OPM AutoTrack

K-Pos Auto Track Mode
Operator Manual
Release 8.4
436102/C
May 2021 © Kongsberg Maritime AS
Document history
Document number: 436102 / Revision C

Rev. A December 2018 This version describes operation of the Auto Track mode for the K-Pos
system at basis software release 8.4.0.
Rev. B March 2020 This version describes operation of the Auto Track mode for the K-Pos
Rev. C May 2021 This version describes operation of the Auto Track mode for the K-Pos
The reader
This Operator Manual is intended as a reference manual. The manual is based on the assumption that the
operator is experienced and has good understanding of basic principles of the system. 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.
You must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.
Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@km.kongsberg.com
For technical support issues, please contact km.support@km.kongsberg.com.
Kongsberg Maritime AS
www.kongsberg.com
Operator Manual
Table of contents
SYSTEM OVERVIEW ................................................................. 5

Auto Track mode description.............................................................................................6
Functions available in low-speed tracking mode...............................................................7
Functions available in move-up tracking mode .................................................................9
Functions available in high-speed tracking mode............................................................10
Definitions........................................................................................................................12
DEFINING A TRACK ............................................................... 15
Waypoint table management............................................................................................16
Defining tracks using the graphic track editor .................................................................17
Defining a new track...............................................................................................17
Moving a waypoint.................................................................................................18
Inserting a new waypoint .......................................................................................19
Deleting a waypoint................................................................................................19
Defining tracks in the Auto Track editor .........................................................................20
Entering waypoints manually .................................................................................20
Inserting waypoints in a table.................................................................................21
Deleting waypoints from a table ............................................................................22
Deleting a waypoint table.......................................................................................22
Receiving waypoints from external computer .................................................................23
Receiving a new waypoint table.............................................................................24
Adding waypoints to an existing table ...................................................................25
Saving a track to a file......................................................................................................25
PREPARING FOR OPERATION ................................................ 27
Preparing for Auto Track operation .................................................................................28
Approaching the track......................................................................................................29
Recommended start position............................................................................................31
Safe start sector ................................................................................................................33
Handling position information.........................................................................................33
CONTROLLING THE VESSEL ................................................... 35
Running Auto Track low-speed mode .............................................................................36
Joystick heading control .........................................................................................36
Joystick speed control ............................................................................................37
Changing track direction ........................................................................................37
Running Auto Track high-speed mode ............................................................................38
Joystick speed control ............................................................................................39
Changing track direction ........................................................................................39
Running Auto Track move-up mode ...............................................................................40
436102/C 3
K-Pos Auto Track Mode
Joystick heading control .........................................................................................42

Limitations in move-up tracking mode ..................................................................42
Resuming Auto Track mode ............................................................................................46
Using emergency stop......................................................................................................47
SETTING SYSTEM PARAMETERS............................................. 48
Adjusting the turn radius..................................................................................................49
Changing the crab angle...................................................................................................49
Offsetting the track ..........................................................................................................50
Offsetting a leg on the track.............................................................................................51
DIALOG BOXES ...................................................................... 53
Alert limits dialog box - Position page ............................................................................54
Approach track dialog box...............................................................................................56
Auto Track editor dialog box ...........................................................................................57
Auto Track move-up dialog box ......................................................................................60
Auto Track offset dialog box ...........................................................................................63
Auto Track dialog box .....................................................................................................66
General page...........................................................................................................67
Stop page ................................................................................................................71
Heading page ..........................................................................................................74
Speed page..............................................................................................................79
Turn page................................................................................................................83
Receive page...........................................................................................................85
Auto Track update strategy dialog box ............................................................................87
Crab angle dialog box ......................................................................................................88
Steering dialog box ..........................................................................................................89
Steering page ..........................................................................................................90
Gain page................................................................................................................97
Compensate page..................................................................................................100
Waypoint dialog box ......................................................................................................102
DISPLAYED INFORMATION.................................................. 104
Posplot view in Auto Track mode..................................................................................105
Posplot view control - Show page ........................................................................107
Posplot view control - Trace page ........................................................................108
Conning view ................................................................................................................. 110
Heading pane ........................................................................................................ 111
Steering control mode pane .................................................................................. 112
Steering pane ........................................................................................................ 114
Cross track distance pane............................................................................................... 115
4 436102/C
System overview
System overview
Topics
Auto Track mode description, page 6
In the Auto Track mode, the vessel accurately follows a predefined track, described by a set of
waypoints. The system controls the vessel to minimise the deviation from the track (cross-track
error).
Functions available in low-speed tracking mode, page 7
In the low-speed tracking mode, the speed along the track is controlled very accurately with the
option to run as slowly as a few centimetres per second.
Functions available in move-up tracking mode, page 9
In the move-up tracking mode, the operator can move the vessel a specified distance 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 the operator initiates a new move (move-up). The move-up
tracking mode has the same basic functionality as low-speed tracking mode.
Functions available in high-speed tracking mode, page 10
The high-speed tracking mode allows the vessel to follow the track at any vessel speed above
approximately 4 knots.
Definitions, page 12
These are some of the main terms and abbreviations used when describing the Auto Track mode.
436102/C 5
K-Pos Auto Track Mode Operator Manual
Auto Track mode description

In the Auto Track mode, the vessel accurately follows a predefined track, described by
a set of waypoints. The 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.
In the Auto Track (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 its use is limited to speeds up
to approximately three 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 of running as slowly as a few centimetres per second.
In the Auto Track (high-speed) mode, the vessel heading is controlled (by default using
rudder or thruster azimuth control, but may also apply bow thruster assistance depending
on speed) to minimise the cross-track error while maintaining the required speed. This
strategy is suitable at normal cruising speeds, above 3 to 4 knots. When moving slowly
in high-speed tracking mode, additional thrusters may be used to assist in controlling
the vessel heading.
In the Auto Track (move-up) mode, you can move the vessel a specified distance along
the track. All the thrusters may be used to provide full position and heading control. The
vessel stays on the track in a fixed position until you initiate a move-up.
Note
All Auto Track modes are for marine operations only and are not to be used for
navigation purposes.
The waypoints which describe the required track are stored in a waypoint table. This table
can contain up to 1000 waypoints. You can manually edit the waypoints in the waypoint
table, define a track directly on the Posplot view using the cursor or receive predefined
track definitions from an external computer system. The track is displayed on the Posplot
view (if the track is selected for display and lies within the current display range).
To achieve high accuracy, the Auto Track mode requires a reliable position-reference
system, gyrocompass and wind sensor, and a satisfactory propulsion system.
6 436102/C
System overview
Functions available in low-speed tracking

mode
In the low-speed tracking mode, the speed along the track is controlled very accurately
with the option to run as slowly as a few centimetres per second.
Heading control functions

• System Selected Heading
Selects one of the following options:
– Waypoint Table uses the heading defined in the waypoint table for each section
of the track.
– Towards Waypoint sets the required heading to be towards the next waypoint,
modified with the operator-specified crab angle.
– Minimum Power uses the heading which requires the minimum power, calculated
according to the environmental forces and the vessel speed. In calm weather, the
track heading will be used as the wanted heading.
– Along Arc sets the required heading to correspond to the tangent of the arc when
passing waypoints, modified with the operator-specified crab angle.
• Operator Specified Heading
Enables the operator to change the heading at any time.
• Change Crab Angle
Offsets the heading setpoint relative to the track as described for System Selected
Heading. The following methods can be used by the operator to define the crab angle:
– Set Crab Angle, which can be used both before and during operation.
– Change Crab Angle by Heading Wheel with Buttons Dec, Set and Inc, to
increase/decrease the crab angle during operation. Available when Heading Wheel
is included in the delivery.
• Joystick Heading Control
By disabling heading control, the operator can manually control the rotation of the
vessel using the joystick. The operator should reselect automatic heading control
when the required heading is reached.
Speed control functions

• Speed setpoint
The required speed of the vessel along each section of the track can be either obtained
from the waypoint table or specified by the operator.
• Speed strategies for passing waypoints:
– Slowing down at each waypoint before continuing to the next (used when the
vessel must remain on track, even during sharp turns)
436102/C 7
– Passing the Waypoint at a Constant Speed following a circular arc between the
two track legs.
• Speed control
The required vessel speed is automatically maintained by use of position and speed
measurement.
• Joystick speed control
The operator uses the manual joystick to control the vessel speed. This can be chosen
at any time by the operator by deselecting automatic control of the forward speed of
the vessel (surge).
Turning control functions

• The turn radius can be:
– Obtained from the waypoint table for each waypoint
– Calculated automatically according to the vessel speed and requested ROT
– Specified online by the operator (common for all waypoints)
• Set ROT
Enables the operator to specify the rate of turn (ROT) to be used by the system when
rotating the vessel to a new heading.
• Set ROT acceleration
Enables the operator to specify the acceleration/deceleration in yaw that can be used
for the rate of turn acceleration scaling.
• Wheel-Over Point warning (WOP)
Allows the operator to specify whether a warning is to be given before reaching a
Wheel-Over Point (where a turn is initiated before a waypoint).
Stopping control functions

• Stop on track
Stops the vessel on the track while maintaining the required heading. Deselecting this
function causes the vessel to continue moving along the track.
There are two strategies for Stop: either to slow down and stop, or to slow down, stop
and move back to the point at which Stop was initiated.
• Stop at Last Waypoint
Allows the operator to specify that the vessel should stop at the last waypoint.
Otherwise the vessel will continue in the same direction past the last waypoint.
General functions
• Leg offsetting
Allows the operator to offset the vessel a specified distance to the left or right of the
track direction without changing the track definition itself.
8 436102/C
System overview
• Touchdown distance
Allows the operator to specify the distance from the vessel's rotation center to the
pipe/cable touchdown point on the sea bed. The vessel track in a waypoint turn is then
calculated so that the pipe/cable touchdown point will be placed on the intended track.
• Track direction
Allows the operator to specify the direction in which the defined track is to be
followed:
– Forward: waypoints are to be followed in ascending order of waypoint number
– Reverse: waypoints are to be followed in descending order of waypoint number
An operator change of Track Direction in low-speed tracking mode will cause a Stop
On Track. When this Stop is deselected (on the operator panel), the vessel will move
according to the selected Track Direction.
• Rotation centre
During low speed operations the rotation centre can be changed before entering Auto
Track mode, but not during.
Functions available in move-up tracking

mode
In the move-up tracking mode, the operator can move the vessel a specified distance
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 the operator initiates a new move
(move-up). The move-up tracking mode has the same basic functionality as low-speed
tracking mode.
• Move-up Distance
Enables the operator to move the vessel a specified distance (to a new position
setpoint) along the track. The operator can also apply a distance adjustment during a
move-up.
• Monitoring of the Move-up
Enables the operator to monitor the progress of the present move-up (moved and
remaining distance) and the total distance moved when the move-up is performed
in more than one step.
• Setting the Speed Setpoint and Acceleration
Enables the operator to specify the speed setpoint and acceleration for the vessel
during a move-up. The speed setpoint can also be obtained from the waypoint table.
• Rotation centre
During move-up operations the rotation centre can be changed before entering Auto
Track mode, but not during.
436102/C 9
Functions available in high-speed tracking

mode
The high-speed tracking mode allows the vessel to follow the track at any vessel speed
above approximately 4 knots.
Heading control functions

The heading required to keep the vessel on the track, is continuously calculated by
the system, according to the vessel speed and the environmental forces. The heading
is continuously controlled to return the vessel to the track if it should drift off. The
operator can change or limit the crab angle (the angle between the vessel heading and
the track leg direction).
Speed control functions

• Speed setpoint
The required speed of the vessel along each section of the track can be either obtained
from the waypoint table or specified by the operator.
• Speed control functions:
The operator can define how the required vessel speed should be maintained:
– Auto Speed
The speed is maintained either using position and speed measurements or using
constant pitch/rpm based on a preprogrammed Speed/force table.
– Speed Deadband
The operator specifies a deadband value within which the speed can
increase/decrease without causing the applied thrust to change. This function is
available when position and speed measurements are used.
• Joystick speed control
The operator uses the manual joystick to control the vessel speed. This can be chosen
at any time by the operator by deselecting automatic control of the forward speed of
the vessel (surge).
Turning control functions

• The turn radius can be:
– Obtained from the waypoint table for each waypoint
– Calculated automatically according to the vessel speed and requested ROT
– Specified online by the operator (common for all waypoints)
• Set ROT
Enables the operator to specify the rate of turn (ROT) to be used by the system when
rotating the vessel to a new heading.
10 436102/C
System overview
• Set ROT acceleration

Enables the operator to specify the acceleration/deceleration in yaw that can be used
for the rate of turn acceleration scaling.
• Wheel-Over Point warning (WOP)
Allows the operator to specify whether a warning is to be given before reaching a
Wheel-Over Point (where a turn is initiated before a waypoint).
Stopping control functions

• Stop on track
Stops the vessel on the track while maintaining the required heading. Deselecting this
function causes the vessel to continue moving along the track.
There are two strategies for Stop: either to slow down and stop, or to slow down, stop
and move back to the point at which Stop was initiated.
General functions
• Leg offsetting
Allows the operator to offset the vessel a specified distance to the left or right of the
track direction without changing the track definition itself.
• Touchdown distance
This function is not available during High speed operations.
• Track direction
Allows the operator to specify the direction in which the defined track is to be
followed:
– Forward: waypoints are to be followed in ascending order of waypoint number
– Reverse: waypoints are to be followed in descending order of waypoint number
An operator change of Track Direction in high-speed tracking mode will, according to
the selection made by the operator, either cause a Stop On Track and then reverse with
the original heading, or make a 180° turn.
• Rotation centre
During high speed operations the rotation centre will always be the calculated pivot
point and cannot be changed.
436102/C 11
Definitions
These are some of the main terms and abbreviations used when describing the Auto
Track mode.
Current track
The track shown in the Posplot view when graphical track editing is not in use
(provided that Show Track is selected on the Show page of the Posplot view control
dialog box). The track definition for the Current track is held in the Processing
Unit.
Current waypoint
The waypoint at the end of the present leg in the traversing direction.
Leg
The line between two waypoints.
Leg type
The strategy for the path between two consecutive waypoints. The path either
follows the Rhumbline, the Great circle or a UTM straight line.
Moving leg
A dynamically updated track leg where one waypoint is fixed and the other
waypoint is moving with the mouse pointer. A moving leg (or moving legs) is used
when defining or moving a track waypoint.
Original track
A track definition without any offset applied.
Original waypoint
A waypoint without any waypoint offset.
Present leg
The definition of present leg varies depending on the waypoint speed strategy
you have selected.
When the waypoint speed strategy is Slow down at waypoint, then the present leg
is the leg between the previous waypoint (Previous WPT) and the current waypoint
(Current WPT).
When the waypoint speed strategy is Constant Speed, the vessel moves along arcs
with a defined turn radius. The present leg then starts at the Start Turn Point (STP)
of the previous waypoint and ends at the Start Turn Point of the current waypoint.
12 436102/C
System overview
STP
Start Turn Point. The point on a track where a straight line ends and a curve
(usually a circle) begins. See also WOP.
Touchdown distance
The distance from the selected vessel rotation centre to the touchdown point.
Touchdown point
The point where the pipe/cable touches the seabed.
Track
A sailing route defined by two or more waypoints.
Track update
Modification of track data. This includes (but is not limited to) modification of
waypoint coordinates or attributes and applying track offsets.
Waypoint (WPT)
A defined position or reference point on a track, together with its associated data.
Waypoint offset
A relative distance and true direction defining an alternative waypoint to be used
temporarily instead of the original waypoint.
Waypoint table
A set of waypoints with their parameters, shown in tabular form, which defines the
track the vessel is to follow.
Wheel-Over Line
The perpendicular to the present leg, through the Wheel-Over Point.
Wheel-Over Point (WOP)
The point on a track where the execution of a turn begins, see also STP. WOP is
the intersection between the Wheel-Over-Line and the track leg.
436102/C 13
14 436102/C
Defining a track
Defining a track
Topics
Waypoint table management, page 16
The waypoints, which describe the required track, are stored in a waypoint table. The following
functions are available for managing the waypoint table.
Defining tracks using the graphic track editor, page 17
You can define and modify tracks directly in the Posplot view using the cursor and the Waypoint
dialog box.
Defining tracks in the Auto Track editor, page 20
Using the waypoint table editor provided by the Auto Track editor dialog box, you can manually
insert and modify all the information that is required in a waypoint table.
Receiving waypoints from external computer, page 23
The K-Pos system may receive predefined track definitions from an external computer system.
External waypoint data in NMEA format can be received to create a new table, to add waypoints to
an existing table from the same source, or to replace waypoints in an existing table.
Saving a track to a file, page 25
The K-Pos system can be configured with the option to save tracks as files.
436102/C 15
Waypoint table management

The waypoints, which describe the required track, are stored in a waypoint table. The
following functions are available for managing the waypoint table.
• Defining a track using the Graphic Track Editor (on-screen track definition)
Graphic track-editing is performed in the Posplot view using the trackball. A
Waypoint dialog box provides the operator with direct confirmation of the track data
being established. A previously defined track may be modified by moving, inserting
and deleting waypoints, and the turn radius at each waypoint can be adjusted.
Please note that the leg type defined as Default leg type in the Auto Track dialog box
will be used when defining an on-screen track. To change leg type, enter the Auto
Track dialog box again and select another leg type as default.
• Defining a track using the Auto Track editor dialog box.
The operator can manually edit the waypoint table. This includes the coordinates for
the waypoint, with related turn radius, the vessel heading and speed setpoint for each
track leg, and the leg type. The leg type can be either rhumb line, great circle or UTM
straight line. Waypoints can be inserted, modified and deleted.
• Waypoints from external computer
The K-Pos system may receive predefined track definitions from an external computer
system. External waypoint data in NMEA format 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. Note that this function requires an interface to an
external computer system.
• Waypoints to external computer
The K-Pos system may transmit waypoint in NMEA format to an external computer.
Note that this function requires an interface to an external computer system.
• Waypoints from/to Disk
The operator can open, delete and save track files containing a waypoint table.
Related topics
Auto Track editor dialog box, page 57
Auto Track dialog box, page 66
Waypoint dialog box, page 102
16 436102/C
Defining a track
Defining tracks using the graphic track editor

You can define and modify tracks directly in the Posplot view using the cursor and
the Waypoint dialog box.
Context
The graphic track-editing functions work on a copy of the current track, and the current
track is first set or modified when you click Apply or exit graphic track-editing session by
clicking OK in the Waypoint dialog box. Note that the track is not saved permanently.
If you want to save it to a file, open the Auto Track editor dialog box while the track is
still in the Posplot view and save it from there.
Related topics
Saving a track to a file, page 25
Defining a new track

Procedure
1 Click Settings→(Track) New .
The Waypoint dialog box is displayed, and the cursor changes from an arrow to a
pointing hand.
2 Define the first waypoint by moving the cursor on the Posplot view to the desired
position (the position is numerically displayed in the Waypoint dialog box) and
click.
3 Define another waypoint by moving the cursor again. The leg is displayed on the
Posplot view.
The waypoints are given consecutive numbers, which are displayed on the Posplot
view and in the Waypoint dialog box, in ascending order.
436102/C 17
4 When you have moved the cursor to the position of the last waypoint; double-click
to end the definition of new waypoints.
The three editing modes Move, Insert new and Delete become available.
5 Modify (edit) the track as appropriate.
6 Click Apply or OK.
Related topics
Moving a waypoint
Context
When Move is selected, you can move all points (i.e. the waypoints) which can be
made selectable (hotspots). However, if the system is in Auto Track mode, and the
track update strategy has been set to Not in Auto Track mode and On remaining track on
the Auto Track update strategy dialog box, there will be some waypoints on the track
which you cannot move.
Procedure
1 With a track displayed on the Posplot view, click Settings→(Track) Modify.
The Waypoint dialog box is displayed.
2 Select the Move option button.
3 Using the cursor, point to the waypoint you want to move.
When the cursor is close to a waypoint, it changes from an arrow to a pointing hand
with the text Move waypoint shown adjacent to it.
4 Click the waypoint.
The cursor changes again to a hand holding the waypoint connected to a rubber
band model between its fingers.
5 Drag the waypoint to the correct position using the cursor and click once to confirm.
6 Click OK or Apply.
Related topics
Auto Track update strategy dialog box, page 87
18 436102/C
Defining a track
Inserting a new waypoint

Context
You can insert new waypoints:
• At the beginning of a track.
• Between two waypoints.
• At the end of a track.
Procedure
2 Select the Insert new option button.
3 Using the cursor, click the leg on which you wish to insert a new waypoint.
with the text Insert waypoint shown adjacent to it.
A rubber band model of the track appears.
To insert new waypoints on legs with Leg type Great Circle or UTM Straight Line,
you must click a point on the leg close to one of its waypoints.
4 Drag the new waypoint to the correct position and click again to confirm.
5 If you want to insert a waypoint at the beginning of the track, select the first
waypoint, and then click and move the cursor as described in step 3.
The displayed leg length is the distance between the new waypoint and the previous
first waypoint.
6 If you want to insert a waypoint at the end of the track, select the last waypoint, and
then click and move the cursor as described in step 3.
The displayed leg length is the distance between the new waypoint and the previous
last waypoint.
Related topics
Deleting a waypoint
Procedure
436102/C 19
2 Select the Delete option button.

3 Click the waypoint that you want to delete.
with the text Delete waypoint shown adjacent to it.
Related topics
Defining tracks in the Auto Track editor

Using the waypoint table editor provided by the Auto Track editor dialog box, you can
manually insert and modify all the information that is required in a waypoint table.
Entering waypoints manually

Procedure
1 Click Settings→(Track) Editor.
The Auto Track editor dialog box is displayed empty, i.e. with all entries in the
waypoint table greyed out.
2 Start creating the first waypoint by clicking Insert. The Northing and Easting text
boxes become available. You can now enter the coordinates for the first waypoint.
3 Click Insert again. This adds waypoint number 2. Initially this waypoint has the
same coordinates as waypoint number 1.
4 Enter the coordinates for the second waypoint and click Apply. The Distance and
Course for the first leg is now calculated and displayed. Leg type, Heading, Speed
and Turn radius are displayed with their default values. You can change these
values if necessary.
5 Continue adding waypoints, by clicking Insert, to complete the waypoint table. A
Confirm insert waypoint dialog box is displayed. To confirm insertion of a new
waypoint, click Yes in this dialog box. Each new waypoint has the coordinates
(Northing and Easting) of the previous waypoint and the default values for Leg
type, Heading, Speed and Turn radius. Perform the necessary adjustments for each
new waypoint.
6 Assign a track name to the new track you have created by entering a name in the
Track name text box. Click Apply.
20 436102/C
Defining a track
Note
If you have entered waypoints with a distance less than 2 meters, Apply is not
available.
When assigning the current track a name, you are not saving the current waypoint
table data in a file.
7 Click Save to save the current track.
Related topics
Inserting waypoints in a table

Prerequisites
Ensure that the correct waypoint table is displayed in the Auto Track editor dialog box.
Procedure
1 Highlight the number of the waypoint after which you wish to insert a new waypoint.
2 Click Insert to open the Confirm insert waypoint dialog box.
3 Click Yes in this dialog box.
The highlighted waypoint is duplicated.
4 Change the coordinates of the new waypoint as required.
5 If required, continue inserting waypoints by repeating steps 1 to 5 of this procedure.
6 When you have finished inserting waypoints, click Apply.
The waypoints are added to the waypoint table.
7 If required, assign a new track name to the current track by typing in a name in the
Track name text box and clicking Apply.
Note
8 To save the current track, click Save. To keep both the new and the previous track,
assign a new file name to the new track.
Related topics
436102/C 21
Deleting waypoints from a table

Prerequisites
Procedure
1 Highlight the waypoint number of the waypoint you wish to delete.
2 Click Delete in the bottom left corner to open the Confirm delete waypoint dialog box.
3 Click Yes in this dialog box.
4 If required, continue deleting waypoints by repeating steps 1 to 3 of this procedure.
5 When you have finished deleting waypoints, click Apply.
The waypoints are deleted from the waypoint table.
6 If required, assign a new track name to the current track by typing in a name in the
Track name text box and clicking Apply.
Note
7 To save the current track, click Save. To keep both the new and the previous track,
assign a new file name to the new track.
Related topics
Deleting a waypoint table

Prerequisites
Procedure
1 Click the Delete button in the top centre.
All waypoints are cleared from the dialog box.
2 Click the Apply button.
The waypoint table is deleted. If the track is saved as a file at the operator station,
the file itself is not deleted.
Related topics
22 436102/C
Defining a track
Receiving waypoints from external computer

The K-Pos system may receive predefined track definitions from an external computer
system. External waypoint data in NMEA format can be received to create a new table,
to add waypoints to an existing table from the same source, or to replace waypoints
in an existing table.
Prerequisites
This function requires an interface to an external computer system.
If you try to load more than 1000 waypoints from an external source, or the total number
of old and newly received waypoints is larger than 1000, the received waypoints that
exceed 1000 will be rejected.
If the distance between to waypoints is less than 2 meters, the waypoint will be ignored.
Context
The K-Pos 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.
The waypoint numbers in the waypoint table must always be sequential. For example,
it is not possible to add waypoint number 7 to a table that contains only waypoint
numbers 1 to 5.
When the received waypoint data include waypoint numbers, the received waypoint
numbers are used. The waypoints are then stored in the waypoint table according to the
received waypoint numbers, possibly replacing existing waypoints.
The following waypoint and route formats are supported:
• RTE
• WPL
• WPL Atlas
• PRTNW, H
• PRTNW, W
The K-Pos system handles working routes and complete routes (relevant only for WPL
and WPL Atlas). A complete route replaces an existing track in the waypoint table. A
working route replaces only overlapping waypoints (all other waypoints are added to
the existing track).
436102/C 23
This can be illustrated with the following example:
A complete route with 20 A complete route with 3 A complete route with

waypoints is received: waypoints is received: 20 waypoints and then
a working route with 3
waypoints is received.
Whether a route is complete or working is defined in the telegram sent from the external
source.
Receiving a new waypoint table

Procedure
1 Click Settings→(Track) Editor to open an empty table.
2 Click Settings→(Mode) Auto track and select the Receive tab of the Auto Track
dialog box.
3 Select the source from which the waypoint will be received.
4 Select the check box Accept “0” as first waypoint ID, if the waypoint table from the
external source starts from 0.
After the new waypoint table is received the first waypoint will be renumbered
to ID 1.
5 Click Enable reception to enable the reception of waypoint data and click OK
or Apply.
When the waypoint data is received by the K-Pos system, a message is displayed.
24 436102/C
Defining a track
For example:
NMEA waypoint table received from <source>
6 In the Auto Track editor dialog box, check that the required waypoints have been
received correctly.
Related topics
Adding waypoints to an existing table

If waypoint numbers are not to be ignored, the received waypoints are stored in the table
according to the waypoint numbers received. Any existing waypoints are replaced.
The range of the received waypoint numbers must overlap with, or be attached to, the
waypoint numbers in the existing table.
If, for example, the existing waypoints are numbered 1 to 20, the number of the first
received waypoint must be between 1 and 20. If it is 21 or higher, the new set of
waypoints will be rejected (reception not accepted).
If the received waypoint numbers are to be ignored, the waypoint number of the first
waypoint must be specified.
If the received waypoints do not include waypoint numbers, and waypoint numbers are
not specified to be ignored, the received waypoints are interpreted as being numbered
1, 2, 3, and so on.
If the total number of existing and newly received waypoints is larger than 1000, the
received waypoints that exceed 1000 will be rejected.
Saving a track to a file

The K-Pos system can be configured with the option to save tracks as files.
Prerequisites
The configuration of your K-Pos system determines whether or not you have this option
on your vessel.
Context
The track can be created and edited in different ways, but in order to be able to save it to
a file it must be viewed in the Auto Track editor dialog box.
Procedure
1 Click Settings→(Track) Editor. Ensure that the track you want to save is viewed.
2 Click Save in the File group box (bottom right).
436102/C 25
The Save settings dialog box is displayed.

3 If you want to save a new track, click New... and enter a name for the current track.
4 If you want to update an existing track, select the name from the list.
5 Click OK.
The file is saved locally at the operator station.
26 436102/C
Preparing for operation
Topics
Preparing for Auto Track operation, page 28
Approaching the track, page 29
Recommended start position, page 31
Safe start sector, page 33
Handling position information, page 33
436102/C 27
Preparing for Auto Track operation

Procedure
1 Ensure that sufficient thrusters for this operation are enabled.
Necessary sensors and reference systems:
2 Ensure that at least two gyrocompasses are enabled.
If this requirement is not met, the following message is shown:
Heading monitor requires 2nd source
3 Ensure that the required wind sensors are enabled.
4 Ensure that the required VRSes are enabled.
5 Ensure that at least one speed sensor is enabled. (Applies for high speed operations.)
If this requirement is not met, the following message is shown:
Speed sensor dropout
6 Ensure that the system is prepared for manual input of speed. (Applies for high
speed operations.)
The Enable - Manual check box is selected in the Sensors dialog box - Speed page
7 Ensure that the required position-reference systems are enabled.
Recommended system settings:
8 Use the Rotation center dialog box to define the required vessel rotation centre and
the Auto Track dialog box to define the touchdown point.
9 Use the Steering dialog box to set the required steering parameters:
• Rudder limits
• Steering group and steering mode
• Gain level
• Wind compensation
10 Use the Alert limits dialog box — Position page to set warning and alarm limits for
cross-track deviation.
11 Ensure that the waypoint table you are going to use is correct by opening the Auto
Track Editor dialog box and checking the waypoint table.
12 Use the Auto Track dialog box to set the required options and operating parameters
for the Auto Track mode. In particular, ensure that you select the required Next
waypoint, Tracking mode and Track direction (for low-speed and high-speed tracking
modes) on the General page and the Crab angle on the Heading page.
28 436102/C
Related topics
Alert limits dialog box - Position page, page 54
Steering dialog box, page 89
Approaching the track

If this function is configured, you can define the way how to approach the track and
define the starting point directly in the Posplot view.
Prerequisites
A track must be created and selected, and shown on the Posplot view.
Procedure
1 Either press the TRACK SETUP button on the panel or click Settings→(Modes) Auto
track.
2 In the Auto Track dialog box, General page click the Select approach point check
box and select either Track leg or Waypoint, as required.
3 Press the AUTO TRACK button.
The approach point is marked in blue and the Appr. Track dialog box is opened.
4 Click the position setpoint symbol in the Posplot view.
436102/C 29
5 Move the setpoint symbol with the trackball.

The setpoint symbol moves on the display and the position coordinates are updated
dynamically in the Appr. Track dialog box
6 Click again to fix the setpoint symbol at the required position.
7 Click OK to accept the new position setpoint. The approach track changes colour to
brown — the same as the track colour.
30 436102/C
Recommended start position

Ensure that the vessel is positioned a reasonable distance from the Next waypoint (as
selected in the General page) when entering Auto Track mode. If the vessel is closer
than a pre-configured distance (usually the vessel length) to the selected next waypoint
when entering Auto Track mode, then the next waypoint number is increased by 1. For
example, if you have selected WPT6 as the next waypoint, the value will be changed,
and the vessel will move towards WPT7.
When you enter Auto Track mode and the check box Automatic initialise crab angle is
selected, the crab angle is calculated by the system. The crab angle will be different
depending on the track direction and the distance from the start position to the first
waypoint.
The distance from the start point to The distance from the start point to the
the waypoint is closer than one vessel waypoint is more than one vessel length.
length.
If you select Track leg (rather than Waypoint) as Approach track strategy, ensure that the
vessel is “past” the previous waypoint before entering Auto Track mode.
In the example , WPT7 is chosen as the Next waypoint and Track leg is chosen as the
Approach track strategy. In this situation you might expect the vessel to approach the
track leg between WPT6 and WPT7. However, the vessel's start position is not “past”
WPT6 (as defined by a perpendicular from the leg WPT6 to WPT7 drawn from WPT6).
In this situation, the next waypoint is changed automatically to WPT6 and the vessel will
approach the track leg WPT5 to WPT6.
436102/C 31
If you select Track leg (rather than Waypoint) as Approach track strategy, ensure that the
vessel is not “past” the required next waypoint before entering Auto Track mode.
When entering Auto Track mode, if the vessel is “past” the selected next waypoint
(and the vessel heading is within the operator-specified heading deviation limit when
starting track), then the vessel will move towards the next waypoint although Track
leg is selected as Approach track strategy.
In the example, WPT5 is selected as the Next waypoint and Track leg is chosen as the
Approach track strategy. In this situation you might expect the vessel to approach the
track leg between WPT5 and WPT6. However, the vessel will move towards WPT5
(Auto Track state will be “Approach first WPT” rather than “Approach track”).
Related topics
32 436102/C
Safe start sector

Before starting Auto Track in high-speed or low-speed tracking mode, you must ensure
that the selected Next waypoint (as entered in the Auto Track dialog box General page)
lies within a “safe start sector” 25 degrees either side of the present vessel heading.
If this is not the case, then the system will not enter Auto Track mode, the previous
mode will be automatically reactivated and an error message will be shown in the Alert
list view:
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.
Related topics
Handling position information

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.
• The Position presentation dialog box can be used to select the datum and coordinate
system for display of position information.
• The Reference system properties dialog box can be used to provide information about
the input position data from each reference system.
The following characteristics can be specified:
– Input datum.
– Offset of antenna or sensor head from the vessel's centre of gravity.
– Update period and accuracy.
Certain position-reference systems provide a UTM position without the required
format information which must then be entered by the operator.
• The Receive page of the Auto Track dialog box can be used to provide information
about input waypoint data (from an external track source) for use in the Auto Track
mode.
436102/C 33
Dialog boxes for handling position information:
Related topics
34 436102/C
Controlling the vessel
Topics
Running Auto Track low-speed mode, page 36
In the low-speed tracking mode, all the available thrusters are used to provide full position and
heading control, and the speed along the track is controlled automatically and very accurately.
Running Auto Track high-speed mode, page 38
The high-speed tracking mode, the vessel heading is controlled continuously to minimise the
cross-track error and the vessel follows the track at any vessel speed above approximately 4 knots.
Running Auto Track move-up mode, page 40
Always display the Auto Track move-up dialog box during move-up operations. There are
some operational limitations and deviations when running the vessel in move-up tracking mode
compared to running the vessel in low-speed or high-speed tracking mode.
Resuming Auto Track mode, page 46
When leaving Auto Track mode during a track operation, the current vessel position on the track
is saved as a track resume point. You can use this position as a starting point when you return
to Auto Track mode.
Using emergency stop, page 47
The Emergency Stop function uses a special velocity controller in surge to decelerate the vessel
from high speed to low speed. At low speed Emergency Stop works as the normal Stop On Track.
Emergency Stop along the track can be activated by the operator, or by an external system that
is interfaced to the K-Pos system.
436102/C 35
Running Auto Track low-speed mode

In the low-speed tracking mode, all the available thrusters are used to provide full
position and heading control, and the speed along the track is controlled automatically
and very accurately.
Procedure
1 Manoeuvre the vessel to a reasonable distance from the first waypoint. For
low-speed tracking mode, it is recommended to use Joystick or Auto Position mode.
2 Press the AUTO TRACK button group twice.
• The AUTO TRACK button becomes lit.
• The position setpoint is set to the selected start waypoint, i.e. the Next waypoint
entered in the General page.
• The heading setpoint is set according to the selections made in the Heading page.
The vessel begins to approach the track maintaining the present heading. The
heading can change depending on the selection in Heading page.
3 When reaching the start waypoint, the vessel follows the track defined in the
waypoint table.
4 According to operator selection, the vessel stops at the last waypoint or continues
to a locally generated waypoint 10 000 meters away from the last waypoint on the
extension of the last leg.
Result
The K-Pos system remains in Auto Track mode until changed to another mode.
Related topics
Joystick heading control

In the low-speed tracking mode, you can deselect the yaw axis for automatic heading
control and instead use the joystick to control the vessel heading manually.
Procedure
1 Press the YAW button twice within four seconds.
The YAW button becomes unlit.
2 Control the vessel's heading manually using the joystick.
3 To return to automatic heading control, press the YAW button twice within four
seconds again.
The YAW button becomes lit.
36 436102/C
The heading setpoint is set to the present heading.
Joystick speed control

In the low-speed tracking mode, when using system selected heading setpoint Towards
Waypoint, you can deselect the surge axis for automatic control and use the joystick to
control the thrust and thereby the vessel speed in the alongships direction.
Procedure
1 Press the SURGE button twice within four seconds.
The SURGE button becomes unlit.
2 Control the vessel's speed manually using the joystick.
3 To return to automatic speed control, press the SURGE button twice within four
seconds again.
The SURGE button becomes lit.
Changing track direction

The result of selecting Forward or Reverse direction depends on whether or not the
system is already in Auto Track mode.
Context
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
When already in low-speed tracking mode:
• When 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 along the track in descending order of
waypoint numbers.
• When following the track in descending 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 ascending order of
waypoint numbers.
Procedure
1 Click Settings→(Mode) Auto track or press the TRACK SETUP button to open the
Auto Track dialog box.
2 Select the General page of the dialog box.
436102/C 37
3 Change the Track direction setting (Forward or Reverse) to change the direction
in which the vessel follows the track.
5 To continue on the track in the opposite direction, deselect the STOP button (by
pressing it twice within four seconds). The STOP button becomes unlit and the
vessel begins to follow the track in the opposite direction.
Related topics
Running Auto Track high-speed mode

The high-speed tracking mode, the vessel heading is controlled continuously to minimise
the cross-track error and the vessel follows the track at any vessel speed above
approximately 4 knots.
Procedure
1 Manoeuvre the vessel to a reasonable distance from the first waypoint.
• The crab angle shown on the Heading page is automatically estimated by the
system during high-speed operatioins.
3 When reaching the start waypoint, the vessel follows the track defined in the
waypoint table.
4 When the vessel reaches the last waypoint, it continues at the same speed on the
extension of the final track leg.
Related topics
38 436102/C
Joystick speed control

In the high-speed tracking mode, you can deselect the surge axis for automatic control
and use the joystick to control the thrust and thereby the vessel speed in the alongships
direction.
Procedure
1 Press the SURGE button twice within four seconds.
The SURGE button becomes unlit.
2 Control the vessel's speed manually using the joystick.
3 To return to automatic speed control, press the SURGE button twice within four
seconds again.
The SURGE button becomes lit.
Changing track direction

The result of selecting Forward or Reverse direction depends on whether or not the
system is already in Auto Track mode.
Context
Before entering the Auto Track mode:
• Selecting Forward means that the waypoints are to be followed in ascending order of
• Selecting Reverse means that the waypoints are to be followed in descending order of
When already in high-speed tracking mode:
• When 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.
• When following the track in descending 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.
Procedure
1 Click Settings→(Mode) Auto track or press the TRACK SETUP button to open the
Auto Track dialog box.
2 Select the General page of the dialog box.
3 Change the Track direction setting (Forward or Reverse) to change the direction
in which the vessel follows the track.
436102/C 39
5 To continue on the track in the opposite direction, deselect the STOP button (by
pressing it twice within four seconds). The STOP button becomes unlit and the
vessel begins to follow the track in the opposite direction.
Result
The way in which the vessel changes track direction depends on the Reverse action
setting (Go astern or Turn 180 °) on the Stop page of the Auto Track dialog box.
If you have selected Go Astern:
• The STOP button becomes lit. The vessel slows down and stops, and then either stays
at this position or goes back to the position it had when you requested the change of
direction (depending on the selected Stop on track strategy on the Auto Track dialog
box).
If you have selected Turn 180°:
• The vessel performs a 180 degree turn either to port or to starboard (depending on the
Turn direction setting on the Stop page of the Auto Track dialog box).
Related topics
Running Auto Track move-up mode

Always display the Auto Track move-up dialog box during move-up operations. There
are some operational limitations and deviations when running the vessel in move-up
tracking mode compared to running the vessel in low-speed or high-speed tracking mode.
Procedure
1 Use Joystick 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.
• The heading setpoint is set according to the selections made in the Heading page.
3 Click Settings→(Modes) Auto track to display the Auto Track dialog box.
4 Click Move-up Tracking mode on the General page of the dialog box.
40 436102/C
Note
You can also select Move-up Tracking mode before entering the Auto Track mode.
If the vessel is not on track when entering move-up tracking mode, the vessel will
approach the Track leg or Next waypoint depending on the approach strategy you
have selected on the General page of the Auto Track dialog box.
The vessel is moving towards Waypoint 3 (Next Waypoint) because Auto Track
(move-up) mode has been initiated before the vessel is On Track, and Waypoint is
selected as Approach Track strategy. A dotted line shows the way the vessel will
follow passing waypoint 3:
5 Click Settings→(Track) Move-up.

6 In the Auto Track move-up dialog box adjust the increment until the Distance
correction text box shows the required move-up distance.
7 Click Apply to start the move-up operation.
The vessel starts moving using the selected auto track and move-up settings.
Monitor the progress of the move-up in the Progress text boxes.
8 The vessel stops on track when the move-up operation is complete. You should be
aware of that even though the vessel stops on track, the STOP button is not lit.
You are now ready to start the next move-up operation.
Result
The K-Pos system remains in Auto Track mode until changed to another mode.
Related topics
Auto Track move-up dialog box, page 60
436102/C 41
Joystick heading control

In the move-up tracking mode, you can deselect the yaw axis for automatic control and
use the joystick to control the vessel heading.
Procedure
1 Press the YAW button twice within four seconds.
The YAW button becomes unlit.
2 Control the vessel's heading manually using the joystick.
3 To return to automatic heading control, press the YAW button twice within four
seconds again.
The YAW button becomes lit.
The heading setpoint is set to the present heading.
Limitations in move-up tracking mode

The following limitations apply if you enable Stop at last waypoint on the Stop page of
the Auto Track dialog box when running the vessel in move-up tracking mode:
• If you try to start a forward move-up operation when the Auto Track state is “At last
WPT”, the vessel will not move. To move forward, clear the Stop at last waypoint
check box before you start the forward move-up operation.
• If you start a backwards move-up operation when the Auto Track state is “At last
WPT”, the vessel will move backwards and the Auto Track state will change to
“Approach Last”.
42 436102/C
It is not possible to select Move-up Tracking mode if Next Waypoint is set to 0 on the
General page of the Auto Track dialog box (0 is the track resume point). This ensures
that the vessel is back on track after having been moved away from the track before
move-up operations can be resumed.
Example of Auto Track dialog box - the selection of Move-up Tracking mode is disabled
when Track resume point is 0:
436102/C 43
When running in move-up tracking mode, with Waypoint table selected as Along speed
setpoint on the Speed page of the Auto Track dialog box, the Speed setpoint in the Auto
Track move-up dialog box cannot be changed. The Speed setpoint text box is marked
as unavailable.
Example of Auto Track dialog box - selected as Along speed setpoint. In the Auto Track
move-up dialog box you are not allowed to change the speed setpoint and the text box is
marked as unavailable:
44 436102/C
When running in low-speed or high-speed tracking mode with Towards waypoint selected
as Heading setpoint (on the Heading page of the Auto Track dialog box), and then entering
move-up tracking mode, System selected Heading setpoint will automatically be set to
Along arc. With Along arc now as system selected heading setpoint, you can also select to
specify a crab angle in the Crab angle text box.
Example of Tracking mode Move-up selected and system selected heading setpoint is
automatically changed to Along Arc:
When moving the vessel backwards in move-up tracking mode with Slow down at
waypoint selected as Waypoint speed strategy, the vessel will continue along the extension
of the present leg, passing the waypoint at constant speed and then stop when the applied
backward move-up distance has been reached.
436102/C 45
A deviation between the carrot (shown as a orange dot on the Posplot view) and the
vessel of more than a preset value (usually 10 m) will cause incorrect values in the
Progress text boxes on the Auto Track move-up dialog box. The vessel will not move the
requested distance before it stops.
This could occur, for example, if the vessel is unable to follow a sharp turn.
In the example, the carrot (orange dot) follows the track. The vessel has failed to make
a sharp turn and is outside the track. There is a deviation between the actual travelled
distance and the distance recorded by the system:
Resuming Auto Track mode

When leaving Auto Track mode during a track operation, the current vessel position on
the track is saved as a track resume point. You can use this position as a starting point
when you return to Auto Track mode.
Prerequisites
This function is only available if you have been running Auto Track mode, stopped along
the track, used another mode and then returned to Auto Track mode.
The track resume point is cleared if a new track is defined, if a track is deleted or if
the vessel enters Standby mode.
The track resume point is moved with the track when a geographic offset is applied.
The resume point is deleted when track offset is reset.
You are not allowed to enter move-up tracking mode when you have selected 0 (the track
resume point) as the start waypoint for move-up operations.
Procedure
1 Press the TRACK SETUP button to open the Auto Track dialog box.
2 Select the General tab.
If it is possible to select a track resume point, the text 0: Track resume point is
displayed under Next waypoint.
46 436102/C
3 Select 0 as the next waypoint and click Apply or OK.

When approaching the track resume point in Auto Track mode, the heading setpoint
is determined by the direction of the track leg on which the present track resume
point is positioned and the Track direction selected on the General page of the Auto
Track dialog box.
Related topics
Auto Track dialog box - General page, page 67
Using emergency stop

The Emergency Stop function uses a special velocity controller in surge to decelerate the
vessel from high speed to low speed. At low speed Emergency Stop works as the normal
Stop On Track. Emergency Stop along the track can be activated by the operator, or by
an external system that is interfaced to the K-Pos system.
Context
When automatic stop is activated, the EMERG. STOP button status lamp becomes lit and
an alarm message is displayed in the Alert list view, for example:
Track Stop activated by system <Reason for activation>
Procedure
The operator can activate the function manually.
1 Press the EMERG. STOP button twice within four seconds.
The EMERG. STOP button becomes lit.
The alarm message Track Stop activated by operator is shown.
2 The vessel slows down and stops, and then stays at this position.
3 To continue along the track, press the EMERG. STOP button twice within four
seconds again. The EMERG. STOP button status lamp becomes unlit and the vessel
starts moving.
436102/C 47
Setting system parameters
Topics
Adjusting the turn radius, page 49
The turn radius is limited by the length of the shortest leg attached to the waypoint, together
with the turn angle. The turn radius will automatically be reduced if you specify a turn radius
that is too large.
Changing the crab angle, page 49
During operation in low-speed and move-up tracking modes you can change the crab angle
using the heading wheel and its HEADING buttons. If configured for your system it can be done
also during high-speed operations.
Offsetting the track, page 50
The operator can offset a track defined in a waypoint table.
Offsetting a leg on the track, page 51
The leg offset value you enter is the distance in meters perpendicular to the track.
48 436102/C
Adjusting the turn radius

The turn radius is limited by the length of the shortest leg attached to the waypoint,
together with the turn angle. The turn radius will automatically be reduced if you specify
a turn radius that is too large.
Prerequisites
In the Auto Trackdialog box — Turn page the alternative Waypoint table must be selected.
Procedure
1 Click Settings→(Track) Modify.
2 Select the Move option button.
3 Click the required waypoint arc.
When you move the cursor towards a waypoint arc, the cursor changes from an
arrow to a pointing hand.
A rubber band model of the waypoint arc appears.
4 To increase the turn radius, drag the cursor away from the waypoint and click. To
decrease the turn radius, drag the cursor closer to the waypoint and click.
Related topics
Changing the crab angle

During operation in low-speed and move-up tracking modes you can change the crab
angle using the heading wheel and its HEADING buttons. If configured for your system it
can be done also during high-speed operations.
Prerequisites
The crab angle can only be changed if the Heading Setpoint in the Auto Track dialog box
is set to Towards Waypoint or Along Arc.
436102/C 49
Procedure
1 On the heading wheel press the ACTIVATE button once (top middle button).
The Crab Angle dialog box is displayed.
2 Rotate the heading wheel clockwise or counter-clockwise to increase (to starboard)

or decrease (to port) the crab angle, or use the INCREASE and DECREASE buttons
(typically 0.1 degree for each press).
Related topics
Crab angle dialog box, page 88
Offsetting the track

The operator can offset a track defined in a waypoint table.
Prerequisites
The strategy for updating a track must be defined in the Auto Track update strategy
dialog box before you can offset a track.
You must have reached the first waypoint before offsetting the track.
Context
The available offset strategies are:
• Parallel. The whole track is moved to left or right perpendicularly to the current
leg direction.
• Geographic. The whole track is moved a specified distance and in a specified
direction (relative to the north).
• Present Leg. The two waypoints, the one behind and the one ahead of the present
vessel position are moved perpendicularly to the direction of the present leg. The
50 436102/C
length of the present leg will remain the same, but the length of the two adjacent
legs on the track will change.
• No Offset. When the operator selects this offset strategy, the track will be restored
to its initial unedited definition.
Procedure
1 Click Settings→(Track) Update strategy to determine when and which part of the
track can be offset.
2 Click Settings→(Track) Offset to display the dialog box.
3 Select the offset strategy and then define the distance and the direction of the offset.
Related topics
Auto Track offset dialog box, page 63
Offsetting a leg on the track

The leg offset value you enter is the distance in meters perpendicular to the track.
Prerequisites
You must have reached the first waypoint before offsetting a leg on the track.
Procedure
1 Press the TRACK SETUP button to open the Auto Track dialog box.
2 Select the Speed tab.
3 Select the appropriate Waypoint speed strategy.
4 Select the General tab.
5 Select Leg offset and enter the value.
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 direction of ascending waypoint numbers. The
selected track direction (forward/reverse) or the heading of the vessel has no
influence on the resulting leg offset.
Entering leg offset will reduce the radius of inner turns when waypoint speed
strategy is Constant speed. If the leg offset becomes too large compared to the
waypoint turn radius, the following message will be reported:
Waypoint leg offset warning
<WPT no.> <leg offset> <limit>
436102/C 51
When the waypoint speed strategy is Slow down at waypoint, the message will
appear if the leg offset is larger than 1 meter.
The above message will only be given when the vessel is running an “inner” turn
when passing a waypoint.
Result
When you use the Leg Offset function in move-up tracking mode, the Moved, Left and
Total Distance shown in the Progress group box of the Auto Track move-up dialog box
will differ from the actual distance the vessel has travelled.
Example
Note
The offset track is not displayed in the Posplot view.
Related topics
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Dialog boxes
Dialog boxes
Topics
Use this page to set the position and heading warning and alarm limits including the limits for
cross-track error.
Approach track dialog box, page 56
Use this dialog box to define the approach track directly on the Posplot view.
The waypoints which describe the required track are stored in a waypoint table. This table can
contain up to 1000 waypoints.
Auto Track move-up dialog box, page 60
Using this dialog box, you can monitor the progress of the present moved and remaining distance
and the total distance moved when move-up is done in more than one step.
Auto Track offset dialog box, page 63
Use this dialog box to offset a track defined in a waypoint table. You can select between different
offset strategies and distance/direction to offset the track.
Use this dialog box to select features available in the low-speed, high-speed and move-up tracking
modes.
You can select the strategy to be in use when updating tracks (track editing and track offset
functionality) and when receiving a track from an external source. The selected update strategy
determines when and which waypoints can be edited, and whether or not a new track can be
received.
Crab angle dialog box, page 88
Use this dialog box to change the crab angle during tracking operations.
Steering dialog box, page 89
Use this dialog box to set up and configure the settings for the Auto Track mode.
Use this dialog box is to define new tracks and modify existing tracks directly on the Posplot view.
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Alert limits dialog box - Position page

Use this page to set the position and heading warning and alarm limits including the
limits for cross-track error.
How to open
Click Alerts→Position and heading.
Example
Details
Position
Warning and alarm limits can be set for position deviation. When the vessel's
actual position differs from the position setpoint by more than the warning limit,
a warning message is shown. When the vessel's actual position differs from the
position setpoint by more than the alarm limit, an audible signal is given and an
alarm message is shown.
When active, the position limits are shown as black circles — solid for alarm and
dashed for warning, in the Position Deviation pane. When inactive, the position
limits are shown as grey circles.
Note
In all modes, the position limits are inhibited until a requested change in position
is completed.
Heading
Warning and alarm limits can be set for heading deviation. When the vessel's
actual heading differs from the heading setpoint by more than the warning limit,
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a warning message is shown. When the vessel's actual heading differs from the
heading setpoint by more than the alarm limit, an audible signal is given and an
The limits are active only when the yaw axis is under automatic control.
When active, the heading limits are shown as black lines — solid for alarm and
dashed for warning, in the Posplot view. When inactive, the heading limits are
shown as grey lines.
Note
In all modes, the heading limits are inhibited until a requested change in heading
is completed.
Cross track
Specify warning and alarm distances within which the vessel can move on either
side of the track.
When the vessel is in Auto Track mode and moves away from the track by more
than the warning limit, a warning message is given. When the vessel moves away
from the track by more than the alarm limit, an audible signal is given and an
These limits can be activated or changed at any time. However, the limits are
active only in Auto Track mode.
When applying track offset during Auto Track mode, and the offset causes the
vessel to be outside the cross-track limits, warnings/alarms will not be given. This
is because the Auto Track state is changed to Approach Track, in which cross-track
limits do not apply. This prevents excessive alarms. On the other hand, when
applying leg offset, and the offset causes the vessel to be outside the cross-track
limits, warnings/alarms will be given.
Warning/Alarm
To change the limits, either enter new values directly in the text boxes, or use the
up and down arrow buttons to increase or decrease the current values. Warning
limits can never be set higher than the corresponding alarm limits.
Active
To activate the limits, select the 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 select the Active check box for warning, the corresponding
alarm limit is also activated.
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Approach track dialog box

Use this dialog box to define the approach track directly on the Posplot view.
How to open
When a track is shown on the Posplot view and the check box Select approach point
is selected in the Auto Track dialog box:
Click the position setpoint symbol in the Posplot view.
Example
Description
The values change as you move the symbol on the Posplot view. Click the trackball to
fix the required values and then click OK.
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Auto Track editor dialog box

The waypoints which describe the required track are stored in a waypoint table. This
table can contain up to 1000 waypoints.
Prerequisites
The selected track update strategy determines whether or not the waypoint table can be
edited while the system is in Auto Track mode.
How to open
Click Settings→(Track) Editor.
Example
Description
All the information that is required in the waypoint table can be manually entered and
modified. Waypoints can be loaded from an external source.
You can offset a track defined in a waypoint table using the Auto Track offset dialog
box. Here you can select between different offset strategies and distance/direction to
offset the track.
Details
Waypoints
The upper left cell shows the number of waypoints in the table. The table can
contain up to 1000 waypoints. The left column of the table contains the sequence
numbers of the waypoints.
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Insert
Click this button to add a new waypoint to the table. The new waypoint is
added after the highlighted waypoint, and initially it has the same parameters
as the highlighted waypoint.
Delete
Click this button to delete a waypoint from the table. Only the highlighted
waypoint is deleted.
Track
Name
The corresponding text box shows the name of the waypoint table. By
clicking the Name button, you can display a simulated keyboard which can
be used to change the name (maximum 25 characters) of the waypoint table
you are editing, or, if creating a new track, type in the name of this new track.
Delete
Deletes all the waypoints in the displayed table, i.e. the current track. This
function is useful when you are creating a new waypoint table by receiving
waypoints from an external source.
Datum
The datum you have currently selected for position presentation.

Northing/Easting
Shows the coordinates of each waypoint. You can edit them in the position
format and position datum currently selected for display of position
information.
Distance
The distance between each waypoint and the next waypoint (for information
only).
Course
The true direction from this waypoint to the next waypoint (for information
only).
Leg type
Select the required leg type from the drop-down list; either Rhumb line,
Great circle or UTM straight line. If you receive a track from an external
source, the leg type is set to the default leg type specified in the General page
of the Auto Track dialog box. For short legs the difference between Rhumb
line, Great circle and UTM straight line is negligible.
Rhumbline
This is a path of constant compass heading. A rhumb line appears as a

straight line in Mercator's projection.
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Great circle
This is the shortest path between two points on the surface of the earth. A
great circle arc takes constant changes of compass heading and appears as a
curved line in Mercator's projection.
UTM straight line
This is a straight line in the UTM projection. A UTM straight line is a curved
line in the Mercator's projection and appears similarly to a great circle. UTM
straight line is typically used for a track defined by UTM coordinates.
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 at constant speed.
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 operator station.
Save
Opens the Save track file as dialog box. This is a standard Windows dialog
box. 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
Track files are saved locally on your operator station.
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
Track files are deleted locally on your operator station.
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Auto Track move-up dialog box

Using this dialog box, you can monitor the progress of the present moved and remaining
distance and the total distance moved when move-up is done in more than one step.
Prerequisites
The dialog box is only available when a track has been defined and the system is in
Auto Track mode.
You can move the vessel a specified distance forward or backward along the track and
specify the speed setpoint and acceleration factor for the vessel during a move-up
operation.
How to open
Click Settings→(Track) Move-up.
Example
Details
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, the contents of this text box is cleared. This implies that
the next time you initiate a vessel move-up operation, the Distance moved text
box starts counting from zero again.
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Distance left
Shows the distance remaining of the present move-up operation.

Distance total
Shows the accumulated total distance the vessel has moved along the track during
the move-ups you have initiated since you started the first move-up operation. If
you click Reset before you initiate a new move-up operation, this value is set to
zero and then shows the distance you specify for the next move-up. You cannot
use the Reset button if the vessel is already moving.
Note
Be aware of the following information concerning the display of progress values in
Auto Track (move-up) mode:
If you use the Leg offset function (refer to Leg offset in Auto Track dialog box-
General page) when running the vessel in Auto Track (move-up) tracking mode,
the Moved, Left and Total distance shown in the Progress field will differ from the
actual distance the vessel has moved.
The sum of Moved and Left distance will not necessarily be equal to Total distance.
Small deviations (less than 1 m) may occur.
Distance correction
Contains the distance you want to move the vessel. Click the OK or Apply button,
and the position setpoint along the track is changed with the specified distance
correction and the value in the distance correction text box then resets to zero. You
can also apply a new distance correction during an ongoing move-up operation if
you want to adjust the distance to move.
Increase
Changes the value in the distance correction text box by the number shown. Adjust
the increment value by either entering the required value or clicking the up and
down arrows. Each click on the Astern or Ahead button changes the value in the
distance correction text box by the increment value shown.
Speed setpoint
The speed setpoint that will be used for move-up when you click the OK or Apply
button. 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 in the Auto Track dialog box.
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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 however not be shown
in the Auto Track move-up dialog box (the Speed setpoint text box is shown
shaded containing the previous operator-selected speed setpoint).
Acceleration factor
Deceleration factor
You can adjust the acceleration/deceleration 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 at start and finish of a move-up operation. 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.
If you define the values before starting a move-up operation, they will be used
for move-up when you click OK or Apply. You may define new values during
a move-up operation, but they will be used after the vessel has stopped at the
waypoint and starts the next move-up (although you have clicked Apply).
These two factors are also available in the Acceleration/deceleration dialog box.
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Auto Track offset dialog box

Use this dialog box to offset a track defined in a waypoint table. You can select between
different offset strategies and distance/direction to offset the track.
Prerequisites
You must select appropriate update strategy from the Auto Track update strategy dialog
box in order to be allowed to offset the track.
How to open
Click Settings→(Track) Offset.
Example
Description
The selected offset track replaces the original track. In order to retrieve the original
track, select No offset in the Auto Track offset dialog box. Alternatively you can select
and read it from the Auto Track editor dialog box (click File→Open in the Auto Track
editor dialog box and select the file name for the original track). You can also edit the
existing waypoint table in the Auto Track editor dialog box.
When applying a new track offset, the original track is shown as dashed dark-blue lines
on the Posplot view. The new offset track is shown as solid light-blue lines. You can
select to display or not to display the original and/or offset track on the Posplot view
from the Posplot view control dialog box.
Note
Each time an offset is applied, the offset is relative to the original track, not relative
to the offset track.
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Details
Parallel
The whole track is moved a distance to the left or right perpendicular to the present
leg direction. The resulting offset track is an exact, but displaced copy of the
original track. The direction of the parallel movement can be seen in the Direction:
text box of the Auto Track offset dialog box. When you enter a positive value in the
Distance text box, this is interpreted as being an offset to the right when orientated
towards ascending WPT numbers along the track. A negative value results in an
offset to the left. The selected track direction (forward/reverse) or vessel heading
has no influence on the resulting track offset.
Geographic
The whole track is moved a specified distance in a specified direction (relative to

North). The resulting offset track is an exact, but displaced copy of the original
track.
Present leg
Only part of the track is offset. The two waypoints, the one behind and the one
ahead of the present vessel position, are moved perpendicular to the direction of
the present leg. The sign convention used is the same as for the Parallel offset
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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 adjacent legs on the
track will change. It is only possible to select Present leg as the new offset strategy
when the vessel is “On track”.
No offset
No offset is added. When you select this offset strategy, the track will be restored
to its original unedited definition, which will then be displayed on the Posplot
view (solid line in blue).
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Auto Track dialog box

Use this dialog box to select features available in the low-speed, high-speed and move-up
tracking modes.
How to open
Either press the TRACK SETUP button on the panel or click Settings→(Modes) Auto track.
This dialog box has several pages.
Related topics
Auto Track dialog box - Heading page, page 74
Auto Track dialog box - Receive page, page 85
Auto Track dialog box - Speed page, page 79
Auto Track dialog box - Stop page, page 71
Auto Track dialog box - Turn page, page 83
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Auto Track dialog box - General page

How to open
Example
Details
Next waypoint
Allows you to select the number of the waypoint at which to begin the track
operation.
Note
You must enter the required Next Waypoint before entering the Auto Track mode.
If configured, you can select a track resume point as the start waypoint (select 0
under Next waypoint).
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When leaving Auto Track mode during a track operation, the current vessel
position on the track is saved as a track resume point. This resume point is shown
as a filled circle of fixed size on the Posplot view.
Tracking Mode
If all three tracking modes are available on your vessel, you can select among
Move-up, Low speed or High speed operation.
For 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 or move-up to high-speed tracking mode, the
heading setpoint will be set to system selected and the waypoint speed strategy
will be set to constant speed.
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 direction of ascending waypoint numbers. The
selected track direction (forward/reverse) or the heading of the vessel has no
influence on the resulting leg offset.
Note
The offset track is not shown on the Posplot view.
Leg offset is not available (i.e. appears dimmed) in Auto Track mode, Approach
frst WPT.
Track direction
Allows you to 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.
Note
If a move-up is performed, the Forward and Reverse option buttons become
unavailable.
The Stop check box is always unavailable as its function is to act as a warning
indicator, i.e. selected - Stop active, or not selected - Stop inactive.
Touchdown
The direction and distance from the vessel's rotation centre to the pipe/cable
touchdown point can be specified. During a waypoint turn, the vessel track will be
calculated so that the pipe/cable touchdown point will be placed on the intended
track.
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Note
This applies only when cable is laid from the aft of the vessel.
Approach track
Determines the strategy for approaching the track. The approach speed depends on
the along-speed setpoint and the across-speed setpoint.
Track leg
The vessel moves sideways towards the “present” 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.
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.
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Select approach point

Select the check box if you want to define the approach track manually on
the Posplot view.
Default leg type
Select the required leg type: either Rhumb line, Great circle or UTM straight line.
The default leg type is always applied when using the graphical track editor and
when receiving waypoints from an external source.
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Auto Track dialog box - Stop page

How to open
Example
Details
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.
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
you initiated the stop action.
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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.
Stop at last waypoint
In low-speed and move-up tracking modes, this option allows you to specify the
action to be taken when the vessel reaches the last waypoint, either to stop or
continue.
Active
When this check box is selected, the vessel will stop at the last waypoint.
When this check box is cleared, the vessel will, when it has passed the
last waypoint, continue with the same track direction as the last leg in the
waypoint table towards a locally generated waypoint. The position of this
waypoint is 10 000 meters away from the last waypoint, on the extension of
the last leg.
Position dropout action
Select the action to be taken in the event of the system losing acceptable position
reference information when running 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 traversing the track using Dead
Reckoning.
Reverse Action
In high-speed tracking mode, this option allows you to specify the action that is to
be taken when the track direction is changed between Forward and Reverse.
Go Astern
Stop on the track in preparation for reversing direction, without changing

heading.
Turn 180°
Turn through 180 degrees.

In low-speed tracking mode, Go Astern is always used.
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(CD3316)
Turn Direction
When Turn 180° is selected, you can specify that a turn should be either to
Starboard or to Port.
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Auto Track dialog box - Heading page

How to open
Example
Description
In low-speed and move-up tracking modes, you can also deselect auto heading control
using the YAW button, and use the joystick to control the vessel heading.
In high-speed tracking mode, the vessel heading setpoint 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 tracking mode.
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Details
Heading setpoint
This feature applies only when running the vessel in low-speed and move-up
tracking mode. In high-speed tracking mode, the vessel heading setpoint is always
controlled to minimise the cross-track error while maintaining the wanted speed
(i.e. the crab angle is continuously changing).
You can control surge manually if Heading setpoint is set to System selected and
Towards waypoint. When you press the AUTO SURGE button to deselect it, the
Heading setpoint group box becomes unavailable:
If heading setpoint is set to Operator and other than Towards waypoint, you cannot
control surge manually. When you press the AUTO SURGE button to deselect it the
following message is shown:
System selected
The vessel will automatically adopt the heading setpoint you have selected in
the list box:
• Waypoint table — Uses the heading defined in the waypoint table for
each section of the track.
• Minimum power — Uses the heading which requires the minimum power,
calculated according to the environmental forces and the vessel speed. In
calm weather, the track heading will be used as the wanted heading.
• Towards waypoint — Sets the required heading to be towards the next
waypoint, modified with the operator-specified crab angle. If the vessel
is close to the first waypoint when entering Auto Track (low-speed or
high-speed) tracking mode, the heading setpoint follows the direction of
the first track leg (modified with the operator-specified crab angle).
• Along arc — Sets the required heading to correspond to the tangent of
the arc when passing waypoints, modified with the operator-specified
crab angle. In low-speed and move-up tracking modes, when Towards
Waypoint or Along Arc heading setpoint strategy has been selected, you
can at any time also select to specify a fixed offset to the heading setpoint
in the Crab angle text box.
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Note
This drop-down list is unavailable if the system is in high speed mode.
Operator
If the Auto Track operation allows a heading different from along the track, it
may be desirable to turn the vessel to a more favourable heading with respect
to the environmental forces. Use of operator specified fixed heading setpoint:
The vessel will maintain the specified fixed heading (if this is possible in the
prevailing environmental conditions, with the currently available thruster
forces and with the present speed setpoint).
If heading setpoint is system selected the Operator text box displays the
present heading.
Crab angle
A positive value offsets the heading setpoint to starboard. As you can see from
the figure, the crab angle will remain constant both when following along arc
passing waypoints and on straight legs. This can be a useful feature, for example
when performing pipelaying (to correct the lateral position of the pipe at the end
of the stinger). Depending on the operational situation, you can change the crab
angle when necessary.
During operation in low-speed and move-up tracking modes you can also change
the crab angle using the heading wheel and its three associated buttons.
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Note
If you change the tracking mode to move-up when running the vessel in Auto Track
mode, the heading setpoint is automatically changed to Along Arc.
If you change the tracking mode to high speed when running the vessel in Auto
Track mode, the heading setpoint is automatically changed to Towards Waypoint,
and the value in the Crab Angle text box is set to 0 degrees.
The Along arc heading setpoint changes automatically to Towards waypoint if you
select Slow down at waypoint when running the vessel in Auto Track low-speed
mode.
Automatic initialise crab angle when starting track

If this check box is selected when you enter Auto Track mode the crab angle
is calculated by the system and this ensures no change of heading.
Note
Once the vessel is in Auto Track mode selecting and deselecting the check
box doesn’t influence the crab angle. The operator can enter a new value
as required.
Limit
This feature applies only in high-speed tracking mode. In high-speed
tracking mode, the vessel heading setpoint is always controlled to minimise
the cross-track error while maintaining the wanted speed (i.e. the crab angle
is continuously changing). Crab angle limit allows you to set a limit for the
crab angle (the angle between the vessel heading and the track leg direction).
No limit
There will be no warning given if the crab angle limit is reached, and
the crab angle will not be restricted to this limit.
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Alarm only
If the crab angle reaches the specified limit, an alarm message will
be issued as follows:
Track crab angle out of limits
Heading setpoint angle
Maximum allowed setpoint angle
Use limit
Automatically restricts the crab angle to the specified Limit.

Heading deviation limit when starting track
To make sure that you select the right start waypoint, you can limit when starting
set a heading deviation limit. If this limit is set, for example, to 25 degrees, the
waypoint must be within an area of 25 degrees to each side of the vessel's front (50
degrees in total).
If the waypoint is located outside this area, a warning will be given:

Waypoint outside start sector
You must either increase the limit or turn the vessel towards the waypoint in
order to enter Auto Track mode. This applies only when the heading setpoint is
System selected.
Touchdown direction limit
The direction of the touchdown point may be limited because of other equipment.
The maximum value for the direction is predefined in the software. The operator
can change the direction between 0 and the maximum value.
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Auto Track dialog box - Speed page

How to open
Example
Description
You can deselect the surge axis (so that the forward speed of the vessel is no longer
controlled automatically), and use the joystick to control the vessel speed.
In low-speed tracking mode this is provided that system-selected heading setpoint
Towards waypoint is used.
In move-up tracking modes, the speed control is always automatic.
Depending on the thruster configuration and vessel design the maximum speed for a
vessel in move-up or low-speed tracking mode should be less than approximately three
knots because at speeds higher than this the effect of the lateral (transverse) thrusters is
reduced.
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Details
Speed setpoint
Waypoint table
The speed setpoint for each leg is taken from the waypoint table.
Operator
Along
The speed setpoint specified here will be used for all track legs. When
Operator is selected, the speed setpoint can be changed at any time.
When running in Auto Track mode, the speed setpoint can also be
changed using the Speed page of the Position dialog box. The maximum
value is 8 m/s.
Note
The speed can also be changed from the Speed setpoint dialog box.
Across
Allows you to specify the across speed setpoint that is used to

determine the component of the vessel speed that is perpendicular to
the track direction. Typically when the vessel is approaching the track
for the first time, or in relation with the track offset and leg offset.
Note
The Across speed setpoint is not used when correcting normal
cross-track deviations. 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.
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 at waypoint strategy
is available in low —speed and move-up tracking modes. In high-speed tracking
mode the Constant speed strategy is always used.
Slow down at waypoint
The vessel slows down at each waypoint before continuing to the next. The
K-Pos system automatically calculates the required speed reduction and the
distance from the waypoint at which the slowing down should start. When
you have selected Slow down at waypoint, the vessel (or more precisely,
the touchdown point or rotation centre if touchdown is not used) will pass
through the waypoints.
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Waypoint reached limit
This limit is used in the Slow down at waypoint strategy and defines the radius
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 shown around the current
waypoint on the Posplot view.
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
Turn page of the Auto Track dialog box.
The turn radius at each waypoint is shown on the Posplot view.
“Pass constant” is shown on the Cross track distance pane when the vessel
follows the turn arc in a waypoint turn.
When you have selected Constant speed, the vessel (or more precisely, the
touchdown point or rotation centre if touchdown is not used) will pass the
waypoints along circular arcs with specified or calculated turn radii.
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Speed control
In high-speed tracking mode, this feature allows you to define how the required
vessel speed is to be maintained. In move-up and low-speed tracking mode the
speed control is always Automatic.
Automatic
Controls the vessel speed automatically according to position and/or speed

measurements.
Deadband
You can specify a deadband value within which the speed can
increase/decrease without causing the applied thrust to change. Deadband is
only available in high-speed tracking mode when automatic speed control is
selected.
Speed/force table
Use constant pitch/rpm to obtain the required speed according to the

speed/force (thrust) table. This table is built into the 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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Dialog boxes
Auto Track dialog box - Turn page

How to open
Example
Description
During a turn all the fields are unavailable and cannot be changed.
Details
Turn radius for waypoint turn
The strategy for determining the turn radius to be used when passing waypoints
at constant speed. This feature is always used in high-speed tracking mode, and
when the constant speed waypoint-passing strategy is selected in move-up and
low-speed tracking modes.
Waypoint table
The value from the waypoint table is used. The waypoints can have different
turn radii.
436102/C 83
Automatic (using rate of turn)
The calculated value depends on the vessel speed, the currently-selected

rate of turn, the angle of turn and the vessel's turning characteristics. You
should bear in mind the following:
• Higher vessel speed causes a larger turn radius.
• Lower rate of turn causes a larger turn radius.
Note
If you choose Automatic (using rate of turn), you must check that the rate of
turn is set to a suitable value. For example, if the rate of turn is very low, the
turn radius may become very large.
Operator
The turn radius you have specified here will be used for all waypoints. The
turn radius may be reduced at some waypoints due to geometrical constraints.
Wheel-over point (WOP) Alert
Specifies whether an alert is to be given before reaching a wheel-over point (the

point where a turn is initiated before a waypoint). Allows you to set the time in
minutes and seconds before reaching the wheel-over point at which an audible
signal and a message is to be given. This function is available in low-speed and
high-speed tracking modes.
Note
The turn will be made even if the alarm message is not acknowledged.
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Dialog boxes
Auto Track dialog box - Receive page

How to open
Example
Details
Receive Track/Waypoints from external Source and Send to
Enable reception
Enables and disables the reception of waypoints from an external source.

The check box is unavailable if you are sending a track to external systems.
If the track reception fails you can deselect the check box and select it again
within the time out period of 6 minutes.
Send track to external system
Enables and disables the transmission of waypoints to an external source.

The button is unavailable if you are receiving a track from an external system.
Receive from Source
Specifies the data source from which the waypoints are to be received.
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Accept “0” as first waypoint WP

Select this check box if the table you receive includes a waypoint ID 0. If
you don’t select the check box a message is given:
Waypoint receive inconsistency
Properties of external track at reception
Before receiving waypoints, you must specify the properties of the data to be
received. Appropriate properties will normally follow the Receive from Source
selection.
Geographic
The waypoints to be received are in a geographic coordinate system

(Latitude, Longitude).
Datum
Select the datum in which the received waypoints are defined.
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Dialog boxes
Auto Track update strategy dialog box

You can select the strategy to be in use when updating tracks (track editing and track
offset functionality) and when receiving a track from an external source. The selected
update strategy determines when and which waypoints can be edited, and whether or
not a new track can be received.
How to open
Click Settings→(Track) Update strategy.
Example
Details
Always allowed
All waypoints (both their coordinates and all their attributes) on a track can always
be updated using track editing methods or by applying offsets.
Caution
When running in Auto Track mode, the selected update strategy and the present
Auto Track state are decisive for when track offset and a track editing method can
be used to change waypoints.
On remaining track
If the vessel is already on the track, only the waypoints on the remaining track
can be updated.
Not in Auto Track mode
No waypoints can be updated using track editing methods and/or track offset
functionality when in Auto Track mode (OK and Apply buttons not available).
However, track definition functionality and Geographic offset strategy can be used
to update waypoints when running in other system modes.
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Crab angle dialog box

Use this dialog box to change the crab angle during tracking operations.
Prerequisites
The tracking operation must be at low speed and system-selected heading must be
selected in the Auto Trackdialog box.
How to open
On the heading wheel press the ACTIVATE button once (top middle button).
Example
Details
The value (in degrees) shown in the upper part of the dialog is the crab angle from
the heading wheel, which changes immediately whenever the wheel is turned, or one
of the + and - buttons is pressed.
The value shown in the lower right-hand part of the dialog shows the heading setpoint
(in degrees).
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Dialog boxes
Steering dialog box

Use this dialog box to set up and configure the settings for the Auto Track mode.
How to open
Click Settings→(Control) Steering.
This dialog box has several pages.
Related topics
Steering dialog box - Compensate page, page 100
Steering dialog box - Gain page, page 97
Steering dialog box - Steering page, page 90
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Steering dialog box - Steering page

How to open
Example
Description
Note
The vessel configuration determines the options that are available on this dialog box.
Use this page to:

• Set angle limits for the rudders and/or azimuth thrusters within which the
rudders/azimuth thrusters are allowed to operate.
• Select the steering mode which determines how the selected steering group is used
to steer the vessel.
• Select which pre-configured steering group is to be used for steering the vessel.
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Dialog boxes
• Set maximum steering and propulsion force.

The system is pre-configured with:
• The thrusters available for steering (steering units).
• The thrusters to provide only alongships force (force units).
• The steering units grouped into steering groups.
Example of vessel configuration. The thrusters are represented by numbers:
This example-vessel has three steering groups, each comprising two steering units.
These thrusters are also configured for use as force units.
Details
Limits
Automatic
In high-speed operations, the system will not turn the rudders/azimuth

thrusters beyond the specified limit. At high speeds, a relatively small limit
such as five degrees is often used.
If you try to enter angle values beyond predefined limits, a message
instructing you to correct the values will be displayed.
Manual
When the system is in high-speed operation, manual limits are not applicable.
Steering mode
This determines how the steering units within the active steering group are used to
steer the vessel. It is not available if there is only one steering unit.
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Steering group
In high-speed operations, you can select the preconfigured steering group to be

used for steering the vessel. This option is not available if there is only one defined
steering group.
MAX Force Limit %
The system will first apply force using the steering units, 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 force limit % for Propulsion
and the MAX force limit % for Steering entries.
How the forces are distributed between the thrusters, is determined by the MAX
force limit % for Propulsion and the MAX force limit % for Steering entries.
The value of MAX force limit % for Propulsion cannot exceed the value of MAX
force limit % for Steering. The spin box will not allow you to enter a higher value
for Propulsion than the value for Steering.
If the vessel is configured with only one steering group and there are no additional
force units, these entries are not displayed on the dialog box.
If MAX force limit % for Propulsion is not enabled (check box not selected), all units
will increase to 100% simultaneously when the demand exceeds the steering limit.
Example
• The steering units are thrusters 7 and 8 (Steering group AUX).
• MAX force limit % for Propulsion is set to 60%.
• MAX force limit % for Steering is set to 90%.
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Dialog boxes
No thrust is applied to the force

units until the force demand reaches
90% on the steering units.
When the force demand is equal to

90% on the steering units, they are
frozen at this level until the force
units reach 60%.
Above this level there are three possibilities. The system configuration
determines the one which applies:
• The steering units are limited to 90% and the force units are limited to
60% even though the force demand is higher. (Normal configuration).
• The steering units will increase (if necessary) to 100%, while the force
units are still limited to 60%.
• The force units are limited to 60% until the steering units reach 100%.
The force units then start increasing if necessary.
436102/C 93
Examples of Steering mode

In the examples shown for the different steering modes, steering group AUX is used.
Synchronous — Both steering units have the same azimuth angle and are used to generate
the directional force.
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 Starboard — The starboard steering unit generates the directional force.
The port steering unit is fixed alongships.
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Dialog boxes
Asynchronous Port — The port steering unit generates the directional force. The
starboard steering unit is fixed alongships.
Fixed angle — The steering thrusters are at fixed angles. Changing tha RPM and/or
pitch is used to obtain moment demand. Thruster angles will be fixed at the maximum
turn-angle limit as it is defined in the dialog box by the operator. For example, when yaw
control is active, the thrusters will stay at the Automatic angle limit (which is normally
default at 15 degrees). When yaw control is not active the thrusters will go to the Manual
limit (default 35 degrees). The thrusters will work inwards, that means the starboard
thruster will have a positive fixed angle and the port thruster will have a negative fixed
angle according to the limitations described above.
Note
Limitations to the Fixed angle function:
1 The steering group must consist of two members.
2 They must both be azimuth thrusters (not propellers with rudders).
3 The priority of the steering group must be higher than emergency (Aux or Propeller).
4 The thrusters must be located in the aft section of the vessel.
436102/C 95
Examples of Steering group

In the examples shown, the thrusters are represented by numbers. You can select between
the Emergency, AUX and Propeller steering groups. The names will be customized for
each vessel. The figures below show the effect of selecting these steering groups when
the Synchronous steering mode is also selected.
Steering units belonging to groups that are not selected for steering provide only
alongships force.
Steering group Emergency, demand to port.
Steering group AUX, demand to port.
Steering group Propeller, demand to port.
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Dialog boxes
Steering dialog box - Gain page

Use this page to set a gain level for the yaw axis in Auto Track (high speed) mode. The
gain level for counter rudder and auto trim can also be set.
How to open
Click Settings→(Control) Steering gain.
Example
Details
Gain level
Automatic
If configured for your system, automatic gain is available in Auto Track

(high speed) mode. When this option is selected, the system computes the
appropriate gain level based on the vessel speed.
You must clear the Automatic check box before you can select the gain level.
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Low Med. High
You can select one of three predefined controller gain levels: Low (50%),
Med. (Medium) (100%) or High (150%). The selected gain level applies to
the yaw axis in Auto Track (high speed) mode.
(Operator defined)
The gain level can also be set manually between 50% and 150% by clicking
the up/down arrows or typing in the required value.
Different gain level for each of the three standard gain levels are defined to
suit the characteristics of the vessel. The deviations in heading and rate of
turn are multiplied by the selected gain factor to obtain the required moment
demand.
If a new mode is selected where Automatic gain is not allowed, the controller
gain level is automatically changed to the default value, and a warning will
be given.
The most suitable gain level depends on the vessel characteristics, the
weather conditions and the required accuracy. Operational experience
therefore plays a large part in determining the optimal gain level, but the
following general points should be noted:
• High gain provides the quickest vessel response and the most accurate
manoeuvring.
• Medium gain provides a slower vessel response than high gain.
• Low gain provides the slowest vessel response.
Counter rudder
This can be set in the range from 50 to 150%, with a default of 100%.
The counter rudder gives a smooth transition to a new heading after a major course
change.
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 stabilised.
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 tend to oscillate
around the new heading. A typical symptom here is an over-active rudder.
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Dialog boxes
Auto trim
This corrects for static heading deviation due to weather forces.

The Auto trim can be set in the range from 50 to 150%, with a default of 100%.
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.
Reset
Click this button to reset the Gain level, Counter rudder and Auto trim to the default
settings.
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Steering dialog box - Compensate page

Use this page to enable or disable wind forces compensation and thruster moment
compensation.
How to open
Example
Details
Environment
Wind forces compensation
When wind force compensation is enabled, the vessel will react much more
quickly to sudden changes in wind speed and direction.
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Dialog boxes
Thrusters
Moment compensation
This is only available on a few vessels where vessel speed is controlled by

manual levers.
When the vessel speed is controlled by manual levers and the vessel heading
is controlled by the DP system, the DP 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 system
reads the feedback signal from that thruster and takes account of the resulting
turning force.
If there is a known fault situation where the feedback from a particular force
thruster is unreliable, you can clear the corresponding Moment compensation
check box. The DP system will no longer compensate for the effect of this
thruster.
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Waypoint dialog box

Use this dialog box is to define new tracks and modify existing tracks directly on the
Posplot view.
Prerequisites
You can always edit a track during Auto Position or Joystick mode. The selected Auto
Track update strategy determines whether or not you can edit a track while the system
is in Auto Track mode.
How to open
Click Settings→(Track) New or →(Track) Modify.
Example
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Dialog boxes
Description
You can define new tracks and modify existing tracks directly on the Posplot view using
the cursor and the Waypoint dialog box. The Waypoint dialog box provides the necessary
information about the waypoints you define, and allows the track to be edited. Editing
is performed on the original track, not the offset track.
Details
Number
Shows the track sequence number of the waypoint for which the information
applies.
Position
The position of the waypoint, or, during track editing, the current position of the
cursor.
Leg length
The length of the leg from the current waypoint to the next. If the current waypoint
is the last waypoint, the length of the last leg is shown.
Leg course
The course of the leg in the forward track direction (with increasing waypoint
numbers).
Turn radius
The turn radius the vessel shall use when passing the waypoint. The turn radius
can be defined within specified limits.
Editing mode
When deleting or inserting new waypoints, the waypoint numbers will

automatically change to reflect the waypoints number in the sequence. The
maximum number of waypoints in a track is 1000. When this limit is reached, the
Insert new option button becomes unavailable and Move becomes the new default
Editing mode.
If you then delete one waypoint, the Insert new option button becomes available
again.
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Displayed information
Topics
Posplot view in Auto Track mode, page 105
Conning view, page 110
Cross track distance pane, page 115
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Posplot view in Auto Track mode

When a track is define and selected and the system is in Auto Track mode you can follow
the movement of the vessel along the track.
In situations when you start approaching the track at low speed close to a waypoint, the
turn radius is reduced. The line from the starting point to the selected start waypoint is
indicated by a dotted line. The turn radius at the start waypoint is also indicated with a
dotted line and may be different from the turn radius in the waypoint table.
Example
436102/C 105
Details
Explanation of the different symbols and lines shown on the Posplot view during Auto
track mode.
In the example the rotation centre is set to stern, the touchdown point is set 100 meters
behind the vessel and 10 degrees to the starboard.
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Posplot view control - Show page

How to open
Right-click the view and click View control.
Example
Details
Show/Hide
Display or remove various features of the Posplot view. The choice of features
available is configured for each vessel.
Track
When selected, the track determined by the track table, is shown. For details
see the explanation for the Posplot view.
Org. Track
When Org. Track is selected, the original track is shown. When no Track
Offset is selected, selecting/clearing Org. Track has no effect as long as
Show Track is selected.
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Posplot view control - Trace page

How to open
Right-click the view and click View control.
Example
Details
Vessel Position/Heading History
For Auto Track mode Vessel position is the touchdown point.

Trace-line
It is possible to show or hide a trace line of the
vessel movements (Show) and specify the sample rate
(Sampling) and the extent of the trace (Memory) to be
stored. The trace line shows the path followed by the
currently-selected vessel rotation centre.
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Trend-symbols
It is possible to show or hide a series of vessel symbols
indicating vessel movement and position (Show) and
specify the sample rate (Sampling) and extent of the
trend symbols (Memory) to be stored.
Note
With the Posplot view at close range when the simplified
symbol is shown, the “trended” symbols are not shown.
Clear All
Clicking this button clears all the trend symbols permanently and the trace
line both in memory and in the Posplot view.
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Conning view
The Conning view provides useful information in high-speed modes, especially during
transit and manoeuvring, and shows the thruster layout, heading information and
information related to the selected mode.
How to open
To select the view, place the cursor in the upper left corner of the working area so that
the drop-down list becomes visible. Click the arrow and select the view from the list.
Alternatively, you can click the Conning button on the side bar or a dedicated button
on the panel.
The Conning view is displayed as a new window.
Example
Description
The panes that are special for the Conning view are Heading, Steering control mode
and Steering.
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Heading pane
This pane shows numerical and graphical information relevant to manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
The Heading pane on the Conning view contains most of the same information as the
Heading pane on the dashboard. The main differences are:
• None of the areas are click-sensitive.
• The setpoint values (in brown colour) are always visible, either as a numerical value
or as ‘- - - - - - - -’.
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Steering control mode pane

This pane shows information related to track steering.
Setpoints Course
The current course setpoint.
ROT
When this value is given in brown, it is the setpoint for the
Rate of Turn for a turn that is currently in progress. When
the value is grey, it is the calculated Rate of Turn for a turn
that is currently in progress.
Radius
When this value is given in brown, it is the setpoint for the
Turn Radius for a turn that is currently in progress. When
the value is grey, it is the calculated Turn Radius for a turn
that is currently in progress.
Destination ETA
The estimated time of arrival at the route's destination.
Remaining time
The time left until the estimated time of arrival.
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Next leg DIST

The length of the next leg.
Turn radius
The radius of the up-coming turn (if you are on track).
Course
The course of the next leg of the programmed route.
Current leg Course

The course of the current leg of the programmed route.
Time to WOP
The time left till arrival at the next wheel-over point.
DIST to WOP
The distance to the next wheel-over point.
A progress indicator, showing how much of the current leg has

been travelled so far. The indicator is in the form of a vertical
sequence of 10 rectangles: the filled ones each represent a tenth
of the completed leg.
The progress indicator includes a turn indicator arrow, showing
the general direction of the turn between the current and the next
leg. The size of the turn in degrees is given.
The cross-track deviation is indicated numerically in meters

PORT or STBD, and graphically by a horizontal bar chart.
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Steering pane
This pane contains information about the heading control.
Clicking anywhere in this pane opens the Steering dialog box.
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Cross track distance pane

This pane shows information important during tracking operations.
In high speed In low speed and move-up
Graphical presentation of the readings for the vessels movement

along the track. The blue line represents the vessel movement,
the brown line represents the track.
The solid black lines are the alarm limits, and the dotted lines
are the warning limits.
The inverted ‘T’ indicates the vessel heading relative to the
track direction.
Clicking this area opens the Alert limits dialog box. Clicking the
right trackball button opens the History settings view control.
This area shows:

• The current Auto Track state (for example: On track).
• The track direction as defined on the Auto Track dialog box
(for example Forward).
• The crab angle setpoint (only shown during high speed) and
the next waypoint number.
• The distance and time to the next wheel-over point, except
when Heading Setpoint is Operator Selected, or while on a
turn arc.
Clicking this area opens the Auto Track dialog box.
The time span for showing the readings graphically. This can be
changed using the History settings view control.
The distance from the vessel to the track setpoint (brown line).
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Related topics
116 436102/C
Index
Index
A Compensate.......................................... 100
Gain..................................................... 97
Alert limits dialog box
Steering................................................. 90
Position.................................................... 54
Waypoint ................................................ 102
Approach track dialog box ................................ 56
Auto Track dialog box ..................................... 66
General .................................................... 67 H
Heading ................................................... 74
Receive .................................................... 85 Heading pane .............................................. 111
Speed ...................................................... 79
Stop ........................................................ 71
Turn........................................................ 83 O
Auto Track editor dialog box.............................. 57 offsetting a leg............................................... 51
Auto Track mode offsetting a track ............................................ 50
definitions ................................................. 12
description ................................................. 6
high-speed ................................................ 10 P
low-speed .................................................. 7
move-up .................................................... 9 panes
offset.................................................. 50–51 Cross track distance ................................... 115
preparing .................................................. 28 Heading ................................................. 111
resuming .................................................. 46 Steering.................................................. 114
running high speed....................................... 38 Steering control mode ................................. 112
running move-up......................................... 40 Posplot dialog box
Auto Track move-up dialog box .......................... 60 Trace..................................................... 108
Auto Track offset dialog box .............................. 63 Posplot view
Auto Track update strategy dialog box .................. 87 Auto Track mode ...................................... 105
Auto Trackmode
running low speed ....................................... 36
S
Steering control mode pane ............................. 112
C Steering dialog box ......................................... 89
changing track direction Compensate............................................. 100
high-speed tracking...................................... 39 Gain........................................................ 97
low-speed tracking....................................... 37 Steering.................................................... 90
Conning view.............................................. 110 Steering pane .............................................. 114
Crab angle dialog box ...................................... 88
Cross track distance pane ................................ 115
T
track resume point .......................................... 46
D
dialog boxes ................................................. 53
Alert limits V
Position................................................. 54 view controls
Approach track ........................................... 56 Posplot
Auto Track ................................................ 66 Show.................................................. 107
General ................................................. 67 Trace.................................................. 108
Heading ................................................ 74 views
Receive ................................................. 85 Auto Track mode ...................................... 105
Speed ................................................... 79 Conning ................................................. 110
Stop ..................................................... 71 Posplot .................................................. 105
Turn..................................................... 83
Auto Track editor ........................................ 57
Auto Track move-up .................................... 60 W
Auto Track offset ........................................ 63
Auto Track update strategy ............................. 87 Waypoint dialog box ..................................... 102
Crab angle ................................................ 88 waypoint table............................................... 16
Posplot
Trace.................................................. 108
Steering.................................................... 89
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K-Pos Auto Track Mode

Document number: 436102 / Revision C

SYSTEM OVERVIEW ................................................................. 5

Joystick heading control .........................................................................................42

Auto Track mode description

Functions available in low-speed tracking

Heading control functions

Speed control functions

Turning control functions

Stopping control functions

Functions available in move-up tracking

Functions available in high-speed tracking

Heading control functions

Speed control functions

Turning control functions

• Set ROT acceleration

Stopping control functions

Waypoint table management

Defining tracks using the graphic track editor

Defining a new track

Inserting a new waypoint

2 Select the Delete option button.

Defining tracks in the Auto Track editor

Entering waypoints manually

7 Click Save to save the current track.

Inserting waypoints in a table

Deleting waypoints from a table

Deleting a waypoint table

Receiving waypoints from external computer

This can be illustrated with the following example:

A complete route with 20 A complete route with 3 A complete route with

Receiving a new waypoint table

Adding waypoints to an existing table

Saving a track to a file

The Save settings dialog box is displayed.

Preparing for operation

Approaching the track, page 29

Recommended start position, page 31

Safe start sector, page 33

Handling position information, page 33

Preparing for Auto Track operation

Approaching the track

4 Click the position setpoint symbol in the Posplot view.

5 Move the setpoint symbol with the trackball.

Recommended start position

Safe start sector

Handling position information

Dialog boxes for handling position information:

Controlling the vessel

Running Auto Track low-speed mode

Joystick heading control

The heading setpoint is set to the present heading.

Joystick speed control

Changing track direction

Running Auto Track high-speed mode

Joystick speed control

Changing track direction

Running Auto Track move-up mode

5 Click Settings→(Track) Move-up.

Joystick heading control

Limitations in move-up tracking mode

Resuming Auto Track mode

3 Select 0 as the next waypoint and click Apply or OK.

Using emergency stop