wind. If
you disable all the wind sensors, the system continues to use the
wind speed and direction values that were measured just before the
last wind sensor was disabled.
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Displayed wind information

You can examine the measured values from the wind sensors in
more detail on the Sensors view (see page 316).
Faulty wind sensors

If measurements from a wind sensor are not accepted by the
system, or if at least one of the channels for a wind sensor is faulty,
a message is given with information about the failure. The message
may define the faulty sensor directly; for example, WIND 1 NOT
READY. Alternatively it may indicate only that there is a difference
between the measurements from the available sensors. In the latter
case you must try to find the faulty sensor by comparing the
received measurements with an alternative source of wind
information.
In the examples below it is assumed that two wind sensors are
available, both sensors are enabled and Wind 1 is in use:
· If there is a failure on Wind 2 (the sensor that is not in use),
disable the signals from Wind 2 and rectify the fault.
· If a fault is detected on Wind 1 (the sensor that is in use), the
system will switch to Wind 2 automatically. Disable the signals
from Wind 1 and rectify the fault.
· If there is a failure on a wind sensor and the system cannot detect
which sensor is faulty; for example, WIND SPEED DIFFERENCE:
1 Check the values from the wind sensors on the Sensors view
and use an alternative source of wind information to find
which sensor is faulty.
2 Disable the faulty sensor and rectify the fault.
When a faulty wind sensor is repaired, you should enable it again.
Rejection of faulty wind data

Faulty jumps in readings from a wind sensor would lead to an
unwanted increase in thrust demand. To avoid this, the system
performs the following test:
· A wind speed measurement is rejected by the system if the wind
speed is above a predefined limit (for example 15 m/s) and
increases by more than a predefined value (for example 10 m/s).
· A wind direction measurement is rejected by the system if the
wind speed is above a predefined limit (for example 10 m/s) and
the wind direction changes by more than a predefined value (for
example 60 degrees).
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When data are rejected for more than 15 consecutive samples, an

alarm will be reported:
Wind Sensor Rejected <speed/direction actual
filtered>
In order to adapt quickly to dynamic change in wind, the input data
to the test is the innovation between new measurement, and low
pass filtered speed data with a small time constant (5 seconds) .
The filter is reset on three different conditions:
· Continuously reset in STANDBY mode (to avoid problems
entering/leaving trainer)
· When sensor Enabled changes from OFF to ON
· If there is a long time (5 minutes) since ready/OK from the IO
system.
Note The wind sensor(s) will be rejected if speed is increasing with more
than 10 m/s in Trainer mode (and not in STANDBY mode). The
situation is resolved by disable/enable the rejected sensor.
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Vertical reference systems (VRS)

At least one vertical reference sensor must be available to provide
roll and pitch information. This information is used to adjust the
measurements received from the position–reference systems for
the vessel’s roll and pitch motions. If the VRS is equipped with a
heave sensor, the heave information is used for monitoring
purposes only.
If VRS information is lost, the system will be unable to compensate
the received position measurements for vessel motion. The
positioning capability of the system can then be severely degraded.
Normally, all the available VRS will be enabled for use. The
system then receives and compares the signals from all the VRS,
but uses only one of them. You can specify which VRS is preferred
for use by the system:
· When two VRS are enabled, the system will use the preferred
VRS.
· When three VRS are enabled, the system will normally use the
preferred VRS. If the difference between the measurements
from one VRS and the median value exceeds a predefined limit,
the measurements from this VRS are rejected. The system will
change the VRS used when necessary.
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Enabling VRS
To control the VRS, either click VRS on the Sensors menu, or
press the VRS button in the Sensors button group. The VRS page
of the Sensors dialog box is displayed.
Figure 183 Example Sensors dialog box - VRS page
Ok The OK status for each VRS is shown in the corresponding Ok

check box. The status for all channels from the VRS must be OK
for the check box to be selected. This check box is for information
only.
Enable Each VRS has an associated Enable check box. Selecting this
check box enables the signals from the VRS.
Preference This option button allows you to specify which VRS is preferred
for use by the system.
In Use The VRS that is currently used by the system is indicated in the In
Use check box. If the VRS is not OK, the check mark is cleared
from the In Use check box. This check box is for information only.
Pitch The measured pitch from the VRS.
Roll The measured roll from the VRS.
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VRS status lamp

The VRS button in the Sensors button group has a status lamp
which shows the status of the VRS:
· On: at least one VRS is enabled and accepted by the
system
· Flashing: the measurements from one of the enabled VRS
are not accepted by the system or an error situation
exists in at least one of the VRS channels if only a
single VRS has been enabled
· Off: no VRS are enabled
Displayed VRS information

You can examine the measured values from the VRS in more detail
on the Sensors view (see page 316).
Faulty VRS
If measurements from a VRS are not accepted by the system, or if
at least one of the channels for a VRS is faulty, a message is given
with information about the failure. The message may define the
faulty VRS directly; for example, VRS 1 NOT READY.
Alternatively it may indicate only that there is a difference between
the measurements from the available VRS. In the latter case you
must try to find the faulty sensor by comparing the received
measurements with an alternative source of VRS information.
In the following examples it is assumed that two VRS are
available, that both are enabled, and that VRS 1 is in use:
· If there is a failure on VRS 2 (the VRS that is not in use), disable
the signals from VRS 2 and rectify the fault.
· If a fault is detected on VRS 1 (the VRS that is in use), the
system will switch to VRS 2 automatically. Disable the signals
from VRS 1 and rectify the fault.
· If there is a failure on a VRS and the system cannot detect which
VRS is faulty; for example, VRS PITCH DIFFERENCE:
1 Check the values from the VRS on the Sensors view and use
alternative VRS information to find which VRS is faulty.
2 Disable the faulty VRS and rectify the fault.
When a faulty VRS is repaired, you should enable it again.
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Speed sensors
When operating in Autopilot mode, accurate information about
real speed is required. When using global position reference
systems such as GPS, the estimated vessel speed from the
controller is not reliable enough, and measurements from speed
sensors are used. The speed information is received from two
sources, the Doppler Log sensors and the GPS speed sensors. You
can select between available speed sensors or enter a manual
alongships vessel speed value. The alongships vessel speed
information is used for the following purposes:
· In Autopilot mode, to adjust the pivoting point of the vessel. The
pivoting point is a fictive point laying on the centre line ahead
of the centre of gravity. The drift angle is always zero at this
point.
· As the vessel‘s actual speed in Autopilot mode (if the autopilot
has automatic speed control).
· To display the measured vessel speed.
If the information from the speed sensors is correct and reliable,
then this should be used in preference to manually-entered values.
To select the source of speed information, click Speed on the
Sensors menu. The Sensors dialog box is displayed. If necessary,
click on the Speed tab.
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Figure 184 Example Sensors dialog box - Speed page
Doppler Log
You can enable Doppler Log sensors for vessel speed
measurements.
Enable Select this check box to enable the Doppler Log speed sensor.
Along Shows the measured alongships vessel speed.
Athwart Shows the measured athwartships vessel speed.
GPS Speed
You can enable GPS Speed sensors for vessel speed measurements.
Enable Select this check box to enable the GPS speed sensor.
Speed Shows the measured vessel speed.
Course Shows the measured vessel course.
Manual
You can select to use either information from the speed sensors or
enter a value manually.
Along When no speed sensors are enabled, you can enter a value in this
field. This field is not available when one or more sensors are
enabled.
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Used Speed
Shows the vessel speed used by the system. This is either an
average, filtered value of the combined measurements from the
enabled speed sensors, or the manual value entered for alongships
vessel speed if no sensors are enabled.
Along Shows the used alongships vessel speed.
Athwart Shows the used athwartships vessel speed. This will be zero when
no speed sensors are enabled.
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Draught sensors
For optimum positioning performance, the system must have
accurate information regarding the vessel’s draught at all times.
Draught information can be read from the draught sensors, entered
manually, or taken from fixed operation or transit draught values.
If the information from the draught sensors is correct and reliable,
then this should be used in preference to manually–entered or fixed
values.
To select the source of draught information, click Draught on the
Sensors menu. The Sensors dialog box is displayed. If necessary
click on the Draught tab.
Figure 185 Example Sensors dialog box - Draught page

This dialog box provides four option boxes:
Sensor When Sensor is selected, you can specify the draught sensor that
is to be used. Each draught sensor has an associated Enable check
box. Selecting this check box enables the signals from this draught
sensor for use by the system. If more than one sensor is enabled,
the system uses the average of all the enabled sensors. If Sensor
is selected but no sensors are enabled, the Manual value is used by
the system.
Manual When Manual is selected, the draught value that you enter under
Fixed Draught is used by the system.
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Operation When Operation is selected, the predefined operational draught

value is used by the system.
Transit When Transit is selected, the predefined transit draught value is
used by the system.
Used Draught Shows the draught value that is currently used by the system. This
field is for information only.
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Water Depth sensors

The system uses water depth measurements for display purposes
only. Water depth information can be read from the water depth
sensors or entered manually.
If the information from the water depth sensors is correct and
reliable, then this should be used in preference to manually entered
values.
To select the source of water depth information, click Other on the
Sensors menu. The Sensors dialog box is displayed. If necessary,
click on the Water Depth tab.
Figure 186 Example Sensors dialog box - Water Depth page
Sensor Shows the measured water depth.

Sensor Offset Shows the sensor offset. This field is for information only. The
sensor offset is the distance from the sensor to the keel, and is
applied to the sensor measurement to provide water depth relative
to the keel.
Manual Input You can enter a value for the water depth. This value will be used
if you select Use Manual Input.
Do Not Use When Do Not Use is selected, the sensor is not used for water depth
measurements.
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Use Sensor When Use Sensor is selected, the measurement from the sensor is
used by the system.
Use Manual Input When Use Manual Input is selected, the water depth value that
you enter under Manual Input is used by the system.
In Use When In Use is shown selected, this indicates that the system is
currently using the signal from this particular sensor or the
corresponding manual entered value. Only one sensor value is in
use at a time.
Used Depth Shows the water depth value used by the system. When Use Sensor
is selected, the value shown is the sensor measurement minus the
Sensor Offset value (i.e. the water depth relative to the keel).
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Tensioner Stroke sensors

When the riser angle monitoring system (see separate Riser Angle
Monitoring operator manual) is equipped with tensioner stroke
sensors, you can enable the individual sensors and set common
stroke limits for all sensors on the Tensioner page on the Sensors
dialog box.
Enabling tensioner stroke sensors

To control the tensioner stroke sensors, click Other on the Sensors
menu. The Sensors dialog box is displayed. If necessary, click on
the Tensioner tab.
Figure 187 Example Sensors dialog box - Tensioner page
Sensor Shows the sensor number. Up to eight sensors can be configured.

Enable Each tensioner stroke sensor has an associated Enable check box.
Selecting this check box enables the signals from the tensioner
stroke sensor.
OK The OK status for each tensioner stroke sensor is shown in the
corresponding Ok check box. This check box is for information
only.
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Value The measured tensioner stroke from each sensor. These values are
also shown both numerically and graphically together with the
limits on the Riser view (see description of Riser view in separate
Riser Angle Monitoring operator manual).
Limits
You can set and enable common limits for all of the tensioner
stroke sensors.
Upper Enter the upper tensioner stroke limit in this text box.
Lower Enter the lower tensioner stroke limit in this text box.
Enable Select this check box to enable the upper and lower limits for all
the tensioner stroke sensors. If the limits are enabled, limit
violations will cause an alarm to be given. Each sensor has its
individual alarm signal.
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Sensors view
The Sensors view shows the performance and state of each of the
vessel’s gyrocompasses, wind sensors, water depth sensors, speed
sensors and VRS.
A trend graph for one of the sensor readings is displayed, selected
from the Sensor Plot dialog box.
Figure 188 Example Sensors view
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Sensors
The heading as measured by each of the

gyrocompasses. The measurement from the
gyrocompass that is currently being used by
the system is highlighted.
The deviation between the readings from the

gyrocompasses are shown graphically. The
deviations are shown relative to the
measurement from the gyrocompass that is
currently being used by the system. The
colours used for the markers correspond to
the colours used for the gyrocompass
numbers.
The raw measurements of the relative wind
speed and direction as measured by each of
the wind sensors. The measurements from
the wind sensor that is currently being used
by the system are highlighted.
The height above sea level for each wind

sensors is shown.
The deviations between the measurements

from the wind sensors are shown graphically.
The deviations are shown relative to the
measurements from the wind sensor that is
currently being used by the system. The
colours used for the markers correspond to
the colours used for the wind sensor numbers.
The estimated wind speed and direction, both

relative to the vessel and true. The raw
measurements of wind speed and direction
are filtered internally (using a Kalman filter
with both low and high frequency parts), to
estimate the most reasonable speed and
direction values to be used by the SDP
system.
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The vessel pitch, roll and heave as measured

by each of the VRS sensors.
The following sign convention applies for

pitch and roll:
Pitch: + is bow UP
Roll: + is port UP
The RMS values of the sensors for Pitch, Roll

and Heave.
The measurements from the VRS that is

currently being used by the system are
highlighted.
The water depth as measured by each of the

water depth sensors.
The measurements from the sensors that is

currently being used by the system are
highlighted.
A trend graph is displayed. You can select the

information to be displayed using the Sensor
Plot dialog box for view control (see page
319).
The vessel alongships and athwartships

speed as measured by each of the Doppler
Log speed sensors.
The vessel speed and course as measured by

each of the GPS speed sensors.
The measurements from the speed sensors

that are currently enabled are highlighted.
The used speed, which is an average value of

the combined measurements from the
enabled speed sensors. If no sensors are
enabled, the manual value entered for
alongships speed is shown.
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View controls
To display the Sensor Plot view control dialog box, either click on
the trend graph of the Sensor view, or:
1 Place the cursor anywhere in the Sensors view and click the
- The Sensor Plot view control dialog box is displayed.
Figure 189 Sensor Plot view control dialog box
Range, To select the required range for the deviation displays for the
deviation models measured gyrocompass heading, wind speed and wind direction.
An example of this is shown in Figure 190, which reflects the
setting shown in Figure 189.
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Figure 190 Example - Individual setting of range for

gyrocompass heading, wind speed and wind direction deviation
displays
Graph The trend plot to be displayed.
Y axis - Scale... Allows you to set the upper and lower limits for the y-axis scale on
the trend plot. You can select between auto and manual scaling of
the y-axis scale (see Figure 191 below).
Auto Selecting this option will set the Y-axis range automatically.
Manual Allows you to set the upper and lower scale limits.
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Thrusters
THRUSTERS
This section describes the control functions that are related to
the vessel’s thruster systems, and the various thruster views.
The term “thruster” is used throughout this manual to mean any
element of the vessel’s propulsion system, including propellers,
rudders, tunnel thrusters and azimuth thrusters.
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Definition
The term “thruster” is used throughout this manual to mean any
element of the vessel’s propulsion system, including propellers,
rudders, tunnel thrusters and azimuth thrusters.
Thruster READY
When a thruster can be enabled for SDP control, the thruster is
shown as READY on the Thruster main view (see page 338) and
on the Thruster Enable dialog box (see below).
There are generally two criteria for a thruster READY status:
· the individual thruster must be running
· the individual thruster must be available for SDP control
Enabling thrusters
The SDP system uses only those thrusters that are enabled for use
by the system. You can enable, disable and monitor the status of the
thrusters either using the buttons in the Controls button group or
using the Thruster Enable dialog box.
Before you can enable a thruster, it must be READY (see above).
If you enable a thruster and it subsequently loses its READY status,
it is automatically disabled.
Buttons
The Controls button group contains buttons which enable or
disable each of the available thruster units for SDP control. Each
thruster button has a status lamp which is lit when the thruster is
enabled.
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Dialog box
On the Thruster menu, click Enable to display the Thruster
Enable dialog box.
Figure 192 Example Thruster Enable dialog box
Running These check boxes show whether the thrusters are running.
When a thruster status is set as running, the SDP system reads the
feedback signal from the thruster and calculates the resulting
thruster force.
Under certain conditions, you may be able to clear the Running
check box for a thruster so that the SDP system will no longer
calculate the force/moment contribution from this thruster. This
feature can be useful in a fault situation where the feedback from
a particular thruster is unreliable. You can change the running
status in this way only if all of the following conditions are
satisfied:
· The running status is not interfaced directly from the thruster to
the SDP system.
· The thruster is not READY.
· Manual setting of thruster running status is allowed by the
system configuration.
Rdy These check boxes show whether the thrusters are READY for
SDP control.
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Enable These check boxes allow you to enable or disable each of the
thrusters for SDP control. The system will automatically disable
a thruster if it is not READY, i.e. clear the Enable check box, and
also make the check box unavailable, thus indicating that before
you can enable a thruster, it must be READY.
Enable All Pressing this button enables all thrusters and rudders.
Automatic thruster start

The Automatic Thruster Start function allows you to enable and
start thrusters automatically when necessary. A thruster, which
starts up automatically, is also automatically enabled. Automatic
thruster start and enabling can be switched on and off using the
Automatic Thruster Start dialog box.
The thrusters are divided into groups, for example bow, middle and
aft. Each group consists of a number of dedicated thrusters. The
Automatic thruster start function handles each group separately.
To perform an automatic thruster start, the following conditions
must be satisfied:
· The system must be in Auto Position mode or another mode
with automatic control (not in Standby or Manual mode).
· No other automatic thruster start request must be in progress in
the group.
· No thrusters in the group must have been enabled for the past
100 seconds.
An additional thruster in a group will be started automatically if
one of the following conditions are satisfied:
· There are no enabled thrusters in the group.
· One or more thrusters in the group has a force demand limit
(Start request limit) and delay (Start request delay) which is
higher than the limit specified in the Automatic Thruster Start
dialog box.
If a thruster fails to start, check if any other thruster in the same
group was started up manually without being enabled. If so, enable
it.
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On the Thruster menu, click Automatic Start to display the

Automatic Thruster Start dialog box.
Figure 193 Automatic Thruster Start dialog box
Thruster Start Turns on and off automatic start of thrusters in all groups.
Thruster Enable Turns on and off automatic enabling of thrusters in all groups.
Start request limit Allows you to set the force demand limit (in %) for automatic start
of a thruster. The force demand limit is set individually for each
thruster group.
Start request delay Allows you to set the delay (in seconds) following a violation of
the start request limit before performing an automatic start of a
thruster. The Start request delay is set individually for each thruster
group.
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Thruster control modes

Thruster allocation can be performed in many different ways. The
functions that are available for your vessel are listed on the
Thruster Allocation dialog box.
Either click Alloc on the Thruster menu, or press the Alloc Setup
button in the Controls button group. The Thruster Allocation
Figure 194 Example Thruster Allocation dialog box
Mode
For the azimuth thrusters, you can choose between various thruster
allocation modes. The currently-selected thruster allocation mode
is shown both on the Thruster Allocation dialog box and on the
Thruster main view (see page 338).
The modes that are implemented in your SDP system, as well as
the criteria for the automatic mode switch, depend on the
configuration and operational requirements of your vessel. Details
of the available modes are provided with the configuration
information for your vessel.
Depending on the operational mode, illegal allocation modes are
disabled on the Thruster Allocation dialog box.
For some of the modes (FIX1, FIX2 and HEAVE RED), a
sufficient number of thrusters must be enabled to select the mode
. The system will automatically switch back to the default
allocation mode (normally VARIABLE mode) if you deselect
thrusters or thrusters lose their READY status.
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The following are some typical examples of azimuth thruster

allocation modes:
VARIABLE The system automatically changes the angle of the azimuth
thrusters so that the thrust is always angled in the optimum
direction. In order to reduce wear and tear in the azimuth thrusters
due to continuous changes in the azimuth thruster angles, a dead
band function is incorporated.
You should use this mode when the environmental forces acting on
the vessel are large and are not constantly changing direction.
A set of prohibited zones for each thruster can be predefined which
prevent a particular thruster from interfering with other thrusters,
the hull or other equipment. The thrusters are allowed to pass a
prohibited zone. Whether the thrust is reduced or not when that
happens, can be predefined for each zone.
FIX 1 The system automatically selects a fixed angle for each azimuth
thruster. When the environmental force is small and constantly
changing direction, you can use this mode in order to avoid
continuous changes in the azimuth thruster angle.
If disabling and then enabling again a thruster having a negative
pitch or RPM, the system will automatically turn the thruster 180
degrees.
FIX 2 A set of alternative, fixed angles are predefined for each azimuth
thruster from which the system automatically selects the optimum
angle. The system selects the angles for the azimuth thrusters
according to the direction of the force demand when you select this
mode.
If disabling and then enabling again a thruster having a negative
pitch or RPM, the system will automatically turn the thruster 180
degrees.
DIVING Identical to VARIABLE azimuth mode except that the two modes
have separate configuration of prohibited zones. Used to activate
dedicated zones during diving operations to prevent the sending of
thruster wash towards the umbilical or diving bell.
This mode can also be used to protect other kind of equipment, for
example HPR and LTW, and will then be named accordingly.
The thrusters are allowed to pass a prohibited zone. Whether the
thrust is reduced or not when that happens, can be predefined for
each zone.
AUTOPILOT Azimuth thrusters not used for steering will have predefined fixed
angles for use in Autopilot mode (see Rudder/azimuth limits and
steering mode on page 162 for thrusters to be used for steering).
This allocation mode is automatically selected when the system is
in Autopilot mode.
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HEAVE RED When using heave reduction, excessive thrust is applied to increase
the the hydrodynamic damping of the vessel. This reduces the
resonant motion amplitudes of the vessel induced by second order
wave forces. The effect can be used to reduce the motions when
particularly critical operations are to be carried out, for example
crane operations, transfer of personnel etc.
The azimuth thrusters configured to participate in the motion
reduction will turn to predefined azimuth angles, and they will be
run at least at a predefined limit, for example 50% force. The
thruster angles are selected so that the resulting thrust is zero when
there is no thrust demand.
Control
You can choose between various thruster allocation controls. The
currently-selected controls are shown both on the Thruster
Allocation dialog box and on the Thruster main view (see page
338).
The controls that are implemented in your SDP system depend on
the configuration and operational requirements of your vessel.
Details of the available controls are provided with the
configuration information for your vessel.
The following are typical examples of thruster allocation controls:
Increased Power Allows the SDP system to overload the thruster engine for a
limited period of time in an emergency situation. The amount of
overload is predefined for each thruster, typically 10 to 20%.
Normally, this mode needs a ready signal to be selected.
Position Priority During a change of heading, if the rotational moment and
directional force demand can not both be satisfied due to
insufficient available thrust, priority is normally set to obtain the
rotational moment demand (heading priority). Selecting Position
Priority changes the thrust allocation priority from heading to
position.
Free Run
Allows a greater maximum pitch/rpm to make it possible for the
vessel to reach full speed when running in Autopilot or Auto Track
(high speed) mode. You can select between Off, On and
Automatic. When set to Automatic, free run is automatically
selected when Autopilot or Auto Track (high speed) mode is
entered. The on/off state for free run is also shown on the Thruster
main view (see page 338). The contents of the Free Run frame may
vary depending on vessel configuration.
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Thruster force bias

The Thruster Force Bias function allows azimuth thrusters to
counteract each other in groups so that the resulting thrust is zero.
For example, two azimuth thrusters can be configured in a group
and the same thrust can be applied to each thruster either directly
towards or away from the other thruster. The resulting thrust will
then be zero in all three degrees of freedom, independent of where
the two thrusters are located on the vessel.
Up to six thruster groups can be pre-configured, where each group
can contain either two or three thrusters.
This function can be useful in the following situations:
· When an azimuth thruster cannot give zero thrust. Other
azimuth thrusters or main propellers can be used to compensate
for this minimum force.
· When higher power consumption is wanted than is actually
required for positioning.
· When heave reduction is required combined with variable
azimuth mode.
Depending on the vessel configuration, the Thruster Force Bias
function can also:
· Reduce the turning of azimuth thrusters when demand is
changing, hence improving the response to new setpoints and
improving the positioning accuracy.
· Improve the damping of horizontal vessel motion.
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On the Thruster menu, click Force Bias. The Thruster Force

Bias dialog box is displayed.
Note As stated previously, this dialog box can be pre-configured to suit
the individual needs of each vessel, and the contents (number and
configuration of thruster groups and columns) will thus tend to
vary from vessel to vessel.
Figure 195 Example - Thruster Force Bias dialog box
Group Name Predefined name of the thruster group. The thruster groups are
shown colour coded on the small thruster force model in the upper
right corner of the Thruster main view (see page 338).
In use Check this box to turn on the Thruster Force Bias function for this
thruster group.
Thrusters Shows the thruster numbers to counteract each other in each group.
A special case is when you have only one thruster in a group. The
two text boxes for this group then appears dimmed, with the
thruster number shown only in the first text box. With two or more
thrusters in a group, you can define the thrusters to interact. An
error checking routine informs you if you specify the same thruster
number two times in the same group or in two different groups,
enter an illegal thruster number or an illegal thruster type. These
checks only apply for thruster groups that have the In use check
box selected.
Bias The minimum force to be used for each thruster, when running the
thrusters to counteract each other.
Turn factor The thrusters will work towards each other until this force level is
reached. When this level is reached, one thruster will turn, and they
will both work in the same direction. See Turn factor on page 333.
Angle factor Determines how much to use angle instead of force to fulfil the
force demand. See Angle Factor on page 334.
330 173222/C
Thrusters
Spin If one thruster in this group is disabled, and the other is not, and the
demand to the enabled thruster is less than the Bias force, you can
choose to spin the enabled thruster.
Inwards When two thrusters are counteracting each other, you can choose
between running them towards each other (Inwards check box
selected), or away from each other (Inwards check box not
selected). See Inwards on page 335.
Thruster Select Allows you to set the system to change bias pairs automatically as
a function of sea current attack angle. In the Thruster Select frame
you can choose between Automatically, By Operator or No Bias.
A check mark in the Used column indicates the selected option
used by the system.
With Thruster Select set to Automatically, the system selects
thruster bias groups automatically based on a predefined setting.
The angle of attacking forces on the vessel decide which group
setup is selected. You should note that it is not the direction of the
current vector that decides this, but the direction of the force
resulting from the sea current. These two directions can be
different, the drag sideways on a vessel can for example in many
cases be much higher than the drag alongship.
If a thruster becomes the only enabled thruster in a group, this
thruster can (based on certain criteria) then be joined with the
thrusters in another group to counteract each other so that the
resulting thrust is zero for this “new” group. This is what happens
when Automatically is selected and a thruster number is shown in
a third Joined column. The Thrusters columns then becomes
dimmed, i.e unavailable for further editing by operator (they are
set by the system). See Figure 196 .
Figure 196 Thruster Force Bias dialog box - Automatic

selection of thruster bias groups selected applied
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With Thruster Select set to By Operator, the operator enters the

thrusters in each group.
With Thruster Select set to No Bias, the system is still in thruster
bias main thruster allocation mode, but no bias is applied.
Total Requested Bias When you select Use in the Total Requested Bias frame, you can
enter a total common bias instead of, or in addition to, the bias for
each thruster. You can also monitor the total applied bias in the
dialog box. Enter the total bias in the Request box. This bias value
is then distributed to all of the bias pairs. If the bias was initially
equal for each group, then the total bias is distributed equally. If
however the bias was initially unequal for each group, then the
total will be distributed in the same proportion as the initial
proportions.
The Applied text box shows the difference of the thrust before and
after total bias was applied.
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Thrusters
Turn factor
The Turn factor determines when to turn a thruster within a group,
instead of continuing to counteract the other thruster. In the
examples below, the maximum force for each thruster is 10 tonnes
and the idle or bias force is 2 tonnes.
Figure 197 Turn factor - examples
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Angle factor
The Angle factor determines how much to use angle instead
of force to satisfy the force demand. In the examples below,
the same 10 tonnes demand ahead is achieved, but more thrust is
used in example 1 (with a higher angle factor), than in example 3
(with a lower angle factor).
Figure 198 Angle factor - examples
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Thrusters
Inwards
When two thrusters are counteracting each other, the Inwards
check box determines whether they should be run towards each
other or away from each other. The examples below show various
situations with Inwards selected and not selected. The specified
demand is the force demand for this group.
Figure 199 Inwards - examples
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Thruster run-in
The Thruster Run-in function allows you to limit the maximum
pitch or rpm setpoint of each individual thruster.
This feature is available only for those thrusters for which it is
configured.
On the Thruster menu, click Run-in. The Thruster Run-in
Figure 200 Thruster Run-in dialog box
Enable Check this box to turn on the Thruster Run-in function for this
thruster.
Max. setpoint (%) The maximum setpoint for this thruster in percent. The specified
value must be more than any required minimum setpoint for this
thruster (such as for minimum thrust or idle rpm) and must always
be at least 20%. This value is valid for both the positive and
negative directions.
For thrusters with combined pitch/rpm control, the specified
maximum setpoint refers to either the pitch or the rpm setpoint,
depending on the configuration of this function.
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Thrusters
Thruster views
The thruster views show how the SDP system is using the available
thrusters to provide the required thrust demand.
The following thruster views are available:
· A main view (Thr Main) which provides an overview of all the
thrusters.
· A sub-view for each thruster, showing more information than
the main thruster view. To display a sub-view, either select the
view from the pop-up menu in the main view, or click on the
thruster symbol in the main view.
· A view showing setpoint and feedback data for all the thrusters
(Setp/feedb).
· A view showing the resultant thruster forces and the “real”
location of the thrusters.
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Thruster main view

The thruster main view (Thr Main) shows the performance and
state of all the thrusters. Bar graphs show the thruster force for each
thruster unit. The thruster force for each thruster unit and their
resultant thruster force are also represented by vectors.
Figure 201 Example Thruster main view
338 173222/C
Thrusters
The currently-selected thruster allocation

modes (see page 322).
The currently-selected thruster allocation

control and free run status. Priority shows
either Hdg or Pos. FreeRun shows either
ON or OFF. Incr.Pow (increased power)
shows either RDY in green when increased
power is not selected or ON in red when
selected, or nothing when not ready.
These two areas are both click-sensitive. The

ordinary cursor changes to a pointing hand
when positioned over an area. Clicking the
left mouse button opens up the Thruster
Allocation dialog box.
Numerical display of the resulting force and

direction, and a force vector (displayed from
the vessel’s centre of gravity).
Numerical display of the resulting turning

moment and direction, and a curved bar graph
representing these values.
Individual thrust vectors for each thruster.
All values are based on feedback signals from

the thrusters.
When using the thruster force bias function,

the thrusters are colour coded (coloured
circles around the thruster numbers) to show
the various thruster bias groups.
Moment direction:
CW: Bow to starboard
CCW: Bow to port
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Numerical values and bar graphs showing the

thruster force for each thruster unit. The bar
graphs show the percentage of the maximum
available thrust and are scaled individually.
the thrusters.
The check boxes show the RUNNING,

READY and ENABLED status of each
thruster unit.
Numerical and graphical display of

pitch/rpm feedback for each tunnel thruster.
Numerical and graphical display of thruster

azimuth and pitch/rpm feedback for each
azimuth thruster.
The force direction relative to the thruster is

indicated by the highlighted arrow.
The arrows are colour coded. A green arrow
indicates positive thruster force, while a pink
arrow indicates negative thruster force. The
same colours are shown both in the day and
night palette.
Numerical and graphical display of propeller

pitch/rpm feedback.
The force direction relative to the propeller is

night palette.
Rudder symbol with numerical and graphical

indication of rudder angle.
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Thrusters
Tunnel thruster view
Figure 202 Example tunnel thruster view
Thruster status:
Running: The thruster is running.
Ready: The thruster is available for

control by the SDP system.
Enabled: The thruster is enabled for

(See page 322).
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pitch/rpm feedback.
Numerical value and bar graph showing the

thruster force. The bar graph shows the
percentage of the maximum available thrust.
the thruster.
Numerical display of the pitch/rpm setpoint
and feedback, and the difference between
them, shown as a percentage of maximum.
The graphical display indicates the difference

between the setpoint and feedback (with zero
at the centre of the scale).
A trend plot is displayed. You can select the

information to be displayed using the view
control dialog box (see Figure 205).
By clicking on the left or right arrow (if

present) you can display the sub-view for the
previous or next thruster unit. By clicking on
the up arrow, you can display the thruster
main view.
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Thrusters
Azimuth thruster view
Figure 203 Example azimuth thruster view
Thruster status:
Running: The thruster is running.
Ready: The thruster is available for

Enabled: The thruster is enabled for

(See page 322).
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azimuth and pitch/rpm feedback. Note that
pitch is not configured in this example.
The force direction relative to the thruster is

night palette.

thruster force. The bar graph shows the
the thruster.
Numerical display of the RPM setpoint and

feedback, and the difference between them,
shown as a percentage of maximum.

between the thruster RPM setpoint and
feedback (with zero at the centre of the scale).
Note that pitch is not configured in this

example.
Numerical display of the azimuth setpoint

and feedback and the difference between
them.
The graphical display indicates the angular

difference between the thruster azimuth
setpoint and feedback (with zero at the centre
of the scale).
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Thrusters


main view.
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Propeller/rudder view
Figure 204 Example propeller/rudder view
Propeller and rudder status:
Running: The propeller is running.
Ready: The propeller/rudder is

available for control by the
SDP system.
Enabled: The propeller/rudder is

enabled for control by the
SDP system. (See
page 322).
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Thrusters

pitch/rpm feedback.
Numerical and graphical display of rudder

azimuth feedback.
The force direction relative to the propeller is

night palette.

propeller force. The bar graph shows the
the propeller.
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Numerical display of the propeller pitch

setpoint and feedback, and the difference
between them.

between the propeller pitch setpoint and
Numerical display of the propeller RPM

between them.

between the propeller RPM setpoint and
Numerical display of the rudder azimuth

setpoint and feedback and the difference
between them.
The graphical display indicates the angular

difference between the rudder azimuth
setpoint and feedback (with zero at the centre
of the scale).


main view.
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Thrusters
Sub-view controls
To display the sub-view control dialog box, either click on the
trend display of the thruster sub-view, or:
1 Place the cursor anywhere in the thruster sub-view and click
the right trackball button.
- The Thruster Sub Plot view control dialog box is
displayed.
Figure 205 Thruster Sub Plot view control dialog box
Graph The trend plot to be displayed. The following trend plots are
available:
Thr Pitch Pitch setpoint and feedback for this
thruster.
Thr RPM RPM setpoint and feedback for this
thruster.
Thr Azim Azimuth setpoint and feedback for this
thruster.
Thr Load Load setpoint and feedback for this
thruster.
Y axis - Scale... Allows you to set the upper and lower limits for the y-axis plot
scale manually or to select automatic scaling.
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Manual Allows you to set the upper and lower scale limits.
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Thrusters
Setpoint/feedback view
The Setp/feedb view shows setpoint and feedback data for all the
thrusters.
Figure 207 Example Setp/feedb view
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Thruster/propeller/rudder status:
Running: This is displayed only if the

running status is available
to the SDP system.
Ready: Available for control by the

SDP system.
Enable : Enabled for control by the

SDP system. (See page 322).
Numerical display and bar graph of the pitch

between them, shown as a percentage of
maximum.
Numerical display and bar graph of the rpm

between them, shown as a percentage of
maximum.
Numerical and graphical display of the

thruster azimuth or rudder angle setpoint and
feedback.
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Thrusters
Forces view
The Forces view shows the resultant thruster forces and the “real”
location of the thrusters. All values are based on feedback signals
from the thrusters.
Figure 208 Example Forces view
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The resultant thruster force and direction, and

the resultant turning moment and direction.
Direction of moment:
CW: Bow towards starboard
CCW: Bow towards port
Numerical values and bar graphs showing the

thruster force for each thruster unit. The bar
graphs show the percentage of the maximum
available thrust and are scaled individually.
The check boxes show the RUNNING,

READY and ENABLED status of each
thruster unit.
Individual thrust vectors for each thruster.
Resultant thruster force vector (displayed

from the vessel’s centre of gravity) and
graphical indication of turning moment (the
turning moment has a maximum sector range
of 180 degrees).
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Power System
POWER SYSTEM
This section describes the relationship between the SDP
system and the vessel’s electrical power system.
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Power monitoring
The SDP system has no control over the vessel’s electrical power
system. This is handled by a separate Power Management System
(PMS).
Normally the SDP system receives information about the power
produced by each main generator, which power bus each generator
is connected to, how the power buses are connected and how the
thrusters are connected to the power buses. This information is
used by the SDP system for power overload control and is also
displayed on the Power view (see page 357).
Power overload control

The system monitors the power load to prevent a power blackout
situation. This is achieved by monitoring the load on the main bus
or isolated bus sections and reducing power on the connected
thrusters/propellers by reducing pitch/rpm demand if the estimated
load exceeds the nominal limit. The reduction value is shared
between the connected thrusters/propellers in such a way that the
effect on the position and heading control is minimised.
This function acts as an addition to the vessel’s own PMS. The
power reduction criteria are set at lower overload levels than the
load reduction initiated by the PMS.
This function is active in all operational modes and is illustrated in
the diagram below:
Nominal power
Reduced power
consumption by SDP
to avoid
blackout/overload
kW
SDP power demand
Actual SDP Pitch/rpm Pitch/rpm

power reduction reduction
consumption
Time
Figure 209 Power overload control
356 173222/C
Power System
Power view
The Power view provides a simplified mimic display of the
vessel’s electrical power system as seen from the SDP system.
Normally the SDP system is supplied with information about the
power produced by each main generator, which power bus each
generator is connected to, how the power buses are connected and
how the thrusters are connected to the power buses. The thruster
power consumption is either measured directly or calculated from
the thruster feedback.
Figure 210 Example Power view
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Generator symbol showing the produced

power both as an numerical value and
graphically as a percentage of the nominal
power.
The position of the generator breaker symbol

shows whether the generator is connected to
the power bus. In addition the generator
breaker symbol is colour coded. Red
indicates disconnected, green indicates
connected.
Thruster symbol showing the consumed

power both as an numerical value and
graphically as a percentage of nominal power
consumption.
The position of the thruster switch symbol

shows whether the thruster is connected to
the power bus. In addition the thruster switch
symbol is colour coded. Red indicates
disconnected, green indicates connected
The internal names (I/O tags) of the generator

breaker, bus and thruster switches are
displayed, if selected using the view control
dialog box (see below). This feature is useful
when setting the power configuration for the
simulator function (see separate Simulator
operator manual).
The total nominal and consumed power from

the generators connected to each main bus or
sub bus as selected using the view control
dialog box (see below).

control dialog box (see below).
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Power System
View controls
To display the view control dialog box, either click on the trend
display of the Power view, or:
1 Place the cursor anywhere in the Power view and click the
- The Power Plot view control dialog box is displayed.
Figure 211 Power Plot view control dialog box

Present Selects whether to display the total nominal and produced power
from the generators connected to each Main Bus or each Sub Bus.
Show/Hide If configured, selects whether or not to display the internal names
(IO Tags) of the generator breaker, bus and thruster switches.
Graph The trend plot to be displayed.

Auto Selecting this option will set the Y-axis range automatically
Note Refer to the description of the Trends view for detailed descriptions
of the available trend plots (see page 377).
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Power consumption view

The Power Consumption view shows the available power for each
main bus in numerical form, and also the consumed power for each
main bus both in numerical form and in graphical form as a
percentage of available power. In addition, the view shows which
sub buses are grouped under each main bus.
The view is dynamically updated to always show the current bus
topology.
Figure 213 Example Power Consumption view
360 173222/C
Power System
The consumed power for each main bus in

numerical form.
The consumed power for each main bus in

graphical form as a percentage of available
power for each main bus.
The sub buses that are grouped under each

main bus.
The available power for each main bus in

numerical form.
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Diesels view
The Diesels view provides a simplified mimic display of the
vessel’s diesel engines and fuel rack system as seen from the SDP
system.
The information presented in this view is based on the following
signals received by the SDP system:
· The fuel rack reading
· Diesel clutched in or out
The configuration shown in the example view below, consists of
starboard and port propellers, each driven by two diesel shaft
engines with fuel rack regulation system and a diesel generator.
Each diesel is connected to the propeller via a clutch and gearbox.
362 173222/C
Power System
The model for fuel rack regulation shown in this example view,
propeller with two diesels and two shaft generators, is one of four
main models in common use. The others are:
· Propeller with one diesel, no shaft generator
· Propeller with two diesels, no shaft generator
· Propeller with one diesel, one shaft generator
Numerical and graphical display (bargraph)
of the power produced by main diesel
generator.
Numerical and graphical display (bargraph)

of the fuel rack load on the diesel engine.
Symbols with text indicating main diesel

generator (MDG 2) and diesel engine
(OUT_STB). The generator symbol turns
grey when the generator is switched off.
Clutch for diesel engine. This symbol turns

grey and indicates no connection (clutched
out) when the diesel is disconnected from the
gearbox.
Symbols indicating gear and propeller and
text indicating the name of the propeller.
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Numerical and graphical display of the mean

fuel rack load.
This is the mean fuel rack load on this

propeller shaft, based on averaging all fuel
racks for all diesels connected to this shaft.
The small red dot on the left side of the

bargraph indicates the actual amount of
fuel-rack reduction performed.
If no reduction is performed, the position of

the red dot equals the limit at which reduction
will start (the fuel rack limit). The fuel rack
reduction starts when the load on one or both
of the diesel engines exceeds the fuel rack
limit. The red dot will then move downwards
to indicate the actual amount of fuel rack
reduction to be performed, i.e. equal to the
propeller demand reduction (of pitch and
RPM).
364 173222/C
DP ONLINE CONSEQUENCE ANALYSIS

This section describes the DP Online Consequence Analysis
function, which performs analyses to determine the vessel’s
ability to maintain its position in worst-case failure situations.
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Description
The DP Online Consequence Analysis function determines the
vessel’s ability to maintain its position after predefined worst-case
equipment failures. The analysis is called “Online” because it
considers the present environmental conditions, thruster status and
power consumption.
This function is available for redundant systems and satisfies the
requirements of IMO Class 2 and Class 3.
The analysis checks whether the thrusters remaining in operation
after a worst-case single failure are able to generate the same
resultant thruster force and moment as required before the failure,
and whether the remaining generators are able to produce a
sufficient amount of power. A warning message is issued if a
failure would result in drift-off. This analysis is performed
continually (every minute) during operation in Auto Position
mode and when DP Class 2 or 3 is selected.
The worst-case single failures that are analysed are predefined
according to the power and thruster configuration of your vessel.
Typically, these failures will be loss of one complete switchboard,
one engine room, or a group of thrusters that can be affected by a
common equipment failure.
Requirements
Consequence analyses are performed continually whenever the
following criteria are satisfied:
· The system is in Auto Position mode.
· The position setpoint status is PRESENT POSITION.
· The heading setpoint status is PRESENT HEADING.
· DP Class 2 or 3 is selected.
Note By default, the DP Online Consequence Analysis function is
switched off. When engaged in Class 2 or Class 3 operations, you
must explicitly select Class 2 or Class 3 using the DP Class dialog
box (see below).
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Selecting the DP class

To select the required DP Class, click Dp Class on the System
menu. The DP Class dialog box is displayed.
Figure 214 DP Class dialog box
The currently-selected DP Class is indicated in the Class field of

the status bar (see page 41).
Running state messages

When the DP Online Consequence Analysis function is activated,
an information message is displayed:
CONSEQUENCE ANALYSIS RUNNING CLASS 2
or
CONSEQUENCE ANALYSIS RUNNING CLASS 3
When the system leaves Auto Position mode, or if you explicitly
turn off the function using the DP Class dialog box, the following
information message is displayed:
CONSEQUENCE ANALYSIS STOPPED
During a change of position or heading, the failure simulations are
temporarily halted. When the vessel reaches PRESENT
POSITION and PRESENT HEADING, the failure simulations are
started again. No information messages are issued for this type of
temporary halt.
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Warning messages
If an analysis detects that a given worst-case single equipment
failure will result in insufficient thrust or power to maintain the
vessel’s position, a warning message is issued:
CONSEQUENCE ANALYSIS DRIFT OFF WARNING
This message is followed by additional information whose content
depends on the type of failure simulated and whether insufficient
thrust or insufficient power was detected. For example:
POWER CRITICAL IF BUS 1 LOST
THRUST CRITICAL IF THRUSTERS 1 4 LOST
THRUST CRITICAL IF PORT DIESEL LOST
If the message indicates that thrust is critical, you should enable
more thrusters. If the message indicates that power is critical, you
should make more power available.
When the critical situation is no longer valid, the warning is
cancelled.
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MISCELLANEOUS DISPLAY VIEWS

This section describes the DP Conning and Trend display
views.
The other available display views are described on the

following pages (or in separate dedicated operator manuals):
Alt. Rot. Point view (page 210)
Capability view (refer to separate DP Capability Analysis

operator manual)
Deviation view (page 243)
Driller view (refer to separate Riser Angle Monitoring

operator manual)
General view (page 239)
LTW view (page 288)
Manual view (page 102)
Numeric view (page 250)
Posplot view (page 252)
Power view (page 357)
Power Consumption view (page 360)
Refsys view (page 280)
Riser view (refer to separate Riser Angle Monitoring operator

manual)
Sensors view (page 316)
Thrusters views (page 337)
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DP Conning view
The Conning view provides useful information in Autopilot and
Auto Track high-speed modes.
Figure 215 Example DP Conning view
370 173222/C
The vessel heading from the gyro in use is

shown both numerically and against a
rotating compass rose. When no gyros are
enabled, the estimated present heading value
is shown.
The heading setpoint is shown graphically on

the compass rose.
The left (red) or right (green) arrow shows the

direction in which the vessel is turning.
The vessel’s rotation speed is shown both

numerically and graphically.
The OK/Enabled status for the configured

gyros is shown. The number for the gyro in
use is shown in black. This is a click sensitive
area where the ordinary cursor changes to a
pointing hand. Clicking the left mouse button
opens up the Sensors dialog box showing the
Gyro page.
The heading setpoint value is shown

numerically.
The rotation speed setpoint value is shown

numerically (applies only when the vessel is
rotating).
The true course setpoint value is shown

numerically.
The speed setpoint value is shown

numerically.
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Measured values (Log) for true course and

speed.
Two buttons (with up and down arrows) for

selection of the speed log to display. An X
indicates that the displayed speed log is
enabled. It is also possible to show speed log
values based on low-pass filtered values for
all enabled sensors combined, or speed
values based on the controller’s estimate. The
message Not OK in red is shown when not
receiving any speed log signals.
Graphical display of speed vector showing

setpoint and measured values for speed. The
speed setpoint is indicated with a circle. The
measured speed is indicated with a green
circular arc. Note that the display is scaled to
the maximum speed of the vessel. As a result
of this, the display is most useful at high
speeds. The speed vector is along the green
dotted line. The vertical axis represents the
vessel’s centerline. The long purple line
indicates the true course setpoint value. The
short red line on the periphery of the outer
circle indicates true north.
Numerical values for measured (Log)

alongships and athwartships speed.
Numerical value for measured (Log) relative

course. Note that the relative course equals
true course minus heading.
Controller gain level setting is shown in plain

text (Low, Medium or High) and graphically.
Autopilot gain adjustment settings for
counter rudder and auto trim.
This is a click sensitive area where the

ordinary cursor changes to a pointing hand.
Clicking the left mouse button opens up the
Gain dialog box showing the Main page.
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The measured wind speed and direction

relative to the vessel are shown numerically
(filtered measurements from the wind
sensor).
The measured wind direction relative to the

vessel is shown graphically.
The north/south and east/west geographical

axes are displayed relative to the vessel. The
red portion of the north/south axis indicates
the direction of north.
The number for the next Wheel Over Point.

The vessel‘s bearing and distance to the next
Wheel Over Point. Time left until the vessel
reaches this point.
The direction and length of the next leg.
The radius of the arc along which the vessel

will pass the next waypoint. This information
is displayed only in Auto Track mode.

pitch/rpm feedback.
Numerical and graphical display of rudder

azimuth feedback. The force direction
relative to the propeller is indicated by the
highlighted arrow. The arrows are colour
coded. A green arrow indicates positive
thruster force, while a pink arrow indicates
negative thruster force. The same colours are
shown both in the day and night palette.
The maximum turn-angle for steering

rudders / azimuth thrusters when the vessel
heading is under under automatic and manual
control. This is a click sensitive area where
the ordinary cursor changes to a pointing
hand. Clicking the left mouse button opens up
the Rudder/Azimuth Set-up dialog box
showing the Steering page.
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The water depth measured by sensors.
Using the Conning Plot view control dialog

box for view control (see page 375), you can
choose to display either a selected trend graph
or a position trace.
Trend graph.
Position trace. The system starts tracing

when Position trace is selected in the
Conning Plot view control dialog box (see
page 375). The vessel is always shown with
the bow pointing upwards. The grid axes are
rotated (aligned) so that the mean value of the
position trace is always in the centre of the
plot. To view the track more closely, the
athwartships and alongships axes can be
scaled to show even small deviations from the
ideal track on the position trace.
The maximum length of the trace line is 500

points, normally the last 500 seconds (i.e. 8
minutes and 20 seconds).
Note When in Auto Position mode or in another mode where the vessel
is keeping a constant position, the position trace plot will appear
as turning. This is due to the small deviations from the setpoint and
because the trace line will always be displayed towards the centre
of the plot (see Figure above).
374 173222/C
View controls
1 Place the cursor anywhere in the Conning view and click the
- The Conning Plot view control dialog box is displayed,
showing the view controls either for the trend graph or the
position trace depending on what is currently displayed
on the Conning view.
Trend graph
Figure 216 Conning Plot view control dialog box - Trend

graph view controls
Show Allows you to select between Trend graph and Position trace.
Graph The trend graphs to be displayed.
Time span The time span for the trend graphs.
scale manually or to select automatic scaling.
Speed Log Allows you to select between various speed logs to be displayed.
Also possible to select speed log values based on low-pass filtered
values for all enabled sensors combined (Comb.), or speed values
based on the controller‘s estimate (Estim).
173222/C 375
Kongsberg SDP
Position trace
Figure 217 Conning Plot view control dialog box - Position

trace view controls
Show Allows you to select between Trend graph and Position trace.
Along The alongships scale range for the position trace.
Athwart The athwartships scale range for the position trace.
Clear trace - Reset Allows you to clear the position trace.
Speed Log Allows you to select between various speed logs to be displayed.
Also possible to select speed log values based on low-pass filtered
values for all enabled sensors combined (Comb.), or speed values
based on the controller‘s estimate (Estim).
376 173222/C
Trends view
The Trends view provides dynamic displays showing the history
over a specified period of selected information such as wind, sea
current, position and heading deviation, thruster forces, and power
consumption.
Using the Trend Plot view control dialog box (see Figure 219) you
can select the trend plots to be displayed.
Figure 218 Example Trends view
173222/C 377
Kongsberg SDP
View controls
To display the view control dialog box, either click on a trend
display of the Trends view, or:
1 Place the cursor anywhere in the Trends view and click the
- The Trend Plot view control dialog box is displayed.
Figure 219 Trend Plot view control dialog box
Graph The trend plots to be displayed.

Time span The time span for the trend plots.
Y axis - Scale... Allows you to set the upper and lower limits for the y–axis plot
scale. You can select between auto and manual scaling of the y-axis
378 173222/C
Trainer
TRAINER
This section describes the built-in trainer which provides
simulations for operator training purposes.
173222/C 379
Kongsberg SDP
Introduction
The built-in trainer provides simulations for operator training
purposes. Simulations are performed at the system console with no
additional equipment required.
The trainer can be used at any time when the system is not in use
for DP operations. To ensure that no inadvertent vessel control is
possible, the following conditions must be satisfied before the
trainer can be started:
· The system is in Standby mode.
· No reference systems are enabled.
· There are no READY signals from the thrusters.
Starting the trainer

To start the trainer:
1 Check that the vessel is controlled from the Bridge.
2 Select Standby mode.
3 Check that no READY signals are received from the
thrusters. The READY status of the thrusters is displayed on
the Thrusters main view (see Figure 201).
Note The system may be in Standby mode with no thrusters enabled, but
it is still possible to have READY signals.
4 Ensure that none of the position-reference systems are
enabled.
- The reference systems may be switched on and
functioning, but they must not be enabled (see page 264).
5 On the System menu, click Trainer.
- The Trainer set-up dialog box is displayed.
- The values for Start Position, Wind Speed etc. shown in
the Trainer set-up dialog box are the values which were
in use when the previous training session was stopped.
380 173222/C
Trainer
Figure 221 Trainer set-up dialog box

6 Select the Trainer mode check box.
7 If necessary, enter the Start position of the vessel from
which you want to start the simulation.
8 Enter the required Wind and Sea Current values to be used
during the simulation.
9 Enter the vessel Draught to be used during the simulation.
Note The vessel draught value specified on the Trainer Set-up dialog box
must be the same as the value specified on the Draught page of the
Sensors dialog box (see page 310).
10 Click OK or Apply.
- The system enters the Trainer mode.
- While the system is in Trainer mode, the text is
Simulating (or other configuration-specific text) is
displayed flashing in the title bar.
Using the trainer

When using the trainer, you can simulate most of the normal
system operations. For example, you can:
· specify the individual thrusters/propellers to be used and select
the thruster control mode
· select the sensors and position-reference systems to be used
· select the operational mode
· change the simulated vessel position
· change the simulated vessel heading
173222/C 381
Kongsberg SDP
Stopping the trainer

To stop the Trainer mode:
1 On the System menu, click Trainer.
- The Trainer set-up dialog box is displayed.
2 Deselect the Trainer mode check box.
3 Click OK or Apply.
- The system leaves the Trainer mode and returns to
Standby mode.
- When leaving Trainer mode, all the operational data you
have configured during the training session are
automatically reset to the “default” values present when
you started the system.
- The values for Start Position, Wind Speed etc. entered
in the Trainer set-up dialog box are saved for use as
start-up values in a future training session.
382 173222/C
Index
Index
The index is divided into four parts:
A General Index
A Button Index to help you locate information about

individual panel pushbuttons and lamps
A Dialog Box Index to help you locate information about

individual dialog boxes
A Menu Index to help you locate information about

individual entries in the pull-down menus
173222/C Index 1
Kongsberg SDP
General Index
A Changing track direction

Alarm High speed mode, 148
Button group, 37 Low speed mode, 147
Lamps, 37, 69 Displayed information, 158
Limits, 217 Drift angle limit, 135
Cross-track, 218 Alarm only, 135
Heading, 218 Limit, 135
Heave, 219 No limit, 135
Pitch, 219 Use limit, 135
Position, 217 Heading setpoint, 134
Roll, 219 Offset, 135
Operator, 135
Alarms System selected, 134
Acknowledging, 68 High speed mode, 112, 147
Silence, 70 Free run, 149
Alt. Rot. Point view, 210 Joystick speed control, 148
Analysis, Consequence, DP, 366 Rudder/azimuth limits, 149
Leg Offset, 128
Anchor Watch mode, 181 Low speed mode, 112, 146
Anchor area definition, 184 Joystick heading control, 146
Operating procedure, 181 Move-up mode, 112, 150
Auto Area Position mode, 173 Joystick heading control, 153
Area definition, 178 Limitations, 154
Heading control, 175 Move-up procedure, 153
Operating procedure, 176 Stopping on the track, 153
Position control, 173 Next waypoint, 127
Propeller bias forces, 180 Track resume point, 127
Auto Position mode, 110 Position dropout action, 132
Remote control, 111 Dead reckoning, 132
Stop, 132
Auto Track mode, 112 Preparation, 144
Across speed setpoint, 137 Receive track/waypoints from external
Operator, 137 source and send to, 142
Waypoint table, 137 Enable sending, 142
Along speed setpoint, 137 Enable reception, 142
Operator, 137 Include in waypoint table from
Approach track, 131 number, 142
Track leg, 131 Properties of external track at
Waypoint, 131 reception, 143
Receive from source, 142
Index 2 173222/C
Index
Receive waypoints, 142 Speed control

Reverse action, 132 External levers, 161
Go astern, 132 Joystick, 160
Turn 180 deg, 132 Remote, 172
Turn direction, 132 Steering group, 165
Safe start sector, 145 Steering mode, 164
Speed control, 139 Thruster moment compensation, 170
Automatic, 139 Wind compensation, 170
Speed/force table, 139 Axis control, 42
Start position, 145
Stop at last waypoint, 132 Azimuth limits, 149
Active, 132
Stop on course, 146, 148 B
Stop on track, 131 Bias test, 267
Force, 131 Brightness control, 34
Go back, 131
Stay, 131 C
WOP warning active/not active, 131
Changing cursor image, 45
Track direction, 129
Track offset, 119 Changing heading, 199
Track resume point, 127 Operator selected, 201
Tracking mode, 127 Stopping, 203
Turn radius for waypoint turn, 141 System selected, 201
Automatic (using rotate speed), 141 Using the Heading Wheel, 203
Operator, 141 Using the Posplot view, 199
Waypoint table, 141 Changing position, 190
Waypoint speed strategy, 138 Stopping, 195
Constant speed, 139 Using absolute coordinates, 194
Slow down at waypoint, 138 Using increments, 193
Waypoint reached limit, 138 Using range and bearing, 192
Wheel-over point warning, 131 Using the Posplot view, 190
Autopilot mode, 160 Shell configuration, 84
Auto trim, 169
Azimuth limits, 163 Command
Counter rudder, 168 Button group, 37
Gain, 167 Groups, 88
Heading control Status, 88
Local, 161 Transfer, 87
Remote, 172 Connecting to a controller group, 86
Maximum steering force, 165 Conning view, 370
Remote control, 171
Cross-track error, 172 Consequence analysis
Heading, 172 DP, 366
Speed, 172 DP class, 42
Rudder limits, 163 Contrast control, 34
173222/C Index 3
Kongsberg SDP
Controller Numeric view, 250

Gain, 211 Orientation of operator station, 45
Limits, 217 Posplot view, 252
Resetting, 92 Power Consumption view, 360, 362
Controller gain Power view, 357
Customized, 211 Preselect, 49
Predefined, 211 Refsys view, 280
Relaxed, 211 Selecting, 48
Sensor view, 316
Controller groups, 86 Thruster views, 337
Controls, Button group, 36, 322 Azimuth thruster view, 343
Forces view, 353
Coordinate systems, 224, 264
Propeller/rudder view, 346
System datum, 227
Setp/feedb view, 351
UTM zone, 227
Thruster main view, 338
Cross-track limits, 218 Tunnel thruster view, 341
Current, Direction display, 58 Tooltip, hotspot cursor and change of
cursor image, 45
Customized controller gain, 211 Trends view, 377
Zoom, 49
D
Draught sensors, 310
Degauss control, 34
Dropout
Deviation view, 243
Heading, 299
Dialog boxes, 42 Position, 271
Display
Colours, 52 E
Controls EBL function, 262
Brightness, 34 Environmental compensation, 215
Contrast, 34
Degauss, 34 Equipment status, 61
Organisation, 39
Printing a hardcopy, 51 F
Units, 55 Feed forward, 29
Display accuracy, Vessel speed, 58 Follow Target mode, 185
Display units, 55 Free Run, 328
Display views, 45 Free run
Alt. Rot. Point view, 210 In Auto Track high speed mode, 149
Available views, 46 In Autopilot mode, 160
Conning view, 370 Freeze test, 266
Control dialog boxes, 48
Deviation view, 243 Function keys, 37, 49
General view, 239
LTW view, 288
Manual view, 102
Index 4 173222/C
Index
G Roll, 219
Gain Rudder, 149, 163
Autopilot, 167 Logon configuration, 84
Controller, 41, 211 LTW view, 288
Joystick, 215
General view, 239 M
Give command, 87 Manual mode, 99
Gyrocompasses, 296 with auto heading control, 106
with auto position control, 107
H with auto stabilisation, 108
Hardcopy, 51 Manual view, 102
Heading Median test, 268
Dropout, 299 Settings , 275
Limits, 218 Menu bar, 40
Setpoint, 199 Meridian convergence, 229
Heading Wheel, 37
Messages, 66
Change heading, 203
Acknowledging, 68
Heave limits, 219 Explanations, 71
Help, Message explanations, 71 Message line on display, 40
Presentation, 67
HotSpot cursor, 45 Printed, 70
J Minimum power heading, 202
Joystick, 38 Mixed manual/auto modes, 100, 106, 107,
Gain, 215 108
Lock, 42, 180 Modes, 30
Anchor Watch, 181
K Auto Area Position, 173
Kalman filter, 27 Auto Position, 110
Auto Track, 112
Keypad, 37
Autopilot, 160
L Button group, 36
Follow Target, 185
Lamps Manual, 99
Dimming level, 53 Standby, 98
Test, 54 Trainer, 380
Limits Monitoring area, 41
Azimuth, 149, 163
Cross-track, 218 N
Heading, 218
Numeric view, 250
Heave, 219
Pitch, 219
Position, 217
173222/C Index 5
Kongsberg SDP
O Change position, 190

Operator panel, 35 EBL function, 262
Operator Station Power, 355
OS software Monitoring, 356
Restart, 82 Overload control, 30, 356
Stop, 82 View, 357
Restart, 82 Power consumption, View, 360, 362
Stop, 82
Prediction test, 266
Operator station, 34 Acceptance limits, 274
OS software Predifined controller gain, 211
Restart, 82
Print
Stop, 82, 92 Display picture, 51
Status page, 62
P
Propeller bias, 180
Performance area, 40
Pitch limits, 219 Q
Position Quick current update, 220
Dropout, 271
Limits, 217 R
Setpoint, 190 Range and bearing, 192
Position-reference systems, 264 Redundancy, 89
Acceptance limits for Prediction test, Dual-redundant systems, 89
274 Triple-redundant systems, 90
Bias test, 267
Changing relative weight, 273 Reference origin, 264
Changing the reference origin, 271 Changing, 271
Controlling, 268 RefSys view, 280
Enabling, 269, 270
Relaxed controller gain, 211
Enabling other, 270
Enabling the first, 270 Remote control
Freeze test, 266 Auto Position mode, 111
Median test, 268 Autopilot mode, 171
Median test settings, 275 Resetting Operator Stations, 92
Prediction test, 266
Roll limits, 219
Reference origin, 270
Relative weighing of, 267 Rotation point, 206
Set-up, 276 Automatic heading control, 206
Standard deviation, 265 Joystick heading control, 208
Status, 41
Tests on, 265
Variance test, 267
Posplot view, 252
Change heading, 199
Index 6 173222/C
Index
Rotation speed Thrusters, 321

Acceleration factor, 205 Allocation, 29, 326
Setpoint, 204 Control modes, 326
Rudder limits, 149 Enabling, 322
Force bias, 329
S Ready signal, 322
Run-in, 336
Sea current speed, Display accuracy, 58
Time, Changing the system time, 60
Sensors, 295
Button group, 36, 268 Title bar, 40
Draught, 310 Tooltip, 45
Gyrocompass, 296
Track edit strategy, 125
Position, 264
Speed, 307 Track offset
Tensioner Stroke, 314 Displayed error information, 124
View, 316 Geographic, 122
VRS (Roll, Pitch, Heave), 304 Offset strategy, 119
Water Depth, 312 Parallel, 121
Wind, 300 Present leg, 123
Storing new offset track, 125
Shutdown procedure, 81
Trackball, 38
Speed
Acceleration factor, 198 Trainer mode, 380
Setpoint, 196 Trends view, 377
Speed sensors, 307
U
Standard deviation, 265
Units, 55
Standby mode, 98
Update offline computer, 89
Startup procedure, 80
Status bar, 41 V
Status line, 41 Variance test, 267
Status page, printing, 62 Vertical reference systems, 304
Stopping a change of heading, 203 Vessel model, 27
Stopping a change of position, 195 Vessel speed, Display accuracy, 58
System messages, 66 Views, Button group, 36
System shut-down, 81
W
T Warning limits, 217
Cross-track, 218
Take command, 87
Heading, 218
Tensioner Stroke, Sensors, 314 Position, 217
Thruster views, 337 Water Depth sensors, 312
Thruster, Automatic start, 324 Wave, Direction display, 58
173222/C Index 7
Kongsberg SDP
Waypoint table, Receive waypoints, 117,

142
Wind
Direction display, 58
Sensors, 300
Working area, 41
Z
Zoom, 49
Index 8 173222/C
Index
Button Index
A Modes, 36
Alarms, 37, 66 Anchor Watch, 182
Ack, 68 Auto Area, 177
Alarm View, 67 Auto Pos, 110
Computer lamp, 69 Auto Track, 146, 147
Operation lamp, 69 Autopilot, 160, 161
Power lamp, 69 Follow Target, 186
Silence, 37, 70 Manual, 99
Remote Control, 111, 171
C Standby, 98
Surge, 36, 100, 107, 108, 148
Command, 37
Sway, 36, 100, 107, 108
Command Status, 88
Yaw, 36, 100, 106, 108, 146, 153
Give, 87
Take, 87
S
Controls, 36 Sensors, 36
Alloc Setup, 326 Gyro, 297, 298
Change Heading, 201 Position-reference systems, 268
Change Position, 191 VRS, 305, 306
Control Setup, 167, 212 Wind, 300, 301
Joystick High Gain, 215
Joystick Setup, 215 T
Present Heading, 203
Present Position, 195 Trackball, 38
Prop Bias, 180
Quick Current, 221 V
Relax Control, 213 Views, 36, 48
Stop, 129, 131, 146, 147, 148, 153 Hardcopy, 51
Thrusters, 322
Track Setup, 113, 126, 130, 133, 136,
140, 142
H
Heading Wheel, 37
K
Keypad, 37
M
Main Views, 36, 48
173222/C Index 9
Kongsberg SDP
Dialog Box Index
A Equipment, 61
Alternative Rotation Point Event Printer, 62
Auto, 206
Explain, 76
Joystick, 209
Anchor Watch Set-up, 184 F
Area Pos Set-up, 178 Follow Mobile Transponder, 186
Automatic Thruster Start, 325 Follow Target, 187
Autopilot Settings
Compensate, 170 G
Gain, 167 Gain
Steering, 162 Autopilot, 167
Main, 212
C
Change Heading H
Acceleration, 205 Heading, 200, 232
Heading, 201
Speed (Rot), 204 J
Change Position Joystick, 215
Absolute, 194
Incremental, 193 K
Speed, 196 Keyboard, 178
Colour, 52
L
Command Control Status, 88
Lamp Test, 54
Connect, 86
Light Taut Wire Plot, 292
D Limits
Display accuracy, Sea current speed, 58 Position, 217
VRS, 219
Display Units, 55
Extended version, 56 M
DP Class, 367 Message Explain
dpview, 124 Contents, 71
Find, 73
E Find Options, 75
EBL, 262 Min/Max check failed: Reference System
Set-up, 278
Edit Display Unit set, 57
Index 10 173222/C
Index
Move-up, 151 S
Sensors
N Draught, 310
Navigation Gyro, 297
Calc. convergence, 231 Speed, 308
Datum / Zone, 227 Tensioner, 314
Local Datum, 228 VRS, 305
Meridian convergence, 230 Water Depth, 312
Wind, 300
P Set Time, 60
Panel Light Control, 53
Set Timezone, 60
Performance, 242, 248, 251
Speed Setpoint, 197
Position, 190, 232
Posplot T
Grid, 259 Thruster Allocation, 326
Mode, 257 Thruster Enable, 323
Range, 259
Show, 258 Thruster Force Bias, 330
Trace, 260 Thruster Run-in, 336
Power Plot, 359 Thruster Sub Plot, 349
Preselect, 50 Track Edit Strategy, 125
Presentation Datum, 233 Track Editor, 115
Print Setup, 51, 78 Track Offset, 120
Propeller Bias, 180 Track offset, No offset, 124
Track Settings
Q
Control, 126
Quick Current, 221 Heading, 134
Receive, 142
R Set-up, 130
Redundancy, 89, 91 Speed, 137
Reference System Set-up, 276 Turn, 140
Expanded, 279 Trainer Set-up, 381
RefSys Trend Plot (Conning view), 375
Grid, 286 Trend Plot (Trends view), 378
Main, 285
Range, 287 Y
Reset Controller, 92 Y-Axis Range, 350, 378
Rudder/Azimuth Set-up, 149, 162
173222/C Index 11
Kongsberg SDP
Menu Index
A S
Area Sensors
Anchor Watch Set-up, 184 Draught, 310
Area Pos Set-up, 178 Gyro, 297
Propeller Bias, 180 Reference System
Validation, 274
C Weight, 273
Controller Refsys Set-up, 276
Alt. Rot. Point, 206, 208 VRS, 305
Autopilot Settings, 162, 167, 170 Wind, 300
Change Heading, 201 System
Change Position, 191 Connect, 86
Follow Target, 187 Dp Class, 367
Gain, 167, 212 Equipment, 61
Joystick, 215 Navigation, 227, 228
Limits, 217, 219 Print Status, 62
Quick Current, 221 Redundancy, 89, 90
Speed Setpoint, 197 Reset Controller, 92
Screen Capture Printer, 51
D Set Time, 60
DisplayUnits Set TimeZone, 60
Heading, 232 Stop/Restart, 81
Position, 232 Trainer, 380
Reset, 59
Units, 55 T
Thruster
H Alloc, 326
Help, Message Explain, 71 Automatic Start, 325
Enable, 323
P Force Bias, 330
Panel Rudder/Azimuth Set-up, 149, 162
Dim Panel, 53 Run-in, 336
Lamp Test, 54 Track
Position-reference systems, Monitoring, Editor, 114
269 Move-up, 150
Offset, 120
Settings, 113, 126, 130, 133, 136, 140,
142
Index 12 173222/C
Index
V
View
Palette, 52
Preselect, 50
Set Palette, 52
Show ToolTip, 46
Use HotSpot Cursors, 46
173222/C Index 13

Operator Manual: Kongsberg SDP (OS)

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Operator Manual: Kongsberg SDP (OS)

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Operator Manual

Kongsberg SDP (OS)

Kongsberg Maritime AS Telephone: (47) 32 28 50 00

System Operating Procedures

Main DP Operating Procedures

Common Operating Procedures

Miscellaneous Display Views

To assist us in making improvements to the product and to this manual, we welcome

The SDP system

Basic forces and motions

Figure 1 Forces and motions

The vessel also moves in three vertical degrees of freedom: pitch,

Pitch Roll Heave

Figure 2 Pitch, roll and heave

SDP system principles

Measured Measured Wind

Vessel Speed Setpoint DAMPING GAIN Controller

Force Demand For

THRUSTER POWER Available

VESSEL THRUSTER SYSTEMS

Figure 3 SDP system block diagram

The vessel model

Note Text in capitals in the following description refer to items in

The Vessel Model is provided with information describing the

Vessel model update

If the reference system measurements are completely lost (position

Error compensation force

The error compensation force is presented to the operator as being

Force demand for axes under automatic

Force demand for axes under manual control

Power overload control

· Follow Target mode (page 185)

The operator station

Figure 4 The SDP operator station

The operator panel

Figure 5 The SDP operator panel

Surge Sway Yaw

Sway Surge Yaw

Figure 8 The Silence button

The left button is used to decrease the heading setpoint by a fixed

The right button is used to increase the heading setpoint by a fixed

The middle button is used to initiate a change in heading setpoint

The right button is used to display a pop-up view menu.

The middle button is not used.

Figure 9 Example display

The display is divided into a number of predefined areas as shown

STATUS LINE STATUS BAR

Figure 10 Display organisation

Figure 11 Example title bar

Figure 12 Example menu bar

Figure 13 Example status bar

MainMode The present operational mode.

Class Shows the currently-selected DP Class for the DP Online

The surge axis is under automatic control.

The sway axis is under automatic control.

The yaw axis is under automatic control.

The axes control symbol is rotated according to the orientation of

Figure 14 Example dialog box

When you have modified data in a dialog box, the message

Input validation of heading, direction and

Orientation of the operator station

Tooltip / hotspot cursor and change of