Kongsberg K-Pos Auto Track Mode Operator Manual

Kongsberg K-Pos
Auto 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: km.documentation@kongsberg.com
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
2.7 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
4.9 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 vessels 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 vessels heading and
speed that are to be used for each track section, are specified
in waypoint tables. However, other strategies for the vessels
heading and speed are available.
The vessels 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 vessels
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
vessels 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 vessels natural pivoting point). This rotation
center is also the vessels 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
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 AutoTrackEditor. 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 Mercators 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 Mercators projection.
UTM Straight Line
This is a straight line in the UTM projection. A UTM straight
line is a curved line in the Mercators 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 AutoTrackOffset. 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).

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 AutoTrackUpdate 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.

When the turn radius is displayed, present leg starts at the
waypoint turns 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 AutoTrackSettings, 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 AutoTrackSettings 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 vessels 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 vessels 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

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

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

= 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

= 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 vessels 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

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.

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

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 vessels 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.

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

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 AutoTrackMove-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 AutoTrackAlarm 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
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
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 vessels 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 vessels 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

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 AutoTrackSteering (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
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
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 AutoTrackSteering (to display
the Steering dialog box) and then click the Gain tab.
68 301034/C
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
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 AutoTrackSteering (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
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
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
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
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 vessels 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.
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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 vessels 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 vessels 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

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.
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 vessels 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

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.
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 vessels 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 AutoTrackEditor. 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
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:
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
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:
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
AutoTrackModify.
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 AutoTrackModify. 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.
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 AutoTrackModify.
2 Click the Insert new option button.
3 Using the cursor, click the leg on which you wish to insert
a new waypoint.
an arrow to a pointing hand with the text Insert waypoint
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.
4.8.2.4 Deleting a waypoint

1 Select AutoTrackModify.
2 Click the Delete option button.
3 Click the waypoint that you want to delete.
an arrow to a pointing hand with the text Delete waypoint
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.
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Auto Track Mode
To go back to the last graphical track-editing session, select

AutoTrackRecover. 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.

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
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 vessels 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 AutoTrackNew.
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 AutoTrackEditor.
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
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).
trackball button opens up the Sensors dialog box.
The vessels 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.
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.
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 sensors 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 vessels 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.
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 controllers
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 vessels
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
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.
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 vessels
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

Refer to the Deviation view (see Deviation
view on page 113) for a detailed description
of this display.
The heading deviation is shown both

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

Kongsberg K-Pos Auto Track Mode Operator Manual

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Kongsberg K-Pos Auto Track Mode Operator Manual

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Kongsberg K-Pos

Auto Track Mode

1 K-POS AUTO TRACK .......................................................... 5

1 K-POS AUTO TRACK

The waypoints which describe the required track are stored in a

1.1.1 Functions available in low speed

System Selected Heading (see Heading Setpoint - System

Stop On Track (see Stop On Track in AutoTrack Settings -

1.1.2 Functions available in move-up

1.1.3 Functions available in high speed

When passing a waypoint, the vessel maintains a constant speed

Rudder/Azimuth Limit (see Rudder/azimuth limits and steering

leg (or moving legs) is used when defining or moving a track

2.1 AutoTrack menu

Menu item Described where

2.2 Waypoint table management

an on-screen track. To change leg type, enter the Auto Track

Selecting Update Strategy (see AutoTrack Update Strategy

2.3 AutoTrack Editor dialog box

The left column of the table contains the sequence numbers of

2.3.1 Additional information

2.4 Waypoint dialog box

You can edit a track by selecting one of the following:

2.5 AutoTrack Offset dialog box

Figure 5 Present Leg offset strategy

2.5.1 Additional information

2.5.2 Displayed error information

Incorrect Track offset strategy

Figure 6 dpview dialog box - error information example

2.5.3 Saving the new offset track in a

2.6 AutoTrack Update Strategy dialog box

You can select the strategy to be in use when updating tracks

Not on present leg

2.6.1 Additional information

Figure 7 A track leg is defined to start at the beginning of the

2.7 AutoTrack Settings dialog box

2.7.1 AutoTrack Settings - General

If configured, you can select a track resume point as the start

The Stop button, is always unavailable as its function is to act as

Figure 8 Vessel taking an outer turn when touchdown distance

Figure 10 Approach track with Waypoint selected

Default Leg Type

2.7.1.1 Track resume point (waypoint number 0)

Figure 11 Track resume point as start waypoint

When approaching the track resume point in Auto Track mode,

2.7.1.2 Leg Offset

Figure 12 Leg offset

Direction of ascending waypoint numbers

Waypoint leg offset warning

2.7.1.3 Track Direction

When already in high speed tracking mode:

2.7.2 AutoTrack Settings - Stop

as the last leg in the waypoint table towards a locally generated

2.7.3 AutoTrack Settings - Heading

Towards WaypointSets the required heading to be towards

= vessel rotation center

= vessel rotation center

Figure 16 Crab angle

Figure 17 The heading deviation limit

If the waypoint is located outside this area, a warning will be

2.7.3.1 Additional information

2.7.4 AutoTrack Settings - Speed

Along Speed Setpoint

Waypoint Speed Strategy