Kongsberg K-PosAuto Track Mode Operator Manual Release 7.0 301034/C August 2007 Document history Document number: 301034 This version describes operation of the Auto Track mode of the Rev. A October 2006 K-Pos system at basis software release 7.0. Rev. B January 2007 Minor corrections implemented. This version describes operation of the Auto Track mode of the Rev. C August 2007 K-Pos system at basis software release 7.0.3. The reader This operator manual is intended as a reference manual for the system operator. This manual is based on the assumption that the system operator is an experienced DP operator with a good understanding of basic DP principles and general DP operation. If this is not the case, then the operator should first attend the appropriate Kongsberg Maritime training courses. Note The information contained in this document remains the sole property of Kongsberg Maritime AS. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime AS. Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions. Warning The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment. Kongsberg Maritime 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:
[email protected] Kongsberg Maritime AS P.O.Box 483 Telephone: +47 32 28 50 00 N-3601 Kongsberg, Telefax: +47 32 28 50 10 Norway Service: +47 815 35 355 www.kongsberg.com Operator Manual Table of contents 1 K-POS AUTO TRACK .......................................................... 5 1.1 Description ...............................................................................................................5 1.1.1 Functions available in low speed tracking mode.............................................. 6 1.1.2 Functions available in move-up tracking mode ............................................... 9 1.1.3 Functions available in high speed tracking mode........................................... 10 1.2 Definitions ..............................................................................................................12 2 USER INTERFACE ............................................................ 15 2.1 AutoTrack menu .....................................................................................................15 2.2 Waypoint table management ..................................................................................16 2.3 AutoTrack Editor dialog box..................................................................................18 2.3.1 Additional information ............................................................................... 21 2.4 Waypoint dialog box...............................................................................................21 2.5 AutoTrack Offset dialog box ..................................................................................22 2.5.1 Additional information ................................................................................ 25 2.5.2 Displayed error information......................................................................... 25 2.5.3 Saving the new offset track in a waypoint table............................................. 26 2.6 AutoTrack Update Strategy dialog box ..................................................................27 2.6.1 Additional information ................................................................................ 27 2.7 AutoTrack Settings dialog box ...............................................................................28 2.7.1 AutoTrack Settings - General....................................................................... 28 2.7.2 AutoTrack Settings - Stop............................................................................ 35 2.7.3 AutoTrack Settings - Heading...................................................................... 38 2.7.4 AutoTrack Settings - Speed ......................................................................... 42 2.7.5 AutoTrack Settings - Turn ........................................................................... 47 2.7.6 AutoTrack Settings - Receive ...................................................................... 49 2.8 AutoTrack Move-up dialog box .............................................................................51 2.9 Changing crab angle by the Heading Wheel ..........................................................53 2.10 Alarm limits for cross-track error...........................................................................54 2.11 Displayed information ............................................................................................56 2.11.1 Posplot view controls in Auto Track mode.................................................... 57 3 SETTINGS FOR STEERING ............................................... 62 3.1 Rudder/azimuth limits and steering mode..............................................................62 3.2 Steering gain...........................................................................................................68 3.3 Wind forces and thruster moment compensation ...................................................71 4 USER GUIDELINES .......................................................... 73 4.1 Preparation for Auto Track mode...........................................................................73 4.1.1 Recommended start position (low speed and high speed tracking modes) ....................................................................................................... 74 301034/C 3 Auto Track Mode 4.1.2 Safe start sector (low speed and high speed tracking mode) ........................... 76 4.2 Running in Auto Track (low speed) mode .............................................................76 4.2.1 Joystick heading control .............................................................................. 77 4.2.2 Joystick speed control ................................................................................. 77 4.2.3 Changing track direction ............................................................................. 77 4.3 Running in Auto Track (high speed) mode ............................................................78 4.3.1 Joystick speed control ................................................................................. 78 4.3.2 Changing track direction ............................................................................. 79 4.4 Running in Auto Track (move-up) mode ...............................................................79 4.4.1 Move-up procedure..................................................................................... 81 4.4.2 Stop at last waypoint ................................................................................... 82 4.4.3 Joystick heading control .............................................................................. 82 4.4.4 Limitations in move-up tracking mode ......................................................... 82 4.5 Stop on Track .........................................................................................................86 4.6 Emergency stop ......................................................................................................86 4.7 Track definition by Track Editor ............................................................................87 4.7.1 Entering waypoints manually....................................................................... 87 4.7.2 Inserting waypoints..................................................................................... 89 4.7.3 Deleting waypoints ..................................................................................... 90 4.7.4 Deleting a waypoint table ............................................................................ 91 4.8 Track definition by Graphical Track Editor............................................................92 4.8.1 Defining a new track ................................................................................... 92 4.8.2 Modifying a track ....................................................................................... 93 4.8.3 Recover an aborted track editing session ...................................................... 95 4.8.4 Additional information ................................................................................ 96 4.9 Handling position information ...............................................................................96 4.10 Waypoints from external computer ........................................................................99 4.10.1 Receiving waypoints from an external source ............................................... 99 4.11 Saving the current track........................................................................................101 5 DISPLAY VIEWS............................................................ 102 5.1 Performance area ..................................................................................................102 5.2 Conning view .......................................................................................................107 5.2.1 Main view ................................................................................................ 107 5.2.2 Orders and Thruster view ...........................................................................110 5.2.3 Conning view control dialog box ................................................................112 5.3 Deviation view ..................................................................................................... 113 5.3.1 Information displayed in Auto Track mode ..................................................114 5.3.2 View controls ............................................................................................116 5.4 General view......................................................................................................... 117 5.4.1 Information displayed in Auto Track mode ..................................................117 5.4.2 View controls ............................................................................................118 4 301034/C K-Pos Auto Track 1 K-POS AUTO TRACK This chapter contains the following sections: 1.1 Description ...................................................................5 1.2 Definitions..................................................................12 1.1 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. 301034/C 5 Auto Track Mode 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 500 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. The following sections provide brief descriptions of functions available in low speed, high speed and move-up tracking modes. 1.1.1 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. The positions of the waypoints and the vessel’s heading and speed that are to be used for each track section, are specified in waypoint tables. However, other strategies for the vessel’s heading and speed are available. The vessel’s heading is controlled by the following functions: • Operator Specified Heading (see Heading Setpoint - Operator in AutoTrack Settings - Heading on page 38), which enables the operator to change the heading at any time. 6 301034/C K-Pos Auto Track • System Selected Heading (see Heading Setpoint - System selected in AutoTrack Settings - Heading on page 38), which 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. • 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 (see Heading Setpoint - Crab Angle in AutoTrack Settings - Heading on page 38), which can be used both before and during operation. – Change Crab Angle by Heading Wheel with Buttons Dec, Set and Inc (see Changing crab angle by the Heading Wheel on page 53), to increase/decrease the crab angle during operation. Available when Heading Wheel is included in the delivery. • Set ROT (see the relevant K-Pos (OS) Operator Manual) 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 (see the relevant K-Pos (OS) Operator Manual) Enables the operator to specify the acceleration/deceleration in the rate of turn at the start and finish of a commanded rotation. • Joystick Heading Control (see Running in Auto Track (low speed) mode on page 76) 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. 301034/C 7 Auto Track Mode The speed of the vessel along each section of the track can be obtained from the waypoint table, controlled manually by use of the joystick in the surge direction or specified online by the operator. The required vessel speed is automatically maintained by use of position and speed measurement. The operator can select between two alternative speed strategies for passing waypoints (see Waypoint Speed Stategy in AutoTrack Settings - Speed on page 42): • Slowing down at each waypoint before continuing to the next (used when the vessel must remain on track, even during sharp turns) • Passing the Waypoint at a Constant Speed following a circular arc between the two track legs. The turn radius can be: – Obtained from the waypoint table for each waypoint – Specified online by the operator (common for all waypoints) – Calculated automatically according to the vessel speed and requested ROT In addition, the following functions are also available in low speed tracking mode: • Leg Offsetting (see Leg Offset in AutoTrack Settings - General on page 28) 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. • Touch Down Distance (see Touch Down in AutoTrack Settings - General on page 28) 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 (see Track Direction in AutoTrack Settings - General on page 28 and Track Direction on page 34) 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. 8 301034/C K-Pos Auto Track • Stop On Track (see Stop On Track in AutoTrack Settings - Stop on page 35) 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 (see Stop at Last Waypoint in AutoTrack Settings - Stop on page 35 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. • Wheel-Over Point Warning (see Wheel-Over Point (WOP) Alarm in AutoTrack Settings - Turn on page 47) 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). • Cross-Track Warning and Alarm (see Alarm limits for cross-track error on page 54) Enables the operator to specify warning and alarm distances within which the vessel can move on either side of the track. A message is generated if one of these limits is exceeded. • Predefined Controller Gain Selection (see the relevant K-Pos (OS) Operator Manual) Allows the operator to select one of three predefined controller gain levels (High, Medium or Low). • Rotation Center (see the relevant K-Pos (OS) Operator Manual) Allows the operator either to select a predefined rotation center or to enter the required coordinates manually. 1.1.2 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. The following functions are available through the AutoTrack Move-up dialog box which is described in AutoTrack Move-up dialog box on page 51: 301034/C 9 Auto Track 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. 1.1.3 Functions available in high speed tracking mode The high speed tracking mode allows the vessel to follow the track at any vessel speed above 3 to 4 knots. 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 limit the crab angle (the angle between the vessel heading and the track leg direction). The speed of the vessel along each section of the track can be either obtained from the waypoint table or specified by the operator. The operator can define how the required vessel speed should be maintained: • Auto Speed (see AutoTrack Settings - Speed on page 42) The speed is maintained either using position and speed measurements or using constant pitch/rpm based on a preprogrammed Speed/Thrust Table. • Speed Deadband (see Speed Control - Deadband in AutoTrack Settings - Speed on page 42) 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 (see Joystick speed control on page 78) 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). 10 301034/C K-Pos Auto Track When passing a waypoint, the vessel maintains a constant speed along a circular arc between the two track legs. The turn radius (see Turn Radius for Waypiont turn in AutoTrack Settings - Turn on page 47) can be: • Obtained from the waypoint table for each waypoint • Specified online by the operator (common for all waypoints) • Calculated automatically according to the vessel speed and requested ROT. The following functions are also available in the high speed tracking mode: (For items with short descriptions see Functions available in low speed tracking mode on page 6.) • Leg Offsetting (see Leg Offset in AutoTrack Settings - General on page 28), to specify distance left/right. • Touch Down Distance (see Touch Down in AutoTrack Settings - General on page 28), to specify the distance between the vessel’s rotation center to the pipe/cable touchdown point on the sea bed. • Track Direction (see Track Direction in AutoTrack Settings - General on page 28 and Track Direction on page 34) with Turning Option, 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 (see Reverse Action in AutoTrack Settings - Stop on page 35). • Stop On Track, according to specified strategy (see Stop On Track in AutoTrack Settings - Stop on page 35). • Crab Angle Alarm (see Crab Angle Limit in AutoTrack Settings - Heading on page 38) Enables the operator to specify a crab-angle limit. If the crab angle reaches this limit, an alarm message will be issued. In addition, the operator can specify that the system should restrict the crab angle to the specified limit. • Wheel-Over Point Warning, before a turn is initiated (see Wheel-Over Point (WOP) Alarm in AutoTrack Settings - Turn on page 47). • Cross-Track Warning and Alarm (see Alarm limits for cross-track error on page 54), when limit exceeded. 301034/C 11 Auto Track Mode • Rudder/Azimuth Limit (see Rudder/azimuth limits and steering mode on page 62) Allows the operator to set limiting angles for the rudders/azimuth thrusters within which they are allowed to operate. • Auto Track Gain Selection (see Steering gain on page 68) Allows the operator to select either one of three predefined controller gains (High, Medium, Low) or automatic gain selection (according to the vessel speed). The operator can also specify the gain adjustment for Counter Rudder (stabilisation) and Auto Trim (weather). • Set ROT, to specify the rate of turn (see the relevant K-Pos (OS) Operator Manual). • Set ROT Acceleration, to specify the acceleration of the rate of turn (see the relevant K-Pos (OS) Operator Manual). • Gyro Difference Alarm (see the relevant K-Pos/ (OS) Operator Manual) If a gyrocompass fails, or the system detects a discrepancy between the gyrocompasses, a message is given. When only one gyrocompass is enabled the operator will be informed about the need for a second heading source. The rotation center for Auto Track (high speed) is computed automatically (the vessel’s natural pivoting point). This rotation center is also the vessel’s position reference point in Auto Track (high speed) mode. 1.2 Definitions 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 12 301034/C K-Pos Auto Track 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 Present leg The definition of present leg varies depending on the waypoint speed strategy you have selected (see Waypoint Speed Strategy in AutoTrack Settings - Speed on page 42). When the waypoint speed strategy is Slow down at waypoint, then the present leg is the leg between the previous waypoint (Previous WP) and the current waypoint (Current WP). See Figure 1. 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. See Figure 1. Figure 1 Present Leg Next WP Previous WP Current WP STP STP CD2950 STP Start Turn Point. The point on a track where a straight line ends and a curve (usually a circle) begins (see Figure 1). See also WOP. Touch down The distance from the selected vessel rotation center to a virtual point behind the vessel. Touch down point The point defined by the touch down. Track A sailing route defined by two or more waypoints. 301034/C 13 Auto Track Mode Track update Modification of track data. This includes (but is not limited to) modification of waypoint coordinates or attributes and applying track offsets. Waypoint 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 WOP. Wheel-Over Point See WOP. WOP Wheel-Over Point. 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. Figure 2 WOP and Wheel-Over Line WP STP Turn ra dius WOP Wheel- Over L ine (CD3175) WP Waypoint. 14 301034/C User interface 2 USER INTERFACE This chapter contains the following sections: 2.1 AutoTrack menu ........................................................15 2.2 Waypoint table management......................................16 2.3 AutoTrack Editor dialog box .....................................18 2.4 Waypoint dialog box ..................................................21 2.5 AutoTrack Offset dialog box .....................................22 2.6 AutoTrack Update Strategy dialog box .....................27 2.7 AutoTrack Settings dialog box ..................................28 2.8 AutoTrack Move-up dialog box.................................51 2.9 Changing crab angle by the Heading Wheel..............53 2.10 Alarm limits for cross-track error ..............................54 2.11 Displayed information ...............................................56 2.1 AutoTrack menu This section contains an overview of the AutoTrack menu, and references to sections where you can find more information about the menu entries. Menu item Described where New... Description of the Waypoint dialog box (see Waypoint dialog box on page 21). Defining a new track (see Defining a new track on page 92. Modify... Description of the Waypoint dialog box (see Waypoint dialog box on page 21). Modifying a track (see Modifying a track on page 93). Recover... Recovering an aborted track editing session (see Recover an aborted track editing session on page 95. Settings... Description of the AutoTrack Settings dialog box (see AutoTrack Settings dialog box on page 28). Move-up... Description of the Move-up dialog box (see AutoTrack Move-up dialog box on page 51). Running in move-up tracking mode (see Running in Auto Track (move-up) mode on page 79). Rotation Center... Refer to the relevant K-Pos (OS) Operator Manual. Heading... Refer to the relevant K-Pos (OS) Operator Manual. Rate Of Turn... Refer to the relevant K-Pos (OS) Operator Manual. Speed Refer to the relevant K-Pos (OS) Operator Manual. Acceleration... Refer to the relevant K-Pos (OS) Operator Manual. Steering... Description of the Steering dialog box (see Settings for steering on page 62). 301034/C 15 Auto Track Mode Menu item Described where Gain... Low-speed tracking mode: Refer to the relevant K-Pos (OS) Operator Manual. High-speed tracking mode: Description of the Steering dialog box (see Settings for steering on page 62). Alarm Limits... Cross-track error alarm limits (see Alarm limits for cross-track error on page 54. Refer also to the relevant K-Pos (OS) Operator Manual. Dp Class... Refer also to the relevant K-Pos (OS) Operator Manual. Update Strategy... Description of the AutoTrack Update Strategy dialog box (see AutoTrack Update Strategy dialog box on page 27). Editor... Description of the AutoTrack Editor dialog box (see AutoTrack Editor dialog box on page 18. Defining a track using the AutoTrack Editor dialog box (see Track definition by Track Editor on page 87. Offset... Description of the AutoTrack Offset dialog box (see AutoTrack Offset dialog box on page 22). 2.2 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 AutoTrack Editor dialog box (see Track definition by Track Editor on page 87. 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 Rhumbline, Great Circle or UTM Straight Line. Waypoints can be inserted, modified and deleted. • Defining a track using the Graphical Track Editor (on-screen track definition) (see Track definition by Graphical Track Editor on page 92) Graphical Track Editing is performed in the Posplot view to the right in the working area 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 Settings dialog box will be used when defining 16 301034/C User interface an on-screen track. To change leg type, enter the Auto Track Settings dialog box again and select another leg type as default. • Waypoints from external computer (see Waypoints from external computer on page 99) 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 (see AutoTrack Settings - Receive on page 49) 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 (see File in AutoTrack Editor dialog box on page 18 and Saving the current track on page 101) The operator can open, delete and save track files containing a waypoint table. • Track Offset (see AutoTrack Offset dialog box on page 22) The operator can offset a track defined in a waypoint table and, if required, save the new offset track in a new waypoint table or overwrite an existing waypoint table. The available 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 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 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. 301034/C 17 Auto Track Mode • Selecting Update Strategy (see AutoTrack Update Strategy dialog box on page 27) The operator can select the strategy to be in use when editing tracks (use of Track Editors and Track Offset functionality.) The selected update strategy sets the “rules” for when and which waypoints on a track the operator can edit. The following update strategies are available: – Always allowed – Not on present leg – Not in Auto Track mode 2.3 AutoTrack Editor dialog box The waypoints which describe the required track are stored in a waypoint table. This table can contain up to 500 waypoints. All the information that is required in the waypoint table can be manually entered and modified. Waypoints can be loaded from an external source (see AutoTrack Settings - Receive on page 49 and Waypoints from external computer on page 99). (You can also define a track on the Posplot view using the cursor as described in Track definition by Graphical Track Editor on page 92). To display the waypoint table: Select AutoTrack→Editor. The AutoTrack Editor dialog box is displayed. Waypoints The upper left cell shows the number of waypoints in the table. The table can contain up to 500 waypoints. 18 301034/C User interface The left column of the table contains the sequence numbers of the waypoints. 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 (see Receiving waypoints from an external source on page 99). 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 (see Position Presentation dialog box section in the K-Pos (OS) Operator Manual) 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 Rhumbline, 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 AutoTrack Settings dialog box. For short legs the difference between Rhumbline, Great Circle and UTM Straight Line is negligible. 301034/C 19 Auto Track Mode • Rhumbline This is a path of constant compass heading. A rhumbline appears as a straight line in Mercator’s projection. • 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 Open 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. 20 301034/C User interface Note Track files are deleted locally on your Operator Station. 2.3.1 Additional information The selected track update strategy determines whether or not the waypoint table can be edited while the system is in Auto Track mode (see AutoTrack Update Strategy dialog box on page 27). You can offset a track defined in a waypoint table using the AutoTrack Offset dialog box (see AutoTrack Offset dialog box on page 22). Here you can select between different offset strategies and distance/direction to offset the track. 2.4 Waypoint dialog box You can define new tracks and modify existing tracks directly on the Posplot view to the right in the working area 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. See also Track definition by Graphical Track Editor on page 92. SelectAutoTrack menu, click New or Modify or Recover . The Waypoint dialog box is displayed. 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 301034/C 21 Auto Track Mode You can edit a track by selecting one of the following: • Move Moves waypoints and/or adjust the turn radii for specific waypoints. • Insert new Inserts new waypoints. • Delete Deletes waypoints. 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 500. 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. Undo Deletes all changes since the editing session was started or you last clicked the Apply button; one change at a time. The Waypoint dialog box remains displayed on the screen as long as there are waypoints left in the table/displayed on the screen. Apply Applies the changes you have made to the current track. Cancel Discards all changes since you started the last track editing session and closes the Waypoint dialog box. OK Applies the changes you have performed in the track editing session and closes the Waypoint dialog box. The selected AutoTrack Update Strategy (see AutoTrack Update Strategy dialog box on page 27) determines whether or not you can edit a track while the system is in Auto Track mode. 2.5 AutoTrack Offset dialog box A track defined in a waypoint table can be offset using the AutoTrack Offset dialog box. You can select between different offset strategies and distance/direction to offset the track. Select AutoTrack→Offset. The AutoTrack Offset dialog box is displayed. 22 301034/C User interface Note Each time an offset is applied, the offset is relative to the original track, not relative to the offset track. Strategy 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 AutoTrack 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 WP 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. Figure 3 Parallel offset strategy 301034/C 23 Auto Track Mode 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. Figure 4 Geographic offset strategy 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 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”. Refer to Displayed information on page 56 for a description of Auto Track states. 24 301034/C User interface Figure 5 Present Leg offset strategy 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). 2.5.1 Additional information The selected offset track replaces the original track. In order to retrieve the original track, select No Offset in the AutoTrack Offset dialog box. Alternatively you can select and read it from the AutoTrack Editor dialog box (click the File - Open button on the AutoTrack Editor dialog box and select the file name for the original track). You can also edit the existing waypoint table in the AutoTrack Editor dialog box. When applying a new track offset, the original track is shown as dashed grey lines on the Posplot view. The new offset track is shown as solid blue lines. You can select to display or not to display the original and/or offset track on the Posplot view from the Posplot view control dialog box. Refer to Show/Hide in Posplot view controls in Auto Track mode on page 57 for a description on how to show/hide the tracks. 2.5.2 Displayed error information If you perform any illegal actions when using the AutoTrack Offset dialog box, the following error information will be presented in the status bar area in the lower left corner of the display, and on dedicated dialog boxes (see Figure 6): • Track offset value too small • Track offset not allowed, wrong mode 301034/C 25 Auto Track Mode • Incorrect Track offset strategy • Track table is empty • Incorrect coordinate system Figure 6 dpview dialog box - error information example 2.5.3 Saving the new offset track in a waypoint table You can save the new offset track in a new waypoint table or overwrite an existing waypoint table. See Saving the current track on page 101. Note A new offset track saved to disk only consists of one single track. It does not contain any offset information. 26 301034/C User interface 2.6 AutoTrack Update Strategy dialog box Select AutoTrack→Update Strategy. The AutoTrack Update Strategy dialog box is displayed. 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. 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 (see AutoTrack Offset dialog box on page 22 for a more detailed description of Auto Track states and offset strategies). Not on present leg All waypoints on the track can be updated using track editing methods, except for the two waypoints describing the present leg. No waypoints may be updated using the AutoTrack Offset dialog box. This is because all four selectable strategies for track offset will also affect the waypoints for the present leg. See Additional information on page 27. Not in Auto Track Mode No waypoints can be updated using track editing methods and/or track offset functionality when in Auto Track mode. However, track definition functionality and Geographic offset strategy can be used to update waypoints when running in other system modes. 2.6.1 Additional information When the turn radius is displayed, present leg starts at the waypoint turn’s starting point (STP) as illustrated in Figure 7. 301034/C 27 Auto Track Mode Figure 7 A track leg is defined to start at the beginning of the waypoint turn if the turn radius is displayed Next WP Previous WP Current WP STP STP CD2950 2.7 AutoTrack Settings dialog box The features available in the move-up, low speed and high speed tracking modes are selected from the AutoTrack Settings dialog box. To display this dialog box, either select AutoTrack→Settings, or press the TRACK SETUP button in the CONTROLS button group. This dialog box has six pages and the functions that can be selected from these pages are described in the following sections: • AutoTrack Settings - General on page 28 • AutoTrack Settings - Stop on page 35 • AutoTrack Settings - Heading on page 38 • AutoTrack Settings - Speed on page 42 • AutoTrack Settings - Turn on page 47 • AutoTrack Settings - Receive on page 49 2.7.1 AutoTrack Settings - General Select AutoTrack→Settings or press the TRACK SETUP button. The General page of the AutoTrack Settings dialog box is displayed. 28 301034/C User interface 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). When leaving Auto Track mode (move-up, low speed or high speed) during a track operation, the current vessel position on the track is saved as a track resume point. This resume point is displayed as a filled circle of fixed size on the Posplot view (see Track resume point as start waypoint on page 32). For further information, see Track resume point (waypoint number 0) on page 32. Tracking Mode If all three tracking modes are available on your vessel, you can select among Move-up, Low speed or High speed operation. See also Running in Auto Track (low speed) mode on page 76, Running in Auto Track (high speed) mode on page 78 and Running in Auto Track (move-up) mode on page 79. 301034/C 29 Auto Track Mode 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 (see Heading Setpoint - System selected in AutoTrack Settings - Heading on page 38) and the Waypoint Speed Strategy will be set to Constant Speed (see Waypoint Speed Strategy in AutoTrack Settings - Speed on page 42). 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 (see 2.7.1.2). The selected track direction (forward/reverse) or the heading of the vessel has no influence on the resulting Leg Offset. Leg Offset is not available (i.e. appears dimmed) in Auto Track state, Approach First WP. For further information see Leg Offset on page 33. 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 button, is always unavailable as its function is to act as a warning indicator, i.e. pressed - Stop active or not pressed - Stop inactive. For further information see Track Direction on page 34. Touch Down The distance from the vessel’s rotation center 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. 30 301034/C User interface Figure 8 Vessel taking an outer turn when touchdown distance is used = vessel rotation center = pipe touchdown point = touchdown distance = pipe track = waypoint Cd3231 Approach Track Determines the strategy for approaching the track. The approach speed depends on the Along Speed Setpoint and the Across Speed Setpoint. See AutoTrack Settings - Speed on page 42. 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 (see Recommended start position (low speed and high speed tracking modes) on page 74). Figure 9 Approach track with Track Leg selected 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. 301034/C 31 Auto Track Mode Figure 10 Approach track with Waypoint selected Default Leg Type Select the required Leg Type: either Rhumbline, Great Circle or UTM Straight Line (see Leg Type in AutoTrack Editor dialog box on page 18 for a detailed description of leg types). The default leg type is always applied when using the Graphical Track Editor and when receiving waypoints from an external source. 2.7.1.1 Track resume point (waypoint number 0) When it is possible to select a track resume point, the text 0: Track resume point is displayed under Next Waypoint. If you select 0 (the track resume point) as the start waypoint the next time you enter Auto Track mode (low speed or high speed), the start waypoint will be the position where you left the auto track operation the previous time. Figure 11 Track resume point as start waypoint 32 301034/C User interface 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 AutoTrack Settings dialog box. 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 (see Strategy - Geographic in AutoTrack Offset dialog box on page 22). The resume point is deleted when track offset is reset (see Strategy - No Offset in AutoTrack Offset dialog box on page 22). 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. 2.7.1.2 Leg Offset The Leg Offset value you enter is the distance in meters perpendicular to the track. For example, if a Leg Offset of 20 m is used, the vessel’s rotation center will be 20 m to the left of the track and perpendicular to the track leg. When making a clockwise turn at constant speed, the vessel will make the “outer” turn (see 2.7.1.2). Note The offset track is not displayed in the Posplot view. Figure 12 Leg offset Outer turn + Leg offset Inner turn - Direction of ascending waypoint numbers (CD2874) 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: 301034/C 33 Auto Track Mode Waypoint leg offset warning <WP no.> <leg offset> <limit> will be reported. 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 (see Figure 12). Note 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 AutoTrack Move-up dialog box (see AutoTrack Move-up dialog box on page 51) will differ from the actual distance the vessel has travelled. 2.7.1.3 Track Direction The result of selecting Forward or Reverse depends on the tracking mode (low speed or high speed) and whether or not the system is already in Auto Track mode. • Before entering the Auto Track mode: – Selecting Forward means that the waypoints are to be followed in ascending order of waypoint number, beginning with the selected Next Waypoint. – Selecting Reverse means that the waypoints are to be followed in descending order of waypoint number, beginning with the selected Next Waypoint. • When already in 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 ON TRACK 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 ON TRACK button (by pressing the button twice), the vessel continues along the track in ascending order of waypoint numbers. See Changing track direction on page 77. 34 301034/C User interface • 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 (see Reverse Action in AutoTrack Settings - Stop on page 35). – 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 (see Reverse Action in AutoTrack Settings - Stop on page 35). See Changing track direction on page 79. • In move-up tracking mode Track Direction is not available, but you can select any Track Direction for use in move-up tracking mode before entering the tracking mode. Note If selecting either Forward or Reverse causes the vessel to stop on the track, this is indicated by the Stop button on the dialog box. This feature is provided as a warning that a stop will occur when you click the OK or Apply button. 2.7.2 AutoTrack Settings - Stop Select AutoTrack→Settings or press the TRACK SETUP button. The AutoTrack Settings dialog box is displayed. Click the Stop tab. The Stop page is displayed. 301034/C 35 Auto Track Mode Stop On Track Defines the strategy for stopping on the track either as a result of pressing the STOP ON TRACK button twice or when changing the track direction (see Track Direction in AutoTrack Settings - General on page 28). 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. 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 36 301034/C User interface 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 (refer to the Position information chapter in the relevant K-Pos (OS) Operator Manual). 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 (see Track Direction in AutoTrack Settings - General on page 28). This procedure is described in Changing track direction on page 79. 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. Figure 13 Turn 180 degrees (high speed tracking mode) Changing track direction Turn Direction: to Port (CD3316) Turn Direction When Turn 180° is selected, you can specify that a turn should be either to Starboard or to Port (see Figure 13). 301034/C 37 Auto Track Mode 2.7.3 AutoTrack Settings - Heading Select AutoTrack→Settings or press the TRACK SETUP button. The AutoTrack Settings dialog box is displayed. Click the Heading tab. The Heading page is displayed. 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). 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. 38 301034/C User interface • Towards WaypointSets 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. Crab Angle A positive value offsets the heading setpoint to starboard. As you can see from Figure 14, 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 (see Changing crab angle by the Heading Wheel on page 53). Figure 14 Crab angle = vessel rotation center = pipe track = waypoint Cd3232 301034/C 39 Auto Track Mode 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. 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. Figure 15 illustrates the use of operator specified fixed heading setpoint. Figure 15 Operator specified fixed heading setpoint Operator specified fixed heading setpoint = vessel rotation center = pipe track = waypoint Cd3233 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 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). 40 301034/C User interface Figure 16 Crab angle Crab angle WP1 WP2 (CD3317) 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. 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. Limit The required crab angle 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 to for example Track 25 degrees, the waypoint must be within an area of 25 degrees to each side of the vessel’s front (50 degrees in total). 301034/C 41 Auto Track Mode Figure 17 The heading deviation limit WP 1 25 25 (CD3177) 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. 2.7.3.1 Additional information In low speed and move-up tracking modes, you can also deselect auto heading control by means of the YAW button, and use the joystick to control the vessel heading. See Joystick heading control on page 77. In low speed and move-up tracking modes, you can specify limits for turning the rudders (see Allocation Settings dialog box in the relevant K-Pos (OS) Operator Manual). 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 (see Rudder/azimuth limits and steering mode on page 62). 2.7.4 AutoTrack Settings - Speed Select AutoTrack→Settings or press the TRACK SETUP button. The AutoTrack Settings dialog box is displayed. Click the Speed tab. The Speed page is displayed. 42 301034/C User interface Along Speed Setpoint Specifies the strategy for determining the vessel speed along the track: Waypoint Table The speed setpoint for each leg is taken from the waypoint table. Operator The speed setpoint 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, see the Changing the position setpoint chapter in the relevant K-Pos (OS) Operator Manual. Across Speed Setpoint 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. 301034/C 43 Auto Track Mode 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 touch down point or rotation center if touch down is not used) will pass through the waypoints. 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 displayed around the current waypoint on the Posplot view. 44 301034/C User interface Figure 18 Waypoint Speed Strategy: Slow down at Waypoint 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 AutoTrack Settings dialog box (see AutoTrack Settings - Turn on page 47). The turn radius at each waypoint is displayed on the Posplot view. “Pass constant” is shown on the AutoTrack Status display when the vessel follows the turn arc in a waypoint turn (see Displayed information on page 56). When you have selected Constant Speed, the vessel (or more precisely, the touch down point or rotation center if touch down is not used) will pass the waypoints along circular arcs with specified or calculated turn radii. 301034/C 45 Auto Track Mode Figure 19 Waypoint Speed Strategy: Constant speed WP3 WP4 WP1 (CD3318) WP2 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. 2.7.4.1 Additional information 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. See Joystick speed control on page 77. 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. 46 301034/C User interface 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. 2.7.5 AutoTrack Settings - Turn Select AutoTrack→Settings or press the TRACK SETUP button. The AutoTrack Settings dialog box is displayed. Click the Turn tab. The Turn page is displayed. 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 (see Waypoint Speed Strategy in AutoTrack Settings - Speed on page 42). Waypoint Table The value from the waypoint table is used. The waypoints can have different turn radii. 301034/C 47 Auto Track Mode Automatic (Using Rate of Turn) The calculated value depends on the vessel speed, the currently-selected Rate Of Turn (see the Heading dialog box - Rate Of Turn page section in the relevant K-Pos (OS) Operator Manual), 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 (see Figure 21). Wheel-Over Point (WOP) Alarm Specifies whether an alarm 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 alarm and alarm 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. 2.7.5.1 Additional information Figure 20 shows the turn radius at a waypoint. 48 301034/C User interface Figure 20 Turn radius WPn Radius (CD3319) If the turn arcs of two waypoints touch each other, the system will automatically reduce the turn radius. The turn radius may be reduced at some waypoints due to geometrical constraints (The length of the straight leg between two waypoints cannot be less than 5 m.). Figure 21 Length of straight leg between two waypoint turns Minimum 5 m straight leg (CD2875) 2.7.6 AutoTrack Settings - Receive Select AutoTrack→Settings or press the TRACK SETUP button. The AutoTrack Settings dialog box is displayed. Click the Receive tab. The Receive page is displayed. This dialog box allows you to receive/send waypoint data from/to an external computer. (See also Waypoints from external computer on page 99). 301034/C 49 Auto Track Mode Receive Track/Waypoints from external Source and Send to Enable reception Enables and disables the reception of waypoints from an external source. Enable sending Enables and disables the transmission of waypoints to an external source. Both Enable reception and Enable sending can be selected at the same time. Receive from Source Specifies the data source from which the waypoints are to be received. 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. Refer to the Coordinate systems section in the K-Pos (OS) Operator Manual. 50 301034/C User interface 2.8 AutoTrack Move-up dialog box Using this dialog box, you can: • 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. • Move the vessel a specified distance (to new position setpoint) forward or backward along the track. • Specify the speed setpoint and acceleration factor for the vessel during a move-up operation. Select AutoTrack→Move-up. The AutoTrack Move-up dialog box is displayed. Progress 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. 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 the Reset button 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. 301034/C 51 Auto Track Mode 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 AutoTrack Settings - General on page 28) 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. Move-up Distance 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 on the AutoTrack Settings dialog box (see AutoTrack Settings - Speed on page 42). 52 301034/C User interface 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 AutoTrack Move-up dialog box (the Speed Setpoint text box is shown shaded containing the previous operator-selected speed setpoint). Acceleration Factor The acceleration factor that will be used for move-up when you click the OK or Apply button. You can adjust the acceleration factor by either entering the required value or clicking the up and down arrows. The value specifies the fraction of the available acceleration to be applied 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. 2.9 Changing crab angle by the Heading Wheel During operation in low speed and move-up tracking modes you can change the crab angle using the Heading Wheel and its HEADING buttons (from left to right), DECREASE, ACTIVATE and INCREASE. To activate the Heading Wheel, one of these three associated buttons must be pressed. 301034/C 53 Auto Track Mode To change the crab angle: 1 Press the DECREASE, ACTIVATE or INCREASE button once. • The following 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). Note The crab angle can only be changed if the Heading Setpoint in the Auto Track Settings dialog box is set to Towards WP or Along Arc (see AutoTrack Settings - Heading on page 38). This dialog box must be displayed if rotation of the Heading Wheel is to have an effect. 2.10 Alarm limits for cross-track error The Alarm Limits dialog box enables the operator to set alarm and warning limits. Alarm and warning limits for position deviation, heading deviation and cross-track error are set on the Position page. Alarm and warning limits for pitch, roll and heave motion are set on the VRS page. This section describes alarm and warning limits for cross-track error. More information about the Alarm Limits dialog box can be found in the relevant K-Pos (OS) Operator Manual. Select AutoTrack→Alarm Limits. The Position page of the Alarm Limits dialog box is displayed. 54 301034/C User interface 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. To activate Cross-track error limits, select the Cross - Active check box. You can activate either the alarm limit only, or both the warning and alarm limits. You cannot activate only a warning limit. If you click the Warning - Active check box, the corresponding alarm limit is also activated. Cross Allows you to 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 displayed. When the vessel moves away from the track by more than the alarm limit, an audible signal sounds and an alarm message is displayed. These limits can be activated or changed at any time. However, the limits are active only in Auto Track mode. When active, the cross-track limits are shown as solid lines in the Performance area (see Performance area on page 102, in the General view (see General view on page 117) and the Deviation view (see Deviation view on page 113). When inactive, the cross-track limits are shown as dashed lines in the Performance area, in the General view and the Deviation view. The Numeric values of the cross-track warning and alarm limits are shown in the Numeric view (refer to the relevant K-Pos (OS) Operator Manual). 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 issued. This is because the Auto Track state is changed to Approach Track, in which cross-track limits do not apply. This prevents excessive alarms. 301034/C 55 Auto Track Mode 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 issued. 2.11 Displayed information The track that is defined in the waypoint table is displayed on the Posplot view (when the Track check box on the Show page of the Posplot view control dialog box is selected). The next wheel-over point is marked with the letters WOP except: • when Heading Setpoint is Operator Selected • while on a turn arc The cross-track error is displayed on the General and Deviation views. The current operating mode is displayed in the status bar: • TRACK MOVE UP in move-up mode • TRACK LOW SP in low speed mode • TRACK HIGH SP in high speed mode A status display is provided in the upper-left corner of the Posplot view. Figure 22 Example Auto Track status display This status display provides the following information: • The current Auto Track state (for example, “On track”) • The distance and time to the next wheel-over point, except – when Heading Setpoint is Operator Selected – while on a turn arc • The next waypoint number • The currently-selected rotation center (displayed in all modes) The Auto Track states that may be displayed are described below: Approach circle Approaching the turn circle in a waypoint turn (Waypoint Speed Strategy - Constant Speed). Approach first circle Approaching the turn circle at the start waypoint (Waypoint Speed Strategy - Constant Speed). 56 301034/C User interface Approach first WP Approaching the first waypoint on a straight line from the start position (Approach Track - Waypoint). Approach last Approaching the last waypoint in the track. Approach WP Retarding Approaching the track and within the Waypoint reached limit of the waypoint (Waypoint Speed Strategy - Slow down at Waypoint). Approach track Approaching the track (Approach Track - Track Leg). At last WP Low speed and move-up tracking modes: Stationary at the last waypoint of the track. High speed tracking mode: Past last waypoint and continuing at same speed on the extension of the last leg. When “At last WP” is shown in the Auto Track status display, it is not possible to enter a new Leg Offset value on the General page of the AutoTrack Settings dialog box. No WP Control Temporary idle state. On track Following a track leg. Pass constant Following the turn arc in a waypoint turn (Waypoint Speed Strategy - Constant Speed). Pass first WP Following the turn circle of the start waypoint. Retarding at WP Following the track and past the Waypoint reached limit of the waypoint (Waypoint Speed Strategy - Slow down at Waypoint). Retarding at first WP Past the Waypoint reached limit of the start waypoint (Waypoint Speed Strategy - Slow down at Waypoint). Turn 180 Reversing on track (Reverse Action - Turn 180 °). 2.11.1 Posplot view controls in Auto Track mode This section describes how to show/hide the track, and how to show/hide trace lines and trend symbols of the vessel’s movement on the Posplot view. 301034/C 57 Auto Track Mode For a detailed description of the Posplot view control dialog box, refer to section Posplot view in the relevant K-Pos (OS) Operator Manual. To display the view control dialog box: 1 Place the cursor anywhere in the Posplot view and click the right trackball button. • A shortcut menu is displayed. 2 Click View Control on this menu. • The Posplot view control dialog box is displayed. 3 Click the required tab. 2.11.1.1 Show Show/Hide Display Display or remove various features of the Posplot view. Track When selected, the track determined by the selected Track Offset strategy, and whether or not Touchdown is used, is displayed. Figure 23 shows the instance where Show Track is selected and Touchdown is used. The dotted line displays the waypoint turn that the vessel shall follow, and the solid drawn line displays the waypoint turn that the touchdown point shall follow. 58 301034/C User interface Figure 23 Vessel in a Waypoint turn - Touchdown is used Org. Track When Org. Track is selected, the original track is displayed. When no Track Offset is selected, selecting/clearing Org. Track has no effect as long as Show Track is selected. 2.11.1.2 Trace Trace line It is possible to select 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 center. In high speed tracking mode the trace line shows the path followed by the vessel’s natural pivoting point. 301034/C 59 Auto Track Mode Figure 24 Example Posplot trace Trend symbols It is possible to select 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. Figure 25 Example Posplot trend Note With the Posplot view at close range when the simplified symbol is displayed, the “trended” symbols are not shown. 60 301034/C User interface Clear All Using this button, permanently clears all the trend symbols and the trend line both in memory and on the Posplot view. 301034/C 61 Auto Track Mode 3 SETTINGS FOR STEERING This chapter contains the following sections: 3.1 Rudder/azimuth limits and steering mode .................62 3.2 Steering gain ..............................................................68 3.3 Wind forces and thruster moment compensation .............................................................71 3.1 Rudder/azimuth limits and steering mode The Steering page of the Steering dialog box allows you to: • Set angle limits for the rudders and/or azimuth thrusters within which the rudders/azimuth thrusters are allowed to operate. • Select which pre-configured steering group is to be used for steering the vessel. • Select the steering mode which determines how the selected steering group is used to steer the vessel. • Set maximum steering and propulsion force. To display the Steering page, select AutoTrack→Steering (to display the Steering dialog box) and then, if necessary, click the Steering tab. Figure 26 Steering dialog box - Steering page 62 301034/C Settings for steering Note The vessel configuration determines the options that are available on this dialog box. 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 grouping into steering groups. The dialog box shown in Figure 26 would be displayed for the example vessel configuration shown in Figure 27. This example vessel has three steering groups, each comprising two steering units. These thrusters are also configured for use as force units. The illustrations shown in the following pages are details of the Thruster Main view. Figure 27 Example vessel configuration. The thrusters are represented by numbers. Steering group Emerg Steering group Aux Steering group Propeller CD 2988 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. 301034/C 63 Auto Track Mode Steering Mode This determines how the steering units within the active steering group are used to steer the vessel, and is not available if there is only one steering unit. Steering Group Aux is used in the examples shown (for a description of steering groups, see Steering Group later in this section). Figure 28 Synchronous steering mode Synchronous — Both steering units have the same azimuth angle and are used to generate the directional force. Figure 29 Asynchronous Auto steering mode 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. 64 301034/C Settings for steering Figure 30 Asynchronous Starboard steering mode Asynchronous Starboard — The starboard steering unit generates the directional force. The port steering unit is fixed alongships. Figure 31 Asynchronous Port steering mode Asynchronous Port — The port steering unit generates the directional force. The starboard steering unit is fixed alongships. Figure 32 Fixed angle steering mode 301034/C 65 Auto Track Mode Fixed angle — The steering thrusters are at fixed angles. Changing RPM and pitch are used to obtain moment demand. 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. In the example shown in Figure 27, you can select between the Emerg, Aux and Propeller steering groups. The figures below show the effect of selecting these steering groups when the Synchronous steering mode is also selected. Steering units belonging to groups which are not selected for steering provide only alongships force. Steering group Emerg, demand to port. Steering group Aux, demand to port. Steering group Propeller, demand to port. 66 301034/C Settings for steering 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. Max Force Limit for Propulsion cannot exceed Max Force Limit for Steering. An Illegal Value dialog box is displayed if you try to enter a higher value in the for Propulsion spin box than in the for Steering spin box. For the Max Force Limit for Propulsion to apply, the Max Force Limit for Propulsion check box (see Figure 26) must be selected. When this check box is not selected, the Max Force Limit for Propulsion is 100 %. 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. In the following examples the Max Force Limit for Propulsion is set to 60% and the Max Force Limit for Steering is set to 90%. The steering units are thrusters 7 and 8 (Steering Group Aux). No thrust is applied using the force units until the force demand reaches 90% on the steering units. 301034/C 67 Auto Track Mode 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 will increase (if necessary) to 100%, while the force units are still limited to 60%. • The steering units are limited to 90% and the force units are limited to 60% even though the force demand is higher. • The force units are limited to 60% until the steering units reach 100%. The force units then start increasing if necessary. 3.2 Steering gain A gain level can be applied to the yaw axis in Auto Track (high speed) mode using the Gain page of the Steering dialog box. The Counter Rudder and Auto Trim gain can also be set. To display the Gain page, select AutoTrack→Steering (to display the Steering dialog box) and then click the Gain tab. 68 301034/C Settings for steering Figure 33 Steering dialog box - Gain page Gain Level Automatic 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. 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 in the complete range from 50% to 150% by clicking the up/down arrows or typing in the required value. Different gain factors 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 force demand. 301034/C 69 Auto Track Mode 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 is displayed in the Event List window. The most suitable gain level depends on the vessel characteristics, the weather conditions and the required positioning accuracy. Operational experience therefore plays a large part in determining the optimum gain level, but 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. Refer to the Controller Mode and Gain Level selection section in the K-Pos (OS) Operator Manual for further details. 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. 70 301034/C Settings for steering Figure 34 Effects of Counter Rudder settings New course Counter rudder setting too low, overshoot response. New course Counter rudder setting too high, sluggish and creeping response. New course Correct setting of counter rudder, ideal response. (CD3291) 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 When this button is clicked, Gain Level, Counter Rudder and Auto Trim are reset to the default settings. 3.3 Wind forces and thruster moment compensation The Compensate page of the Steering dialog box is related to Auto Track (high speed) mode and can be used to enable or disable wind forces compensation and thruster moment compensation. To display the Compensate page, select AutoTrack→Steering (to display the Steering dialog box) and then click the Compensate tab. 301034/C 71 Auto Track Mode Figure 35 Steering dialog box - Compensate page Environment Wind Forces compensation This can be enabled/disabled by selecting/clearing the check box. When wind force compensation is enabled, the vessel will react much more quickly to sudden changes in wind speed and direction. Thrusters Moment compensation When the vessel speed is controlled by external levers and the vessel heading is controlled by the K-Pos system, the K-Pos 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 known to be a fault situation where the feedback from a particular force thruster is unreliable, you can clear the corresponding Moment compensation check box. The K-Pos system will no longer compensate for the effect of this thruster. 72 301034/C User guidelines 4 USER GUIDELINES This chapter contains the following sections: 4.1 Preparation for Auto Track mode ..............................73 4.2 Running in Auto Track (low speed) mode.................76 4.3 Running in Auto Track (high speed) mode................78 4.4 Running in Auto Track (move-up) mode...................79 4.5 Stop on Track .............................................................86 4.6 Emergency stop..........................................................86 4.7 Track definition by Track Editor................................87 4.8 Track definition by Graphical Track Editor ...............92 4.9 Handling position information ...................................96 4.10 Waypoints from external computer............................99 4.11 Saving the current track ...........................................101 4.1 Preparation for Auto Track mode Before entering Auto Track mode: 1 Ensure that the required gyrocompasses are enabled (see the Sensors chapter in the relevant K-Pos (OS) Operator Manual). In high speed tracking mode at least two gyrocompasses must be enabled. 2 Ensure that the required wind sensors are enabled (see the Sensors chapter in the relevant K-Pos (OS) Operator Manual). 3 Ensure that the required VRSs are enabled (see the Sensors chapter in the relevant K-Pos (OS) Operator Manual). 4 For running in high speed tracking mode, ensure that at least one speed sensor is enabled and that the system is prepared for manual input of speed, i.e. the Enable - Manual check box is selected in the Sensors dialog box Speed page. (see the Sensors chapter in the relevant K-Pos (OS) Operator Manual). 5 Ensure that the required position-reference systems are enabled (see the Enabling the first position-reference system and Enabling other position-reference systems sections in the relevant K-Pos (OS) Operator Manual). 6 Ensure that the required thrusters, propellers and rudders are enabled (see the Thrusters chapter in the relevant K-Pos (OS) Operator Manual). 7 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. 8 Use the AutoTrack Settings 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 (Move-up, Low Speed or High 301034/C 73 Auto Track Mode Speed) and Track Direction (for low speed and high speed tracking modes) on the General page of the AutoTrack Settings dialog box (see AutoTrack Settings - General on page 28). 9 If required, you can set warning and alarm limits for cross-track deviation (see Alarm limits for cross-track error on page 54). 10 For low speed and high speed tracking modes, 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. • Refer to Recommended start position (low speed and high speed tracking modes) on page 74 and Safe start sector (low speed and high speed tracking mode) on page 76. 11 For move-up tracking mode, 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. 4.1.1 Recommended start position (low speed and high speed tracking modes) Ensure that the vessel is positioned a reasonable distance from the Next Waypoint (as selected in the General page of the AutoTrack Settings dialog box) 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 WP6 as the Next Waypoint, the value will be changed, and the vessel will move towards WP7. 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 shown in Figure 36, WP7 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 WP6 and WP7. However, the vessel’s start position is not “past” WP6 (as defined by a perpendicular from the leg WP6 to WP7 drawn from WP6). In this situation, the Next Waypoint is changed automatically to WP6 and the vessel will approach the track leg WP5 to WP6. 74 301034/C User guidelines Figure 36 The vessel will approach the track leg between WP5 and WP6 Required Next Waypoint WP5 WP4 WP7 WP6 (CD2997) WP8 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 shown in Figure 37, WP5 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 WP5 and WP6. However, the vessel will move towards WP5 (Auto Track state will be “Approach first WP” rather than “Approach Track”). Figure 37 The vessel will approach the selected Next Waypoint Next Waypoint WP5 WP4 WP7 WP6 (CD2996) WP8 301034/C 75 Auto Track Mode 4.1.2 Safe start sector (low speed and high speed tracking mode) Before starting Auto Track in high speed or low speed tracking mode, you must ensure that the selected Next Waypoint (as entered in the AutoTrack Settings 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 displayed in the Event List window: 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. 4.2 Running in Auto Track (low speed) mode 1 Ensure that you have carried out the procedures described in Preparation for Auto Track mode on page 73). 2 Use the Allocation Settings dialog box to select the required Rudder Limit (see the Thrusters chapter in the relevant K-Pos (OS) Operator Manual). 3 Press the AUTO TRACK button group twice. • The AUTO TRACK button status lamp becomes lit. • The position setpoint is set to the selected start waypoint, i.e. the Next Waypoint entered in the AutoTrack Settings dialog box General page. • The heading setpoint is set according to the selections made in the AutoTrack Settings dialog box Heading page. • The vessel begins to approach the track maintaining the present heading. The heading can change depending on selection in Heading page. 4 When reaching the start waypoint, the vessel follows the track defined in the waypoint table. 5 See Displayed information on page 56 for a description of the graphic displays that are provided in Auto Track mode. 6 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 (see Stop at Last Waypoint in AutoTrack Settings - Stop on page 35). 7 The K-Pos system remains in Auto Track mode until changed to another mode. 76 301034/C User guidelines 4.2.1 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: 1 Press the YAW button twice within four seconds. • The YAW button status lamp 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 status lamp becomes lit. • The heading setpoint is set to the present heading. 4.2.2 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. 1 Press the SURGE button twice within four seconds. • The SURGE button status lamp becomes unlit. 2 Control the vessel’s speed manually using the joystick. 3 To return to automatic speed control, press the SURGE button twice within four seconds again. • The SURGE button status lamp becomes lit. 4.2.3 Changing track direction To change the direction in which the vessel follows the track in low speed tracking mode, change the Track Direction setting (Forward or Reverse) on the General page of the AutoTrack Settings dialog box (see AutoTrack Settings - General on page 28) and click OK or Apply. • The status lamp of the STOP ON TRACK button in the CONTROLS button group becomes lit. • The vessel will slow down and stop, and then either stay at this position or go back to the position it had when you requested the change of direction (depending on the selected Stop On Track strategy - see AutoTrack Settings - Stop on page 35). To continue on the track in the opposite direction, deselect the STOP ON TRACK button (by pressing it twice within four seconds). The STOP ON TRACK button status lamp becomes unlit and the vessel begins to follow the track in the opposite direction (without changing heading). 301034/C 77 Auto Track Mode Note The vessel will not turn 180 degrees when changing track direction in Auto Track (low speed) mode. If moving forward before changing track direction, the vessel will go astern afterwards. If moving backwards before changing track direction, the vessel will go forward afterwards. 4.3 Running in Auto Track (high speed) mode 1 Ensure that you have carried out the procedures described in Preparation for Auto Track mode on page 73. 2 Use the Steering dialog box to set the required steering parameters for: • Rudder/azimuth limits and steering mode (see Rudder/azimuth limits and steering mode on page 62) • Steering gain (see Steering gain on page 68). 3 Press the AUTO TRACK button twice within four seconds. 4 The vessel follows the track defined in the waypoint table. • The AUTO TRACK button status lamp becomes lit. • The position setpoint is set to the selected start waypoint, i.e. the Next Waypoint entered in the AutoTrack Settings dialog box General page. • The heading is controlled to minimise the cross-track error while maintaining the wanted speed. • The vessel begins to approach the track. 5 See Displayed information on page 56 for a description of the graphic displays that are provided in Auto Track mode. 6 When the vessel reaches the last waypoint, it continues at the same speed on the extension of the final track leg. 7 The system remains in Auto Track mode until you change to another mode. 4.3.1 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. 1 Press the SURGE button twice within four seconds. • The SURGE button status lamp becomes unlit. 2 Control the vessel’s speed manually using the joystick. 3 To return to automatic speed control, press the SURGE button twice within four seconds again. • The SURGE button status lamp becomes lit. 78 301034/C User guidelines 4.3.2 Changing track direction To change the direction in which the vessel follows the track when running in high speed tracking mode, change the Track Direction setting (Forward or Reverse) on the General page of the AutoTrack Settings dialog box (see AutoTrack Settings - General on page 28) and then click OK or Apply button. 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 AutoTrack Settings dialog box (see AutoTrack Settings - Stop on page 35): • If you have selected Go Astern: – The STOP ON TRACK button status lamp in the CONTROLS button group 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 - see AutoTrack Settings - Stop on page 35). To continue on the track in the opposite direction, deselect the STOP ON TRACK button (by pressing it twice within four seconds). The STOP ON TRACK button status lamp becomes unlit and the vessel begins to follow the track in the opposite direction (without reversing heading). • 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 AutoTrack Settings dialog box - see AutoTrack Settings - Stop on page 35). 4.4 Running in Auto Track (move-up) mode 1 Ensure that you have carried out the procedures described in Preparation for Auto Track mode on page 73. 2 Use the Allocation Settings dialog box to select the required Rudder Limit (see the Thrusters chapter in the K-Pos (OS) Operator Manual). 3 Check that the vessel is exactly on track. If not, use Joystick or Auto Position mode to position the vessel accurately on track (see Figure 38 and explanation below). 4 Press the AUTO TRACK button twice within four seconds. • The AUTO TRACK button status lamp is lit. • The vessel stays in position on track. • The vessel heading is determined by the Heading Setpoint strategy you have selected on the Heading page of the AutoTrack Settings dialog box (see AutoTrack Settings - Heading on page 38). 301034/C 79 Auto Track Mode 5 Select Move-up Tracking Mode on the General page of the AutoTrack Settings dialog box (see AutoTrack Settings - General on page 28). You can also select Move-up Tracking Mode before entering the Auto Track mode. 6 To display the AutoTrack Move-up dialog box, click Move-up on the AutoTrack menu (see AutoTrack Move-up dialog box on page 51 for a detailed description of this dialog box). Note Always display the AutoTrack 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 (see Limitations in move-up tracking mode on page 82 for detailed information). 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 AutoTrack Settings dialog box (see Figure 38). Figure 38 The vessel is moving towards Waypoint 4 (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. 80 301034/C User guidelines 4.4.1 Move-up procedure The AutoTrack Move-up dialog box should always be displayed during move-up operations (see AAutoTrack Move-up dialog box on page 51 for a detailed description of this dialog box). Figure 39 AutoTrack Move-up dialog box 1 Adjust the move-up increment by either entering the required value in the Increase text box or by clicking the up or down arrows. Click the Astern or Ahead button to apply the increment (depending on required direction) until the Distance Correction text box shows the required move-up distance. If you select a backward move-up, a negative number is shown. 2 Click the Apply button to start the move-up operation. 3 The vessel starts moving using the selected auto track and move-up settings. Monitor the progress of the move-up in the Moved, Left and Total text boxes. 4 See Displayed information on page 56 for a description of the graphic displays and messages that are provided in Auto Track mode. 5 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 ON TRACK button status lamp in the CONTROLS button group is not lit. 6 You are now ready to start the next move-up operation. 7 The system remains in Auto Track (move-up) mode until you change to another mode. 301034/C 81 Auto Track Mode 4.4.2 Stop at last waypoint The following limitations apply if you enable Stop at Last Waypoint on the Stop page of the AutoTrack Settings dialog box (see AutoTrack Settings - Stop on page 35) 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 WP”, 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 WP”, the vessel will move backwards and the Auto Track state will change to “Approach Last”. 4.4.3 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: 1 Press the YAW button twice within four seconds. • The YAW button status lamp 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 status lamp is lit. • The heading setpoint is set to the present heading. 4.4.4 Limitations in move-up tracking mode The following limitations apply when running in move-up tracking mode: • It is not possible to select Move-up Tracking Mode (see Figure 40) if Next Waypoint is set to 0 on the General page of the AutoTrack Settings 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. 82 301034/C User guidelines Figure 40 Auto Track Settings dialog box - Selection of Move-up tracking mode disabled when Track resume point is 0. • When running in move-up tracking mode, with Waypoint Table selected as Along Speed Setpoint on the Speed page of the AutoTrack Settings dialog box, the Speed Setpoint in the AutoTrack Move-up dialog box cannot be changed. The Speed Setpoint text box is displayed as unavailable (see Figure 41). 301034/C 83 Auto Track Mode Figure 41 Autotrack Settings dialog box - Waypoint Table selected as Along Speed Setpoint. Autotrack Move-up dialog box - You are not allowed to change the speed setpoint when the text box is displayed as unavailable. • When running in low speed or high speed tracking mode with Towards Waypoint selected as Heading Setpoint (on the Heading page of the AutoTrack Settings dialog box), and then entering move-up tracking mode, System selected Heading Setpoint will automatically be set to Along Arc (see Figure 42). With Along Arc now as System Selected Heading Setpoint, you can also select to specify a crab angle in the Crab Angle text box. 84 301034/C User guidelines Figure 42 Tracking Mode move-up is 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. • A deviation between the carrot (displayed as a red dot on the Posplot view) and the vessel of more than a preset value (usually 10 m) will cause incorrect values in the Moved, Left and Total Distance text boxes on the AutoTrack 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 (see Figure 43). Refer to the Posplot view section in the K-Pos (OS) Operator Manual for further information about the carrot. 301034/C 85 Auto Track Mode Figure 43 The carrot (red 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. 4.5 Stop on Track In low speed, high speed and move-up tracking modes you can at any time initiate stop along the track. To stop the vessel while in Auto Track mode: 1 Press the STOP ON TRACK button in the CONTROLS button group twice within four seconds. • The STOP ON TRACK button status lamp becomes lit. 2 The vessel slows down and stops, and then either stays at this position or goes back to the position it had when you pressed the STOP ON TRACK button twice (depending on the selected Stop On Track strategy - see AutoTrack Settings - Stop on page 35). To continue along the track, press the STOP ON TRACK button twice within four seconds again. The STOP ON TRACK button status lamp becomes unlit and the vessel starts moving. For how to select Stop on Track strategy and set the Force (percentage of maximum available force) to be used for stopping the vessel on track, see AutoTrack Settings - Stop on page 35. 4.6 Emergency stop The Emergency Stop function uses a special velocity controller in surge to retard 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. When automatic stop is activated, the EMERG. STOP button status lamp becomes lit and an alarm message is displayed in the Event List window, for example: Track Stop activated by system <Reason for activation> The operator can activate the function manually. To activate Emergency Stop: 86 301034/C User guidelines 1 Press the EMERG. STOP button in the CONTROLS button group twice within four seconds. • The EMERG. STOP button status lamp becomes lit. • The alarm message “Track Stop activated by operator” is displayed in the Event List Window. 2 The vessel slows down and stops, and then stays at this position. 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. 4.7 Track definition by Track Editor Using the waypoint table editor provided by the AutoTrack Editor dialog box (see AutoTrack Editor dialog box on page 18), you can manually insert and modify all the information that is required in a waypoint table. 4.7.1 Entering waypoints manually 1 Select AutoTrack→Editor. The AutoTrack Editor dialog box is displayed empty, i.e. with all entries in the waypoint table greyed out. See Figure 44. Figure 44 AutoTrack Editor dialog box - Empty 2 Start creating the first waypoint by clicking the Insert button. The Northing and Easting text boxes becomes available (see Figure 45). You can now enter the coordinates for the first waypoint. 301034/C 87 Auto Track Mode Figure 45 AutoTrack Editor dialog box - Ready to enter coordinates for the first waypoint 3 Click the Insert button again. This adds waypoint number 2. Initially this waypoint has the same coordinates as waypoint number 1 (see Figure 46). Figure 46 AutoTrack Editor dialog box - Ready to enter coordinates for the second waypoint 4 Enter the coordinates for the second waypoint and click the Apply button. The Distance and Course for the first leg is now calculated and displayed. Leg type (see AutoTrack Editor dialog box on page 18 for details), Heading, Speed and Turn radius are displayed with their default values. You can change these values if necessary. 5 Continue adding waypoints, by clicking the Insert button, to complete the waypoint table. A Confirm Insert Waypoint dialog box is displayed. To confirm insertion of a new waypoint, click the Yes button on this dialog box. Each new waypoint has the coordinates (Northing and Easting) of 88 301034/C User guidelines 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 the Apply button. Note When assigning the current track a name, you are not saving the current waypoint table data in a file. 7 Click the Save button to save the current track (see Saving the current track on page 101). 4.7.2 Inserting waypoints To insert waypoints in a waypoint table: 1 Ensure that the correct waypoint table is displayed in the AutoTrack Editor dialog box. 2 Highlight the number of the waypoint after which you wish to insert a new waypoint. 3 Click the Insert button. 4 A Confirm Insert Waypoint dialog box is displayed. 301034/C 89 Auto Track Mode 5 Click the Yes button on this dialog box. • The highlighted waypoint is duplicated. 6 Change the coordinates of the new waypoint as required. 7 If required, continue inserting waypoints by repeating steps 2 to 6 of this procedure. 8 When you have finished inserting waypoints, click the Apply button. • The waypoints are added to the waypoint table. Clicking the Cancel button instead of the Apply button will discard the insertion of waypoints. 9 If required, assign a new track name to the current track by typing in a name in the Track Name text box and clicking the Apply button. Note When assigning the current track a name, you are not saving the current waypoint table data in a file. 10 To save the current track, click the Save button. To keep both the new and the previous track, assign a new file name to the new track (see Saving the current track on page 101). 4.7.3 Deleting waypoints To delete waypoints in a waypoint table: 1 Ensure that the correct waypoint table is displayed in the AutoTrack Editor dialog box. 2 Highlight the waypoint number of the waypoint you wish to delete. 3 Click the Delete button. 90 301034/C User guidelines 4 A Confirm Delete Waypoint dialog box is displayed. 5 Click the Yes button on this dialog box. 6 If required, continue deleting waypoints by repeating steps 2 to 5 of this procedure. 7 When you have finished deleting waypoints, click the Apply button. • The waypoints are deleted from the waypoint table. Clicking the Cancel button instead of the Apply button will discard the deletion of waypoints. 8 If required, assign a new track name to the current track by typing in a name in the Track Name text box and clicking the Apply button. Note When assigning the current track a name, you are not saving the current waypoint table data in a file. 9 To save the current track, click the Save button. To keep both the new and the previous track, assign a new file name to the new track (see Saving the current track on page 101). 4.7.4 Deleting a waypoint table To delete all waypoints in a waypoint table: 1 Ensure that the correct waypoint table is displayed in the AutoTrack Editor dialog box. 301034/C 91 Auto Track Mode 2 Click the Delete button. • All waypoints are cleared from the dialog box. 3 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. 4.8 Track definition by Graphical Track Editor You can define and modify tracks directly on the Posplot view to the right in the working area using the cursor and the Waypoint dialog box (see Waypoint dialog box on page 21 for a description of this dialog box). 4.8.1 Defining a new track 1 On the AutoTrack menu, select 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 (position numerically displayed in the Waypoint dialog box) and click (see Figure 47). Figure 47 Defining the first waypoint 3 Define another waypoint by moving the cursor again. The leg is displayed on the Posplot view (see Figure 48). 92 301034/C User guidelines • The waypoints are given consecutive numbers, which are displayed on the Posplot view and in the Waypoint dialog box, in ascending order. Figure 48 Defining second, third waypoint etc. 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 (see Modifying a track on page 93). 6 Click the Apply or OK button. 7 You can now save the track you have defined (see Saving the current track on page 101). 4.8.2 Modifying a track To modify a track, the graphical editing function has three selections: You can Move, Insert or Delete waypoints or change turn radii using the cursor on the Posplot view to the right in the working area. Move is the default selection when the function is invoked. 4.8.2.1 Moving a waypoint 1 With a track displayed on the Posplot view, select AutoTrack→Modify. • The Waypoint dialog box is displayed. 2 Click 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. 301034/C 93 Auto Track Mode 5 Drag the waypoint to the correct position using the cursor and click once to confirm. 6 Click the OK or Apply button. 4.8.2.2 Adjusting the turn radius 1 Select AutoTrack→Modify. The Waypoint dialog box is displayed. 2 Click 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 (see Figure 49). Figure 49 Defining turn radius 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. 5 Click the OK or Apply button. Note The length of the shortest leg attached to the waypoint, together with the turn angle, limit the turn radius. The turn radius will automatically be reduced if you specify a turn radius that is too large. 4.8.2.3 Inserting a new waypoint You can insert new waypoints: • At the beginning of a track. • Between two waypoints. • At the end of a track. 94 301034/C User guidelines 1 Select AutoTrack→Modify. • The Waypoint dialog box is displayed. 2 Click the Insert new option button. 3 Using the cursor, click the leg on which you wish to insert a new waypoint. • When the cursor is close to a waypoint, it changes from an arrow to a pointing hand 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, click 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, click 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. 7 Click the OK or Apply button. 4.8.2.4 Deleting a waypoint 1 Select AutoTrack→Modify. • The Waypoint dialog box is displayed. 2 Click the Delete option button. 3 Click the waypoint that you want to delete. • When the cursor is close to a waypoint, it changes from an arrow to a pointing hand with the text Delete waypoint shown adjacent to it. 4 Click the OK or Apply button. 4.8.3 Recover an aborted track editing session If the view is changed during a graphical track-editing session, the session is aborted. When returning to the Posplot view, the new or modified track has disappeared. 301034/C 95 Auto Track Mode To go back to the last graphical track-editing session, select AutoTrack→Recover. The Waypoint dialog box is displayed, and the track appears on the Posplot view. You may now modify the track as described above. Note As soon as New or Modify is selected on the AutoTrack menu, the chance to recover the aborted track session is lost. 4.8.4 Additional information 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 on present leg on the AutoTrack Update Strategy dialog box, there will be some waypoints on the track which you cannot move. The graphical track editing functions work on a copy of the current track, and the current track is first set or modified when you click the Apply button or exit graphical track editing session by clicking the OK button on the Waypoint dialog box. Note that the track is not saved permanently. To save the track, see Saving the current track on page 101. 4.9 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 (see Figure 50): • The Position Presentation dialog box can be used to select the datum and coordinate system for display of position information (see the Position Information chapter in the K-Pos (OS) Operator Manual). 96 301034/C User guidelines • The Reference System Properties dialog box can be used to provide information about the input position data from each reference system (see the Position Information chapter in the K-Pos (OS) Operator Manual). 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 (see UTM Properties section in the Position Information chapter in the K-Pos (OS) Operator Manual). • The Receive page of the AutoTrack Settings dialog box can be used to provide information about input waypoint data (from an external track source) for use in the Auto Track mode (see AutoTrack Settings - Receive on page 49). 301034/C 97 Auto Track Mode Figure 50 Dialog boxes for handling position information 98 301034/C User guidelines 4.10 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. This function requires an interface to an external computer system. If you try to load more than 500 waypoints from an external source, or the total number of old and newly received waypoints is larger than 500, the received waypoints that exceed 500 will be rejected. 4.10.1 Receiving waypoints from an external source 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. External waypoint data can be received to create a new table, to append waypoints to an existing table from the same source, or to replace waypoints in an existing table. 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). These principles are valid in all cases, whether creating a new table, adding waypoints to a table or replacing waypoints in a table. 301034/C 99 Auto Track Mode 4.10.1.1 Creating a new table To receive a new waypoint table from an external source: 1 Ensure that the waypoint table is empty by selecting Delete Track on the AutoTrack Editor dialog box (see AutoTrack Editor dialog box on page 18). 2 Specify the source and define the properties of the external data using the Receive page of the AutoTrack Settings dialog box (see AutoTrack Settings - Receive on page 49). 3 The Include in Waypoint Table from number on the Receive page of the AutoTrack Settings dialog box can be set to any number within the range 1 to 99 999 999. • This number will only be used if the received waypoint numbers are specified to be ignored. • If the received waypoint numbers are not specified to be ignored, the received numbers will be used. 4 Enable reception of waypoint data on the Receive page of the AutoTrack Settings dialog box. 5 Send the waypoint data from the external source. • When the waypoint data is received by the K-Pos system, a message is displayed. For example: NMEA waypoint table received from <source> 6 Using the AutoTrack Editor dialog box, check that the required waypoints have been received correctly. 4.10.1.2 Appending 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 (see AutoTrack Settings - Receive on page 49). 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 500, the received waypoints that exceed 500 will be rejected. 100 301034/C User guidelines 4.11 Saving the current track The K-Pos system can be configured with the option to save tracks as files. The configuration of your K-Pos system determines whether or not you have this option on your vessel. The following procedure describes how you can save a track: 1 Open the Save Track file As dialog box using one of the following methods: a Select AutoTrack→New. • If you have already defined a track, the Save Track file As dialog box (see Figure 51) is displayed centred above the Waypoint dialog box. Figure 51 Save Track file As dialog box b Select AutoTrack→Editor. • The AutoTrack Editor dialog box (seeAutoTrack Editor dialog box on page 18) is displayed. • The waypoints are listed in the waypoint table. Click the Save button. • The Save Track File As dialog box is displayed centred above the AutoTrack Editor dialog box. 2 Enter a name for the current track in the File name text box. 3 Click the Save button. • The file is saved locally at the Operator Station. 301034/C 101 Auto Track Mode 5 DISPLAY VIEWS This chapter contains the following sections: 5.1 Performance area .....................................................102 5.2 Conning view ...........................................................107 5.3 Deviation view ......................................................... 113 5.4 General view ............................................................ 117 5.1 Performance area The performance area shows important performance information to allow immediate assessment of the situation. The content of this view cannot be altered by the operator, but change automatically according to the selected main mode. Several parts of the performance area are click-sensitive. At the same time as the cursor image changes when it is moved over a click-sensitive object, a hotspot cursor text in a yellow frame (the tooltip) is displayed for a few seconds. This text explains the use of the click-sensitive object. Figure 52 Performance area (example with Auto Track mode selected) This shows status information for gyrocompasses, wind sensors, VRSs, thrusters and position-reference systems. The Gyro, Wind and VRS indicators (orange lamp and text) are only shown when the gyrocompasses/sensors are disabled. The Thrusters indicator (orange lamp and the text Thrust) is only shown when one or more of the vessels three axis (surge sway or yaw) are under automatic control and the thrust being provided by the propulsion system is insufficient to maintain automatic control. Reference Systems shows the status for each position-reference system or transponder. The information displayed is similar to the reference system status information in the Refsys view (refer to the relevant K-Pos (OS) Operator Manual). In addition, the position Offset during the last second is displayed as a bar graph (portion of 10 m) for each reference system. 102 301034/C Display views The Gyro/Wind/VRS and Reference Systems areas are click-sensitive. The ordinary cursor changes to a pointing hand when positioned over these areas. Clicking the left trackball button displays the relevant display view in the working area: the Sensors view or the RefSys Status view. This shows the consumed power for each main bus in graphical form as a percentage of available power. The view is dynamically updated to always show the current bus topology. This area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button displays the Power view in the working area. This shows numerical and graphical information relevant for manual and automatic heading control functions. The information changes automatically according to the selected main mode. In Auto Track (low speed) and move-up modes: The vessel heading (either, as estimated by the Vessel Model is shown graphically against a rotating compass rose and as a numeric value. This is indicated by the text Model being shown. The heading setpoint is shown graphically on the compass rose as a vertical purple line. The left and right arrows indicate the direction in which the vessel is turning; port (left pink arrow) or starboard (right pale green arrow). In Auto Track (high speed) mode: The vessel heading is shown graphically against a rotating compass rose and as a numeric value. The displayed vessel heading is from the gyrocompass in use. This is indicated by the name of the gyrocompass being shown to the right of the heading value. If no gyrocompasses are enabled, or the gyrocompass measurements are invalid, the vessel heading as estimated by the Vessel Model, based on the last known measured heading from the gyrocompass, is displayed. This is indicated by the colour of the numeric value for the vessel heading changing to red and the red text Model being shown to the right of the heading value. The heading setpoint is shown graphically on the compass rose as a vertical purple line. 301034/C 103 Auto Track Mode The left (pink) and right (pale green) arrows indicate the direction in which the vessel is turning; Port (left pink arrow) or Starboard (right pale green arrow). This area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button opens up the Sensors dialog box. The vessel’s Rate Of Turn (ROT) is shown numerically (Port or Stbd). The heading deviation is shown both graphically and numerically. The heading deviation is indicated dynamically by a two-directional bar which represents the deviation from the heading setpoint. The colour of the bar changes in relation to the warning and alarm limits for heading deviation (if active). If the deviation exceeds the available display range, a plus (+) sign is displayed in the bar. An arrow symbol shows whether the estimated heading is moving towards (decreasing deviation) or away from (increasing deviation) the heading setpoint. This arrow changes colour depending on increasing or decreasing deviation. This area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button opens up the Alarm Limits dialog box. The cross-track error is indicated dynamically by a two-directional bar which represents the deviation from the track. The colour of the bar changes in relation to the warning and alarm limits you have set for cross-track error (if active) in the Alarm Limits dialog box. If the deviation exceeds the available display range, a plus (+) sign is displayed in the bar. An arrow symbol shows whether the estimated position is moving towards (decreasing deviation) or away from (increasing deviation) the track and whether the present position lies to the left or to the right of the track. This arrow also changes colour depending on increasing or decreasing cross-track error. When the warning and alarm limits are active, they are shown as solid-drawn lines. When inactive, they are shown as dashed lines. This area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button opens up the Alarm Limits dialog box. The warning and alarm limits for the cross-track error can be activated and changed on this page. 104 301034/C Display views With speed control from the joystick, the joystick setpoint is indicated by the purple left bar and shown as a percentage value (ahead or astern). The response to the joystick setpoint (feedback) is indicated by the green right bar. The tilt of the joystick is indicated by the filled purple circle and dashed purple coordinate lines that are positioned relative to the centre of the cross formation (zero tilt). This is the present position and the present true speed (relative to the ground) both forward/aft (surge axis) and port/starboard (sway axis). This is the Force Balance area. The direction and magnitude of the thruster turning moment is indicated by the green, two-directional bar located at the top of the area. If the yaw axis is under automatic control and the thruster force being used to maintain the vessel on the wanted heading exceeds predefined limit values for percentage of available thruster force, the colour of the two-directional bar changes (typical values): • Orange — 60% to 80%. • Red — 80% to 100%. The direction of the thruster force, relative to the fore/aft and port/starboard axes of the vessel is indicated by a green arrowhead that points out from the centre of the vessel symbol. The calculated magnitude of the thruster force is represented by the shape and size (width) of the green arrowhead. The direction the wind comes from, relative to the fore/aft and port/starboard axes of the vessel is indicated by a rotating purple arrowhead that points in towards the centre of the vessel symbol. The magnitude of the wind force is represented by the shape and size (width) of the purple arrowhead. The identification of the wind sensor in use is shown by the number following the purple text Wind. If all of the wind sensors are disabled or become unserviceable the last known 301034/C 105 Auto Track Mode valid wind sensor measurement is used. The identification number of the wind sensor in use is removed and the word Freeze (in red) is displayed. The direction the sea current comes from, relative to the fore/aft and port/starboard axes of the vessel is indicated by a rotating blue arrowhead that points in towards the centre of the vessel symbol. The magnitude of the sea current force is represented by the shape and size (width) of the blue arrowhead. The Force Balance area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button displays the thruster main (Thr Main) view in the working area. 106 301034/C Display views 5.2 Conning view The Conning view provides useful information in Auto Track (high speed) mode, especially during transit and manoeuvring. The Conning view is divided into two subviews, a Main view and an Orders and Thruster view. To display both views simultaneously, press the CONNING button on the Operator Panel. Refer to the Selecting a display view section in the User Interface chapter of the relevant K-Pos (OS) Operator Manual for a description of how to select display views. Figure 53 The Conning view (example with Auto Track (high speed) mode selected) 5.2.1 Main view This part of the Conning view shows thruster layout, gyrocompass and speed sensor status, vessel speed and cross-track error. You can also choose to display a selected trend plot. When Auto Track mode is selected, additional information is added at the right hand side of the view. 301034/C 107 Auto Track Mode Figure 54 Main view (example with Auto Track (high speed) mode selected) The OK and Enab (Enabled) status for the configured gyrocompasses is shown. The number for the gyrocompass in use is shown in black. This is a click sensitive area where the ordinary cursor changes to a pointing hand. Clicking the left trackball button opens/closes the Sensors dialog box showing the Gyro page. When no gyrocompasses are OK, the colour of the text OK changes to red, and the corresponding check boxes are cleared. 108 301034/C Display views When no gyrocompasses are enabled, the colour of the text Enab changes to red, and the corresponding check boxes are cleared. This view shows a graphic or numeric presentation of azimuth and tunnel thrusters as well as rudders. The graphic symbols for azimuth and tunnel thrusters, propellers and rudders contain setpoint (green) and feedback (purple) information. If you wish to inspect values of interest, such as RPM or main propeller, click on the Numeric button in the view. The graphic symbols are replaced with a numeric presentation. Click the button again to return to graphic symbols. If a thruster is not enabled, it will not be displayed in the main view. The source providing vessel speed data. If a speed sensor is selected to provide this data, an In Use check box followed by a speed sensor’s name is shown e.g. DOP 1 for a Doppler log speed sensor and GPS 1 for a GPS speed sensor. The sensor to be displayed is selected from the Conning view control dialog box. When the sensor that is providing data is displayed, the In Use check box is shown selected. If no speed sensors are selected or available, the vessel speed data is provided by the vessel model and the red text Model is shown. The red colour of the text indicates that system performance is downgraded. If no speed sensors are selected or available and the system is prepared for manual speed input, then the red text Manual speed in use is shown. The red colour of the text indicates that system performance is downgraded. Speed “direction” is indicated green (forwards/port) or pink (reverse/starboard) arrows, in addition to a numerical presentation. The letter G or W indicates if the speed is shown relative to Ground or Water. 301034/C 109 Auto Track Mode To WOP The vessel’s bearing and distance to the next Wheel Over Point is shown. The time remaining until the vessel reaches this point is also displayed. Next leg The course and distance of the next leg is displayed. Radius indicates the arc along which the vessel will pass the next waypoint. The time used along the next leg is also shown here. Destination The remaining distance to the final waypoint. ETA Estimated Time of Arrival, which is based on remaining distance using actual speed. To WOP, Next leg and Destination are only relevant in Auto Track mode. Shows cross track error alarm and warning limits (see Alarm limits for cross-track error on page 54). • XTE — Cross track error. • XTL — Cross track error alarm limit (if enabled). • Wa — Cross track error warning limit (if enabled). Using the Conning view control dialog box for view control, you can choose to display a selected trend plot. 5.2.2 Orders and Thruster view This part of the Conning view shows orders information and thruster force setpoint and feedback. If the Orders and Thruster view is not displayed, position the cursor on the lower left hand side of the display and click the right mouse button. Select Conn Order and Thr from the menu. The Orders and Thruster view is displayed. 110 301034/C Display views You can also press the CONNING button on the Operator Panel to display the Main view and the Orders and Thruster view simultaneously. Figure 55 Orders and Thruster view (example with Auto Track (high speed) mode selected) The turn radius is shown numerically (applies only when the vessel is turning). The speed setpoint value is shown numerically. The course setpoint value is shown numerically. The Rate Of Turn (ROT) setpoint value is shown numerically (applies only when the vessel is turning). Shows Auto Track waypoint information. 301034/C 111 Auto Track Mode The vessel outline graphic shows the direction of the force setpoint and feedback, indicated by arrows. The bar graphs and numerical values show the setpoint and feedback thrust force in alongships and athwartships direction, as well as the moment. 5.2.3 Conning view control dialog box To display the Conning view control dialog box: 1 Place the cursor anywhere in the Conning view and click the right trackball button. • A shortcut menu is displayed. 2 Click View Control on this menu. • The Conning view control dialog box is displayed, showing the view controls for the trend plot. Figure 56 Conning view control dialog box - Trend plot controls Plot The trend plot to be displayed. 112 301034/C Display views Time span The time span for the trend plot. Y axis Range... Displays the Y-Axis Range dialog box (see Figure 57). This dialog box allows you to set the upper and lower limits for the y-axis plot range manually, or to select automatic scaling for the y-axis plot range. Speed Log Allows you to select among various speed logs to be displayed. It is also possible to select speed values based on the controller’s estimate (Model). Figure 57 Y-Axis Range dialog box Auto Selecting this option will set the Y-axis range automatically. Manual Allows you to set the Upper and Lower Y-axis range limits manually. 5.3 Deviation view The Deviation view shows a combination of graphical and numerical performance data. The information is displayed using large, clear text and graphical symbols. The information displayed depends on the current operating mode. Refer to the relevant K-Pos (OS) Operator Manual for a detailed description of this view, and of how to select display views. 301034/C 113 Auto Track Mode 5.3.1 Information displayed in Auto Track mode Figure 58 Deviation view (example with Auto Track mode selected) In low speed and move-up tracking modes the position of the selected rotation center for automatic control is shown. In high speed tracking mode the vessel’s natural pivoting point is shown. If you click this value, the position setpoint together with the text Setpoint is displayed in another colour for a few seconds. This is the present vessel heading. If you click this value, the heading setpoint together with the text Setpoint is displayed in another colour for a few seconds. 114 301034/C Display views The cross-track error is shown both graphically and numerically. The cross-track error is indicated dynamically by a two-directional bar which represents the deviation from the track. The colour of the bar changes in relation to the warning and alarm limits you have set for cross-track error (if active) in the Alarm Limits dialog box. If the deviation exceeds the available display range, a plus (+) sign is displayed in the bar. An arrow symbol shows whether the estimated position is moving towards (decreasing deviation) or away from (increasing deviation) the track and whether the present position lies to the left or to the right of the track. This arrow also changes colour depending on increasing or decreasing cross-track error. When the warning and alarm limits are active, they are shown as solid-drawn lines. When inactive, they are shown as dashed lines. When placing the cursor above the cross-track error area, the cursor changes appearance from an arrow to a pointing hand. Clicking the left trackball button with this hand displayed opens up the Alarm Limits dialog box, displaying the Position page. The warning and alarm limits for the cross-track error can be activated and changed on this page. The heading deviation is shown both graphically and numerically. The heading deviation is indicated dynamically by a two-directional bar which represents the deviation from the heading setpoint. The colour of the bar changes in relation to the warning and alarm limits for heading deviation (if active). If the deviation exceeds the available display range, a plus (+) sign is displayed in the bar. The heading deviation is defined positive in the starboard direction relative to the heading setpoint. 301034/C 115 Auto Track Mode An arrow symbol shows whether the estimated heading is moving towards (decreasing deviation) or away from (increasing deviation) the heading setpoint. This arrow also changes colour depending on increasing or decreasing heading deviation. When the heading warning and alarm limits are active, they are shown as solid-drawn lines. When inactive, they are shown as dashed lines. When placing the cursor above the heading deviation area, the cursor changes appearance from an arrow to a pointing hand. Clicking the left trackball button with the hand displayed opens up the Alarm Limits dialog box, displaying the Position page. The warning and alarm limits for vessel heading can be activated and changed on this page. 5.3.2 View controls The Performance dialog box is the view control dialog box for the Deviation view and the General view. To display the Performance view control dialog box: 1 Place the cursor anywhere in the Deviation or General view and click the right trackball button. • A shortcut menu is displayed. 2 Click View Control on this menu. • The Performance view control dialog box is displayed. True True display of position deviation. The graphical display of position deviation is displayed in a fixed orientation (north up). Relative Relative display of position deviation. The graphical display of position deviation is displayed relative to the vessel heading (head up). 116 301034/C Display views 5.4 General view The General view shows a combination of graphical and numerical performance data. The information displayed depends on the current operational mode. Refer to the K-Pos (OS) Operator Manual for a detailed description of this view, and of how to select display views. 5.4.1 Information displayed in Auto Track mode Figure 59 General view (example with Auto Track mode selected) 301034/C 117 Auto Track Mode In low speed and move-up tracking modes the position of the selected rotation center for automatic control is shown. In high speed tracking mode the vessel’s natural pivoting point is shown. If you click this value, the position setpoint is displayed in another colour for a few seconds. This is the present heading. If you click this value, the heading setpoint is displayed in another colour for a few seconds. This is the present Rate Of Turn. This is the present true speed (relative to the ground) both forward/aft (surge axis) and port/starboard (sway axis). The cross-track error is shown both graphically and numerically. Refer to the Deviation view (see Deviation view on page 113) for a detailed description of this display. The heading deviation is shown both graphically and numerically. Refer to the Deviation view (see Deviation view on page 113) for a detailed description of this display. 5.4.2 View controls The Performance dialog box is the view control dialog box for the Deviation view and the General view (see View controls on page 116 for a description of the Performance view control dialog box. 118 301034/C Index Index A changing using the modify track, 89, 93 Heading Wheel, 53 move-up mode aborted track editing crab angle limit, 40 limitations, 82 session, 95 cross-track error procedure, 81 alarm limits alarm limits, 54 running in, 79 cross-track error, 54 stop at last waypoint, 82 Alarm Limits (dialog box), 54 Auto Track mode D definitions, 12 delete track, 91 P introduction, 5 Deviation view, 113 Performance (dialog box), 116 preparations, 73 display views position dropout action, 37 auto trim, 71 Conning, 107 Posplot (dialog box) AutoTrack Deviation, 113 Show, 58 Settings, 28 General, 117 Trace, 59 AutoTrack (menu), 28 Performance (dialog Alarm Limits, 54 box), 116 Editor, 18 displayed information, 56 R Modify, 21 recover track, 95 Move-up, 51 resume point, 32 New, 21 E Rhumbline, 20 Offset, 22 emergency stop, 86 Recover, 21 Steering S Compensate, 71 G safe start sector, 76 Gain, 68 gain, 68 save track, 101 Steering, 62 General view, 117 Save Track file AS dialog Update Strategy, 27 graphical track editing, 92 box, 101 AutoTrack Editor (dialog Great Circle, 20 start position, 74 box), 18 Steering (dialog box) AutoTrack menu menu description, 15 H Compensate, 72 Heading Wheel, 53 Gain, 69 AutoTrack Move-up Steering, 62 (dialog box), 51 high speed mode joystick speed control, 78 stop at last waypoint AutoTrack Offset (dialog move-up mode, 82 box), 22 running in, 78 stop on track, 86 AutoTrack Settings (dialog box) J General, 28 T Heading, 38 joystick heading control low speed mode, 77 thruster moment Receive, 49 compensation, 71 Speed, 42 move-up mode, 82 joystick speed control touch down, 30 Stop, 35 track definition by Turn, 47 high speed mode, 78 low speed mode, 77 AutoTrack Editor, 87 AutoTrack Update Strategy track direction, 30, 34 (dialog box), 27 changing in high speed L mode, 79 C leg offset, 30, 33 changing in low speed low speed mode mode, 77 Conning (dialog box) joystick heading control, 77 track editing Trend plot, 112 joystick speed control, 77 graphical, 92 Conning view, 107 running in, 76 track from external source, Main view, 107 50, 99 Orders view, 110 track offset, 22 counter rudder, 70 M displayed error crab angle, 39 menu description information, 25 AutoTrack menu, 15 saving new offset track, 26 301034/C 119 Auto Track Mode track resume point, 32 TRACK SETUP (button), 28 tracking mode, 29 Trend Plot - Conning (dialog box), 112 Trend Plot - Y-Axis Range (dialog box), 113 U UTM Straight Line, 20 W Waypoint (dialog box), 21 waypoint table, 18, 87 receive waypoints, 49 waypoints from external source, 50, 99 Wheel-Over Point (WOP) Alarm, 48 wind compensation, 71 Y Y-Axis Range (dialog box) Trend plot, 113 120 301034/C Index 301034/C 121 ©2007 Kongsberg Maritime Kongsberg Maritime AS P.O.Box 483 Telephone: +47 32 28 50 00 N-3601 Kongsberg, Telefax: +47 32 28 50 10 Norway Service: +47 815 35 355 www.kongsberg.com