Operator Reference Manual Ref. 6.2

Operator Reference Manual Kongsberg SDP (OS)
Dynamic Positioning System (Rel. 6.2)
301463/A May 2006
The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on the assumption that the system operator is an experienced DP operator with a good understanding of basic DP principles and general DP operation. If this is not the case, then the operator should first attend the appropriate Kongsberg Maritime training courses.
Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No part of this document may be copied or reproduced in any form or by any means, and the information contained within it is not to be communicated to a third party, without the prior written consent of Kongsberg Maritime AS. Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly stated, but does not accept liability for any errors or omissions.
Warning
The equipment to which this manual applies must only be used for the purpose for which it was designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel. The user must be familiar with the contents of the appropriate manuals before attempting to operate or work on the equipment. Kongsberg Maritime AS disclaims any responsibility for damage or injury caused by improper installation, use or maintenance of the equipment.
Kongsberg Maritime A.S P. O. Box 483 N-3601 Kongsberg Norway
Telephone: (47) 32 28 50 00 Telefax: (47) 32 28 50 10 Service: (47) 815 35 355 http://www.kongsberg.com
Document revisions
Written by Rev Date Sign Checked by Date Sign Approved by Date Sign
A B C D E F
10.05.06
AKS
11.05.06
FH
11.05.06
The original signatures are recorded on the companys logistic data system.
Document history
Rev. A This version describes operation of the SDP (OS) system at SDP basis software release 6.2.0.
To assist us in making improvements to the product and to this manual, we welcome comments and constructive criticism. Please send all such, in writing, to: Kongsberg Maritime AS Att: Documentation Department P.O. Box 483 N-3601 Kongsberg Norway e-mail: km.documentation@kongsberg.com
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SDP (OS) Operator Reference Manual
Glossary
Abbreviations
ARP CG CW CCW DGPS DP DPC DQI EBL ECR GPS HDOP HPR IAS IO LTW MOB OS OT PMS PS RCA RIO RMS rms ROV RPM SBC SDP Alternative Rotation Point Center of Gravity Clockwise Counter-clockwise Differential GPS Dynamic Positioning DP Controller Differential Quality Indicator Electronic Bearing Line Engine Control Room Global Positioning System Horizontal Dilution Of Precision Hydroacoustic Position Reference Integrated Automation System Input - Output Light-weight Taut Wire Mobile transponder Operator Station Operator Terminal Power Management System Process Station Redundancy and Criticality Assessment Remote Input - Output Riser Management System root mean square Remotely Operated Vehicle Revolutions Per Minute Single Board Computer Kongsberg Dynamic Positioning
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STC SVC UPS UTC UTM VRM VRS WGS
Kongsberg Thruster Control Kongsberg Vessel Control Uninterruptible Power Supply Universal Time Coordinated Universal Transverse Mercator Vessel Reference Model Vertical Reference Sensor World Geodetic System
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General terms
Apparent wind See Relative wind. Bearing The horizontal direction of one terrestrial point from another, expressed as the angular distance from a reference direction, clockwise through 360. Blackout prevention A method of preventing a power failure due to overloading of the supply generators. Cartesian coordinate system A coordinate system where the axes are mutually-perpendicular straight lines. Cartesian systems used are UTM, US State Plane and Local N/E. Course The horizontal direction in which a vessel is steered or is intended to be steered, expressed as angular distance from north, usually from 000 at north, clockwise through 360. Strictly, this term applies to direction through the water, not the direction intended to be made good over the ground. Differs from heading. Datum Mathematical description of the shape of the earth (represented by flattening and semi-major axis as well as the origin and orientation of the coordinate systems used to map the earth). Dead reckoning The process of determining the position of a vessel at any instant by applying to the last well-determined position the run that has since been made, based on the recent history of speed and heading measurements. Destination The immediate geographic point of interest to which a vessel is navigating. It may be the next waypoint along a route of waypoints or the final destination of a voyage. ECDIS Electronic Chart Display and Information System. A navigation information system which can be accepted as complying with the up-to-date chart required by regulation V/20 of the 1974 SOLAS Convention, by displaying selected information from a SENC with positional information from navigation sensors to assist the mariner in route planning and route minitoring, and if required display additional naviation-related information. ENC Electronic Navigation Chart. A Cell for use in ECDIS systems. Feedback Signals returned from the process (vessel) and used as input signals to the Vessel Model.
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Gyrocompass A compass having one or more gyroscopes as the directive element, and which is north-seeking. Its operation depends on four natural phenomena: gyroscopic inertia, gyroscopic precession, the earths rotation and gravity. Heading The horizontal direction in which a vessel actually points or heads at any instant, expressed in angular units from a reference direction, normally true north, usually from 000 at the reference direction clockwise through 360. Differs from course. IAS Integrated Automation System from Kongsberg Maritime. In an Integrated Automation System the SDP communicates with other Kongsberg Maritime systems such as SVC (Vessel Control) and STC (Thruster Control) via a dual ethernet LAN. IHO International Hydrographics Organisation. Coordinates the activities of national hydrographic offices; promotes standards and provides advice to developing countries in the fields of hydrographic surveying and production of nautical charts and publications. IMO International Maritime Organisation. Formerly called IMCO, the IMO is the specialised agency of the United Nations responsible for maritime safety and efficiency of navigation. Kalman Filter The Kalman filter is a set of mathematical equations that provides an efficient computational (recursive) solution of the least-squares method. The filter is very powerful in several aspects: it supports estimations of past, present and even future states, and it can also do so even when the precise nature of the modelled system is unknown. Log An instrument for measuring the speed or distance or both travelled by a vessel. Process Station One Central Processing Unit (PCU) plus IO interfaces, possibly shared with other CPUs in redundant configurations. A physical PS may be single, part of a dual-redundant-physical PS or part of a triple-redundant-physical PS. The PS utilises RCU, SBC or PC hardware. Reference origin The reference point of the first position-reference system that is selected and accepted for use with the system. The origin in the internal coordinate system. Relative bearing The bearing of an object relative to the vessels heading.
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Relative wind The speed and relative direction from which the wind appears to blow with reference to the moving vessel. SOLAS International Convention for the Safety of Life at Sea developed by IMO. Surge Vessel movement in the fore-and-aft direction. Sway Vessel movement in the transverse direction. Thruster In this document, this is used as a general term for any element of the vessels propulsion system, such as an azimuth thruster, tunnel thruster, propeller or rudder. Transponder In this document, this is the physical reference of a position-reference system. For example: for an HPR system this means any deployed transponder; for an Artemis system, the Fixed Antenna unit/beacon; for a Taut Wire system, the depressor weight. True bearing Bearing relative to true north. Vessel Reference Model A mathematical model of the vessel which makes it possible to simulate vessel movements and behaviour in the horizontal plane (surge, sway and yaw). Yaw Vessel rotation about the vertical axis; change of heading.
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Windows terminology
Apply To commit a set of changes or pending transactions made in a dialog box, typically without closing that dialog box. Cancel Discards any pending transactions and closes the dialog box or window. Check box A small square box that appears in a dialog box and that can be turned on and off. A check box contains a tick mark when it is selected and is blank when it is not selected. Choose To perform an action that carries out a command in a menu or dialog box. See also Select. Click To press and release a trackball button, without moving the cursor. If no trackball button is specified, the left button is assumed. Combo box A text box with an attached list box which contains a list of options. The list becomes visible on clicking the text box, see Drop-down list box. Command A word or phrase, usually found in a menu, that you choose in order to carry out an action. Command button A rectangle with a label inside that describes an action, such as OK, Apply or Cancel. When chosen, the command button carries out the action. Cursor The pointer symbol that is displayed on the screen and that can be moved with the trackball. Dialog box A box that appears when the system needs additional information before it can carry out a command or action. See also Check box, Combo box, Drop-down list box, Command button, Group box, List box, Option button, Option button group, Tab, Tabbed page and Text box. Drag To press and hold down a trackball button while moving the trackball. For example, you can move a dialog box to another location on the screen by dragging its title bar.
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Drop-down list box A box which has a set of predefined values that can be selected directly from the box. Clicking the down arrow at the end of the box displays a drop-down list of the available values. If the list is longer than the displayed drop-down box, the box will have a vertical scroll bar that lets you scroll through the list. Field A field is a generic description for a text area within a dialog box that displays a specific value, as opposed to the label which identifies what the value means. Group box A group box is a standard control used to group a set of options in a dialog box. For example, page ranges are grouped in the Page range group box in the Windows Print dialog box. List box List box is a generic term for any type of dialog box option containing a list of items the user can select. Menu A group listing of commands. Menu names appear in the menu bar beneath the title bar. You use a command from a menu by selecting the menu and then choosing the command. Menu bar A horizontal bar at the top of a view, below the title bar, that contains menus. Message box A dialog box displaying a message. The operator must acknowledge the message by clicking OK. OK Commit any pending transactions and close the dialog box or window. Option button A small round button appearing in a dialog box (also known as a radio button). You select an option button to set the option, but within a group of related option buttons, you can only select one. An option button contains a black dot when it is selected and is blank when it is not selected. Option button group A group of related options in a dialog box. Only one button in a group can be selected at any one time. Point To move the cursor on the screen so that it points to the item you want to select or choose. Save Saves all interim edits, or checkpoints, to disk.
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Save As Saves the file (with all interim edits) to a new file name. Select To indicate the item that the next command you choose will affect. See also Choose. Shortcut menu The menu that appears when a user clicks the right mouse button in certain areas, such as in a view. Spin box A control composed of a text box and increment and decrement button that allows you to adjust a value from a limited range of possible values. Status bar An area that allows the display of state information for the information being viewed. Typically placed at the bottom of a window. Tab The tab at the top of a page in a dialog box. When you click a tab, the related page is displayed. Tabbed page Labelled group of options used for many similar kinds of settings. Title bar The horizontal bar at the top of the window that shows the name of the document or program. Text box A box within a dialog box in which you type information needed to carry out a command. The text box may be blank when the dialog box appears, or it may contain text if there is a default value or if you have selected something applicable to that command. Some text boxes are attached to a list box, in which case you can either type in the information or select it from the list. Tool bar A row of icons that represent common functions, used to give quick access to commonly used functions. Clicking on an icon will usually invoke the command or function that the icon represents. Tool bars are usually displayed at the top of a view. Unavailable Describes a command or option that is listed in a menu or dialog box but that cannot be chosen or selected. The command or option appears dimmed.
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Table of contents
1 USER INTERFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1 Operator station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.2 Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Push buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Trackball . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Heading wheel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 1-2 1-3

1-3 1-5 1-5 1-6 1-6
1.3
Display layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Title bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Menu bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Performance area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Working area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Monitoring area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dialog boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Entering numeric values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Input validation of entered values . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-7
1-8 1-8 1-9 1-9 1-9 1-10 1-10 1-10 1-13 1-14 1-18
1.4
Display views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Orientation of the OS and effect on display views . . . . . . . . . . . . . . . . Tooltip / hotspot cursor and change of cursor image . . . . . . . . . . . . . . Available views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Selecting a display view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . View control dialog boxes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Zooming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preselecting views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-19
1-19 1-19 1-20 1-22 1-23 1-24 1-25
1.5
Main menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Menu bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . System menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sensors menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thruster menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Joystick menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AutoPos menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Help menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-27
1-27 1-28 1-29 1-29 1-30 1-30 1-31 1-31
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SYSTEM SETTINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 Changing user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Printing the display picture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Panel Light Configuration dialog box . . . . . . . . . . . . . . . . . . . .
Dimming level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Lamp test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-1 2-2 2-3 2-4

2-4 2-5
2.4
Display Units dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting the set of display units to use . . . . . . . . . . . . . . . . . . . . . . . . Editing Display Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Additional information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Vessel and sea current speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wind, waves and sea current direction . . . . . . . . . . . . . . . . . . . . . . . . . Resetting the display units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-6
2-6 2-7 2-8 2-9 2-9 2-10
2.5
System date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Time zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-11
2-11 2-11
2.6
Set palette (display colours) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-12
Changing the display palette on Operator Stations that are not set to have an independent palette selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12 Changing the display palette on a single Operator Station . . . . . . . . . 2-12
2.7
Alarm Limits dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VRS page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-13
2-13 2-15
2.8
Controller Mode and Gain Level selection . . . . . . . . . . . . . . . . .

Gain Level for High Precision and Relaxed Controller Mode . . . . . . . Display presentation of Controller Mode . . . . . . . . . . . . . . . . . . . . . . .
2-16
2-19 2-20
2.9
Quick model update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Quick Model dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-22
2-23
2.10 Rotation center for automatic control . . . . . . . . . . . . . . . . . . . .

Additional information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-24
2-25
JOYSTICK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Calibrating the joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calibration procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-1 3-2
3-3
3.2 3.3 4
Joystick settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rotation center for joystick manoeuvring . . . . . . . . . . . . . . . . .

Rotation Center dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-4 3-7
3-9
THE MESSAGE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 System diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Operational checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Audible and visual indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-1 4-2 4-3

4-3
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4.3 4.4 4.5 4.6 4.7 4.8 4.9
Message priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Presentation of messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Defining the time span for the Historic Event Page . . . . . . . . . . . . . . .
4-4 4-5
4-8
Alarm states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Acknowledging messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Silence button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-9 4-10
4-11
Alarm lamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Messages on the printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Event Printer dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-12 4-13
4-13
Message explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Menu bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Printing message explanations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-14
4-14 4-15 4-16 4-17 4-18
4.10 Operator advice messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 BUILT-IN TRAINER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1 Trainer functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Using the trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 Setting the start position for the next session . . . . . . . . . . . . . . . 5.4 Leaving the trainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . DP 6.1 6.2 6.3 6.4 ONLINE CONSEQUENCE ANALYSIS . . . . . . . . . . . . . . . DP Online Consequence Analysis . . . . . . . . . . . . . . . . . . . . . . . . Selecting the DP class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Consequence analysis status messages . . . . . . . . . . . . . . . . . . . . Consequence analysis warning messages . . . . . . . . . . . . . . . . . .
4-20 5-1 5-2 5-3 5-4 5-4 6-1 6-2 6-3 6-3 6-4 7-1 7-2
7-2 7-4
STARTING OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 System start-up/shut-down and OS stop/restart . . . . . . . . . . . .

Stop/Restart dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Restart the OS using the Windows Security dialog box . . . . . . . . . . .
7.2 7.3
Logon Configuration dialog box . . . . . . . . . . . . . . . . . . . . . . . . . Command transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Taking command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Giving command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-5 7-6
7-7 7-7
7.4
Command Control dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . .

Command groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . OS page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-8
7-8 7-9 7-10
14
Kongsberg Maritime
301463/A
Give page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Command Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Controls and indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Taking or giving command of thruster propulsion . . . . . . . . . . . . . . . .
7-11 7-11 7-12 7-13
7.5 8
Connecting to a controller PS group . . . . . . . . . . . . . . . . . . . . . .
7-15 8-1 8-2

8-2 8-2 8-3
CONTROLLER PROCESS STATIONS . . . . . . . . . . . . . . . . . . . 8.1 Resetting controller process stations . . . . . . . . . . . . . . . . . . . . . .

Resetting the controller PS in a single-computer system . . . . . . . . . . . Resetting one controller PS in a dual or triple redundant system . . . . Resetting all controller PSes in a dual or triple redundant system . . .
8.2
Redundant systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dual redundant system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Triple redundant system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Redundant Stations dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8-5
8-5 8-5 8-7 8-8
SENSORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 Gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sensors dialog box - Gyro page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gyro Deviation dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gyro status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed heading information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rejection of heading measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . Faulty gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Heading dropout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-1 9-2
9-2 9-4 9-5 9-6 9-6 9-6 9-7
9.2
Wind sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensors dialog - Wind page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wind status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed wind information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faulty wind sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rejection of faulty wind data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Operating without wind sensor input . . . . . . . . . . . . . . . . . . . . . . . . . .
9-8
9-9 9-10 9-10 9-10 9-11 9-12
9.3
Vertical reference sensors (VRS) . . . . . . . . . . . . . . . . . . . . . . . . .

Sensors dialog - VRS page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VRS status lamp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed VRS information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Faulty VRS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-13
9-14 9-15 9-15 9-15
9.4
Speed sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensors dialog box - Speed page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed speed information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-16
9-16 9-18
301463/A
15
9.5 9.6
Draught sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensors dialog box - Draught page . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-19
9-19
Depth sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensors dialog box - Depth page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Displayed water-depth information . . . . . . . . . . . . . . . . . . . . . . . . . . .
9-21
9-21 9-22
9.7
Rate Of Turn sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sensors dialog box - Rate Of Turn page . . . . . . . . . . . . . . . . . . . . . . .
9-23
9-23
10 POSITION INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.1 Handling position information . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2 Position Presentation dialog box . . . . . . . . . . . . . . . . . . . . . . . . .
10-1 10-2 10-4

10-7
10.3 Datum Details dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.4 Local N/E Properties dialog box . . . . . . . . . . . . . . . . . . . . . . . . .
10-8 10-9
10-9
10.5 UTM Properties dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.6 State Plane Zone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.7 Methods for enabling position-reference systems . . . . . . . . . . . 10.8 Panel buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.9 Reference System Settings dialog box . . . . . . . . . . . . . . . . . . . . . 10.10Reference System dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Enable page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Weight page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Validation page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-10 10-11 10-12 10-12 10-13 10-17

10-18 10-19 10-20
10.11 Reference System Properties dialog box . . . . . . . . . . . . . . . . . . .

UTM Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Quality Filter Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-22
10-24 10-25
10.12 Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Global and local position-reference systems . . . . . . . . . . . . . . . . . . . . System datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The reference origin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-26
10-26 10-26 10-26
10.13 Tests on position measurements . . . . . . . . . . . . . . . . . . . . . . . . . .

Standard deviation of position measurements . . . . . . . . . . . . . . . . . . . Freeze test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Variance, weight and the Variance test . . . . . . . . . . . . . . . . . . . . . . . . . Prediction test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Divergence test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Median test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10-28
10-28 10-29 10-29 10-30 10-30 10-31
10.14Enabling the first position-reference system . . . . . . . . . . . . . . .
10-34
16
Kongsberg Maritime
301463/A
10.15 Enabling other position-reference systems . . . . . . . . . . . . . . . . . 10.16 Changing the reference origin . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.17Position dropout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 MAIN MODES AND OPERATING PROCEDURES . . . . . . . 11.1 Standby mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Returning to Standby mode/manual levers . . . . . . . . . . . . . . . . . . . . .
10-35 10-36 10-36 11-1 11-2

11-2
11.2 Joystick mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

From Standby mode to Joystick mode . . . . . . . . . . . . . . . . . . . . . . . . . Joystick control of position and heading . . . . . . . . . . . . . . . . . . . . . . . Position and heading information . . . . . . . . . . . . . . . . . . . . . . . . . . . . Joystick electrical failure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mixed joystick/auto modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Joystick mode with automatic heading control . . . . . . . . . . . . . . . . . . Joystick mode with automatic position control in both surge and sway Joystick mode with automatic stabilisation . . . . . . . . . . . . . . . . . . . . .
11-3
11-4 11-5 11-5 11-5 11-6 11-6 11-7 11-8
11.3 Auto Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

From Joystick mode to Auto Position mode . . . . . . . . . . . . . . . . . . . .
11-10
11-10
12 CHANGING THE POSITION SETPOINT . . . . . . . . . . . . . . . 12.1 Stopping a change of position . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2 Marking a new position setpoint on the Posplot view . . . . . . . . 12.3 Position R/B dialog box (range/bearing) . . . . . . . . . . . . . . . . . . . 12.4 Position Inc dialog box (incremental) . . . . . . . . . . . . . . . . . . . . . 12.5 Position dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inc page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R/B page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Abs page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Speed page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12-1 12-2 12-3 12-4 12-4 12-5

12-6 12-7 12-8 12-9
12.6 Speed Setpoint dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-10
12-10
12.7 Acceleration/Retardation Settings dialog box . . . . . . . . . . . . . . 13 CHANGING THE HEADING SETPOINT . . . . . . . . . . . . . . . . 13.1 Stopping a change of heading . . . . . . . . . . . . . . . . . . . . . . . . . . . 13.2 Marking a new heading setpoint on the Posplot view . . . . . . . . 13.3 Heading Wheel and its associated panel buttons . . . . . . . . . . . . 13.4 Heading dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Heading page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rate Of Turn page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12-11 13-1 13-2 13-3 13-4 13-5

13-5 13-7
13.5 Acceleration/retardation factors in the yaw axis . . . . . . . . . . . .
13-8
301463/A
17
14 THRUSTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.1 Enabling thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Thruster Enable dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14-1 14-2
14-2
14.2 Automatic thruster start (for IAS deliveries) . . . . . . . . . . . . . . . 14.3 Automatic Thruster Start dialog box . . . . . . . . . . . . . . . . . . . . . 14.4 Thruster Allocation dialog box . . . . . . . . . . . . . . . . . . . . . . . . . .
14-4 14-5 14-6

14-9
14.5 14.6 14.7 14.8
Allocation Settings dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . Rudder/Nozzle control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thruster biasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thruster Biasing dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual selection of thruster biasing . . . . . . . . . . . . . . . . . . . . . . . . . . Automatically changing bias available . . . . . . . . . . . . . . . . . . . . . . . . Turn factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Angle factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Inwards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14-10 14-11 14-12 14-13

14-13 14-14 14-19 14-20 14-21
14.9 Thruster Run-in dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 POWER SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.1 Power monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15.2 Power load monitoring and blackout prevention . . . . . . . . . . . 16 SYSTEM STATUS INFORMATION . . . . . . . . . . . . . . . . . . . . . . 16.1 Panel driver logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Panel Driver Logging dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Copy Panel Logfiles to floppies dialog box . . . . . . . . . . . . . . . . . . . . .
14-22 15-1 15-2 15-3 16-1 16-2

16-3 16-4
16.2 Remote diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

pcAnywhere Waiting... dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16-6
16-8
16.3 Printing system status data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16.4 Displaying software information . . . . . . . . . . . . . . . . . . . . . . . . . 16.5 RCA and Vessel Control modes . . . . . . . . . . . . . . . . . . . . . . . . . .
Vessel Control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Redundancy and Criticality Assessment - RCA . . . . . . . . . . . . . . . . . Vessel Control Mode dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RCA messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . RCA view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Relation between RCA view and Vessel Control Mode dialog box . . Relation between RCA view and status bar . . . . . . . . . . . . . . . . . . . . .
16-9 16-11 16-14

16-14 16-14 16-15 16-17 16-18 16-20 16-21
16.6 Interface to CyberSea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16-22
18
Kongsberg Maritime
301463/A
17 SYSTEM STATUS MONITORING . . . . . . . . . . . . . . . . . . . . . . . 17.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17.2 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Operator stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Process stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The IO system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-1 17-2 17-2

17-2 17-3 17-4 17-5
17.3 Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PS Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . OS/HS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Event Printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Net Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Print Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-6
17-7 17-9 17-11 17-12 17-13 17-14
17.4 Station Explorer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PS tree structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alarm status indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hotspots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Acknowledging PS system alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-15
17-16 17-17 17-17 17-18
17.5 IO Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IO Configurator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-19
17-20
17.6 PBUS IO Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Detailed level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-21
17-21 17-23
17.7 IO Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shortcut menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Signal Conditioning elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-24
17-27 17-27
17.8 IO Point Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

IO Point Browser dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Shortcut menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-29
17-29 17-31
17.9 Driver Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17.10 Resetting a disabled serial line . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 DISPLAY VIEWS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18.1 Deviation view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position and heading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position and heading deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17-32 17-34 18-1 18-2

18-2 18-3 18-6
18.2 Diesels view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-7
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18.3 General view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Position, heading and speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position and heading deviation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-11
18-11 18-12 18-13
18.4 Joystick view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18.5 LTW view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-14 18-19
18-23
18.6 Numeric view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-24
18-25
18.7 Posplot view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . EBL function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Panning function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-26
18-33 18-38 18-39
18.8 Power view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-41
18-43
18.9 Power consumption view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18.10Refsys view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-44 18-46
18-51
18.11 Refsys Status view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18.12Rotation Centers view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18.13 Sensors view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-54 18-55 18-56

18-59
18.14Thruster views . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Thruster main view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tunnel thruster view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Azimuth thruster view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Propeller/rudder view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Subview controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setpoint/feedback view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Forces view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-61
18-62 18-67 18-70 18-73 18-76 18-77 18-79
18.15 Trends view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

View controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18-82
18-85
19 SDP SYSTEM THEORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19.1 The SDP system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19.2 Basic forces and motions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19.3 SDP system principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Extended Kalman Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thruster allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19-1 19-2 19-3 19-5

19-5 19-8 19-11
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1 USER INTERFACE
This chapter contains the following sections: 1.1 1.2 1.3 1.4 1.5 Operator station Operator panel Display layout Display views Main menus
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1-1
User interface
1.1
Operator station
The SDP operator station includes a high-resolution colour flat screen for monitoring and operation of the system, and an operator panel with pushbuttons, lamps and joystick controls.
The power switch and adjustment controls for the display are placed below the screen. The use of the power switch and adjustment controls is described in the Hardware Module Description for the screen.
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Operator panel
1.2
Operator panel
The operator panel (see Figure 1) provides: Dedicated buttons (most of these have status lamps) Keypad Trackball 3-axis joystick Heading wheel and buttons (optional)
Main modes S ystem functions and thrusters R eferenc e systems View and sensors selec tion
Modes
Controls
Sensors
Views
Alarms
Alarms Command responsibility View selec tion

Keypad Trackball
Command
(CD2877)
Heading wheel
Numeric input
T rackball
3-axis joystick
Figure 1 The SDP operator panel
Push buttons
Several push buttons with status lamps are provided on the operator panel for activation of main modes, position-reference systems, thrusters and functions. The accompanying status lamps indicate activation of a particular function, mode or system. Other frequently-used functions, such as selection of display views and dialog boxes, may also have dedicated push buttons on the operator panel. The buttons are grouped according to their main function. For safety reasons, some of the buttons must be pressed twice within four seconds to invoke action. These buttons are indicated by a separate colour.
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User interface
Note that the appearance of push buttons may vary from vessel to vessel.
Modes
The Modes button group contains buttons for selecting the main operational modes. Status lamps indicate the current mode. Three additional buttons allow you to select individual axes for automatic control. These are referred to as the SURGE, SWAY and YAW buttons throughout this manual. Figure 2 shows the button arrangement for an OS where the operator looks in the alongships direction whilst looking at the screen.
Surge
Sway
Yaw
Figure 2 Surge, Sway and Yaw buttons on a vessel with the OS orientated in the alongships direction Figure 3 shows the button arrangement for an OS where the operator looks in the athwartships direction whilst looking at the screen.
Sway
Surge
Yaw
Figure 3 Sway, Surge and Yaw buttons on a vessel with the OS orientated in the athwartships direction
Controls
The Controls button group contains buttons for enabling thrusters and for accessing system functions and dialog boxes.
Sensors
The Sensors button group contains buttons for enabling position-reference systems and for initiating dialog boxes related to other system sensors.
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Operator panel
Views
Both the Views and Main Views button groups contain buttons for selecting the view to be displayed in the main working area of the screen. There is no functional difference between the two button groups.
Alarms
The Alarms button group contains indicators and buttons to display and acknowledge alarms and events. The SILENCE button, shown to the left, is used to silence the audible signal without acknowledging the alarm message that caused it.
(Cd2901a)
For more information about messages and the Alarms button group, see section The message system on page 4-1.
Command
The Command button group contains buttons for transferring command from one Operator Station or operator terminal to another.
Keypad
The Keypad provides numeric, function and cursor buttons. The numeric keys are used to enter values into dialog boxes. The function keys are used to select predefined view configurations (see Preselecting views on page 1-25).
Trackball
The Trackball is used to position the cursor on the screen. The left button is used to click on screen buttons, choose from menus and select displayed symbols. The right button is used to display a shortcut menu. The middle button is not used.
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User interface
Joystick
In the Joystick mode, the operator controls the positioning of the vessel using the three-axis joystick (integrated joystick and rotate controller). To move the vessel in the surge and sway axes (alongships and athwartships directions), tilt the joystick. The direction in which the joystick is tilted determines the direction of applied thruster force, and the angle of tilt determines the amount of applied thruster force. To turn the vessel (the yaw axis), rotate the joystick. The direction in which the joystick is rotated determines the direction of the rotational moment demand, and the angle through which the joystick is rotated determines the amount of applied rotational moment.
Heading wheel
The Heading wheel and its three associated buttons are used to increase/decrease the heading setpoint (see page 13-4). To activate the heading wheel, one of its three associated buttons must be pressed. The heading setpoint can be changed by turning the heading wheel or by using the DECREASE or INCREASE buttons, see Figure 4.
CD2544.CDR
DECREASE
ACTIVATE
INCREASE
Figure 4 Buttons associated with the heading wheel
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Display layout
1.3
Display layout
The display interface uses standard Microsoft Windows operating features such as menus and dialog boxes.
The display is divided into a number of predefined areas as shown below. In addition to these, dialog boxes are displayed whenever operator interaction is required.
TITLE BAR MENU BAR MESSAGE LINE
PERFORMANCE AREA
WORKING AREA MONITORING AREA
STATUS LINE
STATUS BAR
It is also possible to configure the display with the working area on the left hand side and the performance and monitoring areas on the right hand side.
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User interface
Title bar
The title bar identifies the SDP operator station and shows the current date and time. When this operator station has command, the Controller group / Command group field has yellow background colour. In our example the Controller group is Main (to which the operator station in question is connected) and the Command group is Propulsion (which the system controls). When the Trainer is used, the text SIMULATING is displayed flashing.
Operator Station Simulation status Delivery name
Date and time
SDP OS App. Name
Controller PS group
Menu bar
The menu bar provides command menus allowing access to the available dialog boxes.
Figure 5 Example menu bar
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Display layout
Active and unavailable commands
Because some commands are relevant to several modes, these commands appear on more than one menu. For example, Heading appears on both the Joystick and AutoPos menu. Some commands that are present on more than one menu are only available in the present mode menu. Unavailable commands have a dimmed appearance.
In this Auto Position In thisexample example Auto Position is the the present mode. is present mode.
Available
Available Unavailable
Unavailable
Figure 6 Example: Commands that are present on several menus
Message line
The message line shows the most recent warning or alarm message that has not yet been acknowledged. Right-clicking the message text opens the System Messages Help with the relevant message explanation displayed. See Presentation of messages on page 4-5.
Performance area
The performance area shows important performance information to allow immediate assessment of the situation. The content of the views change automatically according to the selected main mode.
Working area
The working area shows operator selectable display views.
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User interface
Monitoring area
The monitoring area shows smaller versions of the operator selectable display views that are available in the working area.
Status line
The status line displays general help messages and advice for the operator. For example, when moving the cursor over an open menu, information about the menu commands is displayed in the status line.
Figure 7 Joystick Settings selected (top). Message displayed in the Status line (below).
Status bar
The status bar provides general system status information by means of indicators, some of which are click-sensitive. When the cursor is moved over an indicator that is defined as click-sensitive, it changes to a pointing hand. If you then click the left trackball button, a dialog box related to that indicator is opened.
Figure 8 Example status bar
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Display layout
Overview of labels on the status bar
RCA
The RCA warning status. The colour is according to the highest priority warning from the Vessel Control Areas (see RCA messages on page 16-17). The present Vessel Control mode. The background colour is according to the status of the Vessel Control mode (see Vessel Control Mode dialog box on page 16-15). Background colour: Green When the selected Vessel Control Mode is In Service, and when no Vessel Control mode is selected. Yellow When a Vessel Control mode is selected, but not fully established. Red When the selected Vessel Control mode has become Invalid.
VesselMode
MainMode PosMode HdgMode AllocMode Rotation Center
The present operational mode. The automatic position control mode: PRESENT or NEW SETP (new setpoint). The automatic heading control mode: PRESENT, SYS SEL (system selected) or NEW SETP (new setpoint). The present thruster allocation mode, for example VARIABLE. (see Thruster Allocation dialog box on page 14-6). Shows the present Rotation Center (See Rotation center for automatic control on page 2-24, or Rotation center for joystick manoeuvring on page 3-7). An indication of the status of the thrusters: Grey No thrusters are enabled. Green At least one thruster is enabled.
Thr
Refs
An indication of the status of the position-reference systems: Grey No positionreference systems are enabled. Yellow At least one positionreference system is enabled, but there is no acceptable position information. Green At least one positionreference system is enabled and the position information from at least one of them is accepted.
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User interface
Sens
This is one of the click-sensitive areas. If you press the left trackball button while the cursor has the shape of an open hand, the Sensors dialog box is opened. Symbols describing the present joystick settings are grouped above this label. Joystick Thrust level Full or Reduced (see Joystick settings on page 3-4). Joystick Precision level High Speed, General or Low Speed (see Joystick settings on page 3-4). Symbols concerning automatic control are grouped above this label. Axis Control and Axis Damping Control These are graphic indications of the axes that are under automatic control or damping control. The description of the surge and sway axes applies to a system with the vessel diagram displayed bow up (see Orientation of the OS and effect on display views on page 1-19) The surge axis is under automatic control or damping control. The sway axis is under automatic control or damping control. The yaw axis is under automatic control or damping control. The axes control symbol is rotated according to the orientation of the Operator Station (see page 1-19). Note that the mutual angle difference between the surge and sway axes is preserved. Gain Shows the present controller gain level. Different symbols according to controller mode is displayed in section Display presentation of Controller Mode (see page 2-20). Quick Model Shows whether the Quick Model Update Function is on (yellow) or off (grey) (see Quick model update, page 2-22). DP Consequence Class Shows the currently selected DP Class for the DP Online Consequence Analysis function: Grey Off 2 Class 2 3 Class 3
Joystick Settings
AutoSettings
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Display layout
Dialog boxes
You can enter data into the system using dialog boxes. These are displayed using panel buttons, selecting menu commands or by clicking on graphical symbols in the views or icons on the status bar. Dialog boxes appear in the display area but you can move them as required. To locate information about individual dialog boxes, use the Index at the end of this manual.
When data has been modified on a dialog box, the message (Changed) is added to the title bar text. Data entered on a dialog box is not used by the system until you confirm the input by clicking Apply or OK: If you click OK, the changes that you have made are applied and the dialog box is removed from the display. If any data errors are found, no changes are made and the dialog box remains open. If you click Cancel, no changes are made and the dialog box is removed from the display. If you click Apply, the changes that you have made are applied and the dialog box remains displayed. When you are not allowed to make changes to the data on a dialog box, both OK and Apply will be unavailable (displayed dimmed). This can occur, for example, when the Operator Station is not in command or the system is not in an appropriate mode.
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User interface
Some dialog boxes have several pages which you access by clicking on the page tab. For this type of dialog box, both Apply and OK apply the changes that you have made on all pages of the dialog box. The OK and Apply buttons are unavailable (appear dimmed) when all menu items that launch the dialog box are unavailable. This could be the case if a dialog box concerning one particular mode is open when you enter another mode. The Figure below shows the system in a mode where the menu item Position Inc is unavailable, and the OK and Apply buttons appear dimmed.
Click Cancel to close the dialog box without action. If a dialog box can be accessed by pressing a panel button, pressing this panel button while the dialog box is displayed closes the dialog box without action.
Entering numeric values

Numeric values can be entered into text boxes in dialog boxes, you can achieve this in several different ways, depending on the types of numeric input field used and the functionality available on the Operator Station. There are two types of input fields used for entering numeric values: Text box - This is a rectangular box in which you can type a numerical value. If the box already contains a numerical value, you can select that default value to be used or delete it and type in a new value. Spin box - This is a text box equipped with two additional up and down arrows (on the right-hand side) that can be clicked to decrease or increase the numerical value by a fixed increment. A numerical value can also be typed directly in the box. On an operator panel equipped with a numeric keypad, this keypad represents the easiest way to enter numeric values.
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Display layout
However, the Enter a New Numeric Value dialog box may be used. This will be displayed on the screen when enabled, and is especially suited to Operator Stations having: No numeric keypad on the operator panel Touch sensitive screens
Enabling the Enter a New Numeric Value dialog box
The Enter a New Numeric Value dialog box must be enabled before use. To enable and test the Enter a New Numeric Value dialog box: 1 Click Num Entry Dlg on the View menu. - The Numeric Entry Keypad Dialog Use dialog box is displayed.
Select the Enable Numeric Entry Keypad Dialog check box. - The Enter a New Numeric Value dialog box is enabled. You may test the Enter a New Numeric Value dialog box by placing the cursor in the Enter a numeric value text box and clicking the left trackball button. If you have a touch sensitive screen, the same test can be performed by tapping the text box using your index finger. - The Enter a New Numeric Value dialog box is displayed (see Figure 9).
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User interface
Figure 9 Testing the Enter a New Numeric Value dialog box - Enter a new numeric value in the Enter a numeric value text box using the numeric keys. Click OK. - The new numeric value you have entered using the numeric keypad is then displayed in the Enter a numeric value text box. Click OK on the Numeric Entry Keypad Dialog Use dialog box. - The Enter a New Numeric Value dialog box is now enabled and ready for use.
Using the Enter a New Numeric Value dialog box
To use the Enter a New Numeric Value dialog box: 1 Having opened a dialog box containing text boxes for numeric entry, place the cursor in a text box and click the left trackball button. - The Enter a New Numeric Value dialog box is displayed adjacent to the text box. Use the keys on this dialog box (see page 1-17) to enter a new numeric value in the text box. Click OK on the Enter a New Numeric Value dialog box to use the new numeric value in the relevant text box.
2 3
Note
This new numeric value will first be applied to the system when you click OK or Apply on the dialog box where the relevant text box is located.
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Display layout
Overview of the keys in the Enter a New Numeric Value dialog box
Deletes the digit to the left of the cursor. Deletes the digit to the right of the cursor. Deletes the entire number. Moves the cursor to the far left of the text box. Moves the cursor one digit to the left. Moves the cursor one digit to the right. Moves the cursor to the far right of the text box. (numeric keys) The numeric keys 0 to 9, decimal point key and sign key.
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User interface
Input validation of entered values

When you enter a numerical value, it is validated by the system. The value must be within the selected display format limits for this data type (for example Heading 0 to 360 degrees). If you enter an illegal value, and then click OK or Apply, an Illegal value dialog box (see Figure 10) is displayed. Click OK on this dialog box. The illegal value will remain highlighted in the text box until it is corrected.
Figure 10 Example: Message displayed when entering an illegal value If the dialog box has more than one page, and you enter an illegal value on one of the pages, the validation will be performed when you click OK or Apply, even though another page is displayed. The dialog box is automatically displayed with the page containing the illegal value on top. If more than one validation error occurs, all errors are listed in one message box. In the dialog box, however, only the first error will be highlighted.
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Display views
1.4
Display views
Display views presents the operator with information about (and related to) the operation.
Orientation of the OS and effect on display views

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

In many of the display views, the ordinary cursor changes to a pointing hand (the hotspot cursor) when it is moved over an area defined as click-sensitive. Typical examples of such click-sensitive areas are: Push buttons for zooming in and out. Numerical fields showing other related numerical values when clicked. Graphical fields showing a specific dialog box when clicked.
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User interface
Change of position setpoint. Opening another view related to the specific component you click. Opening the control dialog box for a specific plot, etc.
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. The tooltip and hotspot cursor are on by default, but can be toggled on/off by using the Show ToolTip command and the Use HotSpot Cursors commands on the View menu.
Available views
The following standard display views are available (in alphabetic order): Deviation view (see page 18-2) Shows a combination of graphical and numerical performance data, particularly related to position and heading deviation. Diesels view (see page 18-7) Provides a simplified mimic display of the vessels diesel engines and fuel-rack system as seen from the SDP system. General view (see page 18-11) Shows a combination of graphical and numerical performance data. Joystick view (see page 18-14) Shows the thrust setpoint and response during Joystick mode. LTW view (see page 18-19) Shows the performance of a Light-Weight Taut Wire (LTW) positionreference system. Numeric view (see page 18-24) Shows performance data in numerical form.
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Display views
Posplot view (see page 18-26) Shows the vessels position and heading. Power view (see page 18-41) Shows a mimic display of the vessels electrical power system. Power consumption view (see page 18-44) Shows available power for each main bus in numerical form, and also consumed power for each main bus both in numerical and graphical form. RCA view (see page 16-18) Shows information on the status of the requested Vessel Control mode and the corresponding Vessel Control Areas. Refsys view (see page 18-46) Shows the individual and consequent performance of the active position-reference systems. Refsys Status view (see page 18-54) Shows the status for each position-reference system or transponder. Rotation Centers view (see page 18-55) Shows the position of all the rotation centers available when the vessel is under automatic control. Sensors view (see page 18-56) Shows the performance and state of some subset of the vessels sensors, such as gyrocompasses, wind sensors and VRS. Thruster views (see page 18-61) A main view and sub views for each thruster show how the system is using the available thrusters to provide the required thrust setpoint. The Setp/feedb view shows setpoint and feedback data for all the thrusters. Trends view (see page 18-82) Shows dynamic displays (trend plots) and numerical values for trended curves of the history over a specified period of selected information.
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User interface
Selecting a display view

You can select a view to be displayed in three ways: 1 To select a view to be displayed in the working area, press the appropriate button in the Views or Main Views button group on the operator panel. To select a view to be displayed in the performance, working or monitoring areas, place the cursor in the required area and click the right trackball button. A shortcut menu is displayed listing the views that are available for that area. Select the required view. The example shown here is the shortcut view menu for the working area. On the shortcut menu the small arrow to the right of a menu entry indicates that a submenu of related views is available. - The Utility sub menu contains the Trends and Rotation Centers views. - The Analysis sub menu contains the Capability and Motion Prediction views. - The Performance sub menu contains the General, Numeric and Deviation views.
To display a preselected set of views in the performance, working and monitoring areas, press the appropriate function key on the keypad (see Preselecting views on page 1-25).
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Display views
View control dialog boxes

Many of the views have control dialog boxes for selecting the displayed information and controlling features of the view. These dialog boxes are accessed via the shortcut menu for the view. To display the control dialog box for a view: 1 Place the cursor anywhere in the view and click the right trackball button. - The shortcut menu is displayed. Click View Control on this menu. - The control dialog box for the view is displayed. - If the view does not have an associated control dialog box, then View Control is not available on the shortcut menu.
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User interface
Zooming
To zoom a view that is displayed in the working or monitoring areas, click Zoom In on the view shortcut menu. The view is enlarged by approximately 60%, centred on the cursor position when the shortcut menu was displayed. A zoomed view can be panned or zoomed again. Place the cursor in the required area and click the right trackball button. The following shortcut menu is displayed:
Clicking Zoom Reset returns the view to its original scale. Clicking Zoom In zooms the view again, centred on the cursor position when this menu was displayed. Clicking Center Here pans the view so that it is centred on the cursor position when this menu was displayed. If available, clicking View Control displays the control dialog box for the view.
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Display views
Preselecting views
You can preselect sets of views to be displayed in the performance, working and monitoring areas and link them to function keys on the keypad. When you then press one of these function keys, the preselected set of views is displayed. Alternatively, on the View menu, click Use Preselected and then the required function number. To inspect recorded view-selections or to record new view-selections, click Preselect on the View menu. The Preselect dialog box is displayed.
Inspect recorded view-selections:
You can inspect the set of display views currently linked to a function key by clicking the associated button. The display view titles are then shown in the layout on the dialog box. To display the set on the screen, click Set Display Area, or press the required function key on the keypad.
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User interface
Record NEW view-selection:
While the Preselect dialog box is displayed, select the required views in the display areas, and the required level of zooming for each view, and then click the appropriate function key button on the dialog box. When you click Close, these views are linked to the selected function key. The function keys that can be used are preconfigured for your system by Kongsberg personnel. These function keys can also be preconfigured to be either operator programmable or not. All function keys which are not operator programmable appear dimmed on the Preselect dialog box. The views displayed when a corresponding function key is pressed, are all preconfigured.
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Main menus
1.5
Main menus
The menus of the SDP system are described in the sections that follow. The content of the menus is configurable, and may vary from vessel to vessel. For details on each menu/dialog box, see page references given.
Menu bar
Figure 11 displays an example menu bar. To view the commands available on a menu, click the menu.
Figure 11 Example menu bar
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User interface
System menu
Click System on the menu bar. The System menu is displayed. Trainer... page 5-2 CyberSea... page 16-22 Backup Control... See SDP Backup System Operator Manual Connect... page 7-15 Equipment... page 17-6 Redundant Stations... page 8-5 Vessel Control Mode... page 16-14 Set Date/Time page 2-11 Set Timezone... page 2-11 Event Printer... page 4-13 Print Status... page 16-9 ScreenCapture Printer... page 2-3 Remote Diagnostics... page 16-6 Reset Controller PS... page 8-2 Stop/Restart... page 7-2 Change User page 2-2 OS Configuration Mode, PS Configuration Mode, OS Configuration and OS Test/Status are not part of the normal operating procedures for the SDP system and are therefore not described in this operator manual. They are implemented to facilitate installation and service work performed by trained personnel from Kongsberg Maritime. Panel Log page 16-2
Note
The Set Date/Time and Panel Log functions are only available to the Chief user. See Changing user on page 2-2.
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Main menus
View menu
Click View on the menu bar. The View menu is displayed. Set Palette Panel Show ToolTip Use HotSpot Cursors Num Entry Dlg... Preselect... Use Preselected Display Units... Position Presentation... Reset Display Units... page 2-12 page 2-4 page 1-19 page 1-19 page 1-14 page 1-25 page 1-25 page 2-6 page 10-4 page 2-10
Sensors menu
Click Sensors on the menu bar. The Sensors menu is displayed. Gyro... page 9-2 Gyro Deviation... page 9-4 Wind... page 9-8 VRS... page 9-14 Speed... page 9-16 Draught... page 9-19 Depth... page 9-21 Rate Of Turn... page 9-23 Alarm Limits... page 2-13 Reference System Settings.. page 10-13 Reference System... page 10-17 Reference System Properties...page 10-22 (The system installed has either the Reference System Settings dialog box or the Reference System dialog box, depending on configuration.)
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User interface
Thruster menu
Click Thruster on the menu bar. The Thruster menu is displayed. Enable... Automatic Start... Allocation Mode Allocation Settings Biasing... Run-in... page 14-2 page 14-4 page 14-6 page 14-10 page 14-12 page 14-22
Joystick menu
Click Joystick on the menu bar. The Joystick menu is displayed. Settings... Rotation Center... Heading... Rate Of Turn... Acceleration... Calibrate... Gain... Alarm Limits... page 3-4 page 3-7 page 13-5 page 13-7 page 12-11 page 3-2 page 2-16 page 2-14
Note
The Calibrate function is only available to the Chief user. See Changing user on page 2-2.
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Main menus
AutoPos menu
Click AutoPos on the menu bar. The AutoPos menu is displayed. Position... page 12-1 Position Inc... page 12-4 Position R/B... page 12-4 Speed... page 12-9 Acceleration... page 12-11 Heading... page 13-5 Rate Of Turn... page 13-7 Gain... page 2-16 Alarm Limits... page 2-13 Quick Model... page 2-22 Dp Class... page 6-3 Rotation Center... page 2-24 DpCap Settings... See DP Capability and Motion Prediction Operator Manual
Help menu
Click Help on the menu bar. The Help menu is displayed. Messages... About... page 4-1 page 16-11
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2 SYSTEM SETTINGS
This chapter contains the following sections: 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 Changing user Printing the display picture Panel Light Configuration dialog box Display Units dialog box System date and time Day and night palette Alarm Limits dialog box Controller Mode and Gain Level selection Quick model update Rotation center for automatic control
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System settings
2.1
Changing user
There are three types of user defined for the SDP system: Operator When the SDP system is started, the user is set to Operator. This is the normal user of the SDP system. Chief The Chief can operate the system in the same way as the Operator but in addition can perform the following functions: - Set the system date and time (see page 2-11) - Calibrate the joystick (see page 3-2) - Enable or disable the logging of messages between the operator panel and the SDP system (see page 16-2). System This user is reserved for installation and service work performed by trained personnel from Kongsberg Maritime. To change user, click Change User on the System menu. The Change User dialog box is displayed.
Select the required user in the New user list box and click Change user. The Chief user is also required to enter a correct Password (supplied by Kongsberg Maritime).
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Printing the display picture
2.2
Printing the display picture

To print a hard copy of the current display picture, press the HARDCOPY button. The whole screen picture is printed on a general-purpose printer connected to an Operator Station. You can define which printer is to be used. On the System menu, click Screen Capture Printer. A standard Microsoft Windows Print Setup dialog box is displayed.
You can use this dialog box to select the printer and to define the printer set-up.
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System settings
2.3
Panel Light Configuration dialog box

Dimming level
You can set the required light intensity for the indicator (status) lamps on the operator panel, and for the background lamps in the buttons themselves. 1 On the View menu, point to Panel and then click Light Configuration. - The Panel Light Configuration dialog box is displayed.
From the list boxes, select the required light intensity for the indicator lamps and the background lamps for the available Palettes. Available light intensities are Bright, Normal, Dimmed, Very Dimmed and Off. Click OK.
The * symbol shows which display palette is currently in use. You can perform a lamp test by clicking the Lamp Test button. The Panel Lamp Test dialog box described on page 2-5 is displayed.
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Panel Light Configuration dialog box
Lamp test
You can test the panel status lamps, alarm lamps and the audible signal at any time. 1 On the View menu, point to Panel and then click Lamp Test, or click the Lamp Test button on the Panel Lamp Configuration dialog box. - The Panel Lamp Test dialog box is displayed.
Click Start Lamp Test. - The following message is displayed in the Panel Lamp Test dialog box:
The Lamp Test has started - All the panel status lamps should be lit. - All the alarm lamps in the Alarms button group should be lit. - The audible signal should sound. - The text on the dialog box button changes from Start Lamp Test to End Lamp Test. 3 4 5 6 Press SILENCE in the Alarms button group to stop the audible signal. Press each button which has a status lamp. - The status lamp should be extinguished. To stop the test, click End Lamp Test. Click Close to remove the Panel Lamp Test dialog box.
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System settings
2.4
Display Units dialog box

You can specify the display units to be used for the display and entry of values. You can also select which set of display units to use. Procedures for setting the display format and the required datum for position information are described in section Position Presentation dialog on page 10-4.
Selecting the set of display units to use

1 On the View menu, click Display Units. - The Display Units dialog box is displayed.
Select the required set of display units. You can choose between Metric Units, Imperial Units or, depending on the specific configuration, one or more User Definable sets. Click OK (or Apply if you have selected a User Definable set, and want to edit some of the values in this selected display unit set).
You can now proceed to select the required types of display units you want to edit. Note that only User Definable display units sets can be edited.
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Editing Display Units

1 Click the Details button on the Display Units dialog box. - The extended version of the Display Units dialog box is displayed.
Using the scroll bar to the right, find the display units type you want to edit and select it. It is possible to sort the unit list alphabetically by clicking the column heading. Click once for ascending order, twice for descending order and three times to have the default order (no alphabetical sorting) displayed. Click in the Display Format column for the selected display units type. A list box containing all the display formats for this value is then displayed (see Figure 12). Note that the presently selected display format is indicated with white text on blue background.
Figure 12 Display Units dialog box - Selecting display format 4 5 6 Select the wanted display format from the options shown in the list box by clicking it. The list box is then closed. Repeat steps 2 to 4 if you need to edit the display formats for several types of display units. Click OK.
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System settings
Additional information
Whether the Display Units dialog box is shown as a compact version or as an extended version, depends on the version in which it was shown the last time the dialog box was closed (i.e. it always opens in the same version as it was in when last closed). The extended version of the Display Units dialog box is resizable. To adjust the height, place the cursor directly on top of the upper (or lower) edge of the dialog box. The cursor then changes appearance to a two-headed arrow symbol. You can now drag the edge of the dialog box (downwards or upwards) until it displays the desired number of display units types in the set. Similarly you can resize the width of the dialog box. In addition you can adjust the width of the Type, Display Format and Unit columns by placing the cursor on top of one of the column delimiters. The cursor then changes appearance to a two-headed arrow symbol. You can now drag to change the width of the columns.
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Vessel and sea current speed

For vessel and sea current speed there are two display formats for knots, either knots (1 decimal point accuracy) or knots (accurate) (2 decimal points accuracy). There are also two display formats for meter/second: For vessel speed, either meter/sec (2 decimal points accuracy) or meter/sec (accurate) (3 decimal points accuracy). For sea current speed, either meter/sec (1 decimal point accuracy) or meter/sec (accurate) (2 decimal points accuracy).
Wind, waves and sea current direction

For wind, waves and sea current, it is possible to specify whether the displayed directions are to be interpreted as comes from or goes to. When Goes To is selected, the displayed directions in dialog boxes and views are shown with s. in front of the unit. The s means setting (goes to). On display views such as the Posplot view, the arrows indicating wind and current directions point towards the plot when Comes From is selected, and outwards when Goes To is selected.
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System settings
Resetting the display units

The display units settings can be reset to the factory (original) display units settings. 1 On the View menu, click Reset Display Units. - The Reset Display Units dialog box is displayed. The dialog box states which display units set will be used if you reset.
Click Yes if you want to reset all the display units settings to factory (original) settings.
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System date and time
2.5
System date and time

You can change the date and time of the system clock, and the time zone. The time that you set at any Operator Station is applied to all the available Operator Stations and controller process stations.
Date and time

Note
Setting the system date and time can only be performed by the Chief user. See Changing user on page 2-2. On the System menu, click Set Date/Time. The Set System Date/Time dialog box is displayed.
Use this dialog box to set the correct date and time. You can either enter the time and date values directly into the text boxes or you can use the up/down arrow to select time and date values.
Time zone
On the System menu, click Set Timezone. The Set Timezone dialog box is displayed.
Use this dialog box to set the required time zone from the selection on the drop-down list box. Select the check box if you want the system to automatically adjust the clock for daylight-saving changes.
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System settings
2.6
Set palette (display colours)

Two sets of display colours (palettes) are available for day or night use. The palette selection from the Operator Station in command can be applied at all Operator Stations in the system, or the palette selection can be set individually at each Operator Station.
Changing the display palette on Operator Stations that are not set to have an independent palette selection
You can change the display palette simultaneously at Operator Stations that are not set to have an independent palette selection. Perform the following procedure at the Operator Station that is in command: 1 Ensure that independent palette selection is not selected at the Operator Station that is in command. On the View menu, point to Set Palette. A sub menu is displayed. If Independent is selected on this sub menu, click Independent to deselect it. 2 On the View menu, point to Set Palette and select the required palette; Bright Day or Night. - The palette selection is applied to the Operator Stations that are not set to have an independent palette selection.
Changing the display palette on a single Operator Station

You can change the display palette at a single Operator Station. Perform the following procedure at the Operator Station that is to have an independent display palette: 1 Ensure that independent palette selection is selected at the Operator Station. On the View menu, point to Set Palette. A sub menu is displayed. If Independent is not selected on this sub menu, click Independent to select it. 2 On the View menu, point to Set Palette, and select the required palette; Bright Day or Night. - The palette selection is applied to the Operator Station.
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Alarm Limits dialog box
2.7

In the Alarm Limits dialog box, alarm and warning limits can be set for position deviation, heading deviation and roll, pitch and heave motion. The Alarm Limits dialog box can be selected from the Sensors, Joystick and AutoPos menus. The alarm limits entered will apply independent of the present mode and from which menu the dialog box has been selected.
Position page
Alarm and warning limits can be set for position deviation and heading deviation. Click Alarm Limits on the Joystick or
AutoPos menu. The Position page of the Alarm Limits dialog box is displayed.
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 the limits, select the Position (Heading) - Active check box. You can activate either the alarm limit only, or both the warning and alarm limits. You cannot activate only a warning limit. If you click the Warning - Active check box, the corresponding alarm limit is also activated.
Note
Warning limits can never be set larger than the corresponding Alarm limits. Warning and alarm limits can be set for position deviation. When the vessels actual position differs from the position setpoint by more than the warning limit, a warning message is displayed. When the vessels actual position differs from the position setpoint by more than the alarm limit, an audible signal sounds and an alarm message is displayed.
Position
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System settings
When active, the position limits are displayed as solid circles on the General view (see page 18-11), the Deviation view (page 18-2), and the Posplot view (see page 18-26). When inactive, the position limits are shown as dashed circles on the General and Deviation views.
Note
In all modes, the position limits are inhibited until a requested change in position is completed. Warning and alarm limits can be set for heading deviation. When the vessels actual heading differs from the heading setpoint by more than the warning limit, a warning message is displayed. When the vessels actual heading differs from the heading setpoint by more than the alarm limit, an audible signal sounds and an alarm message is displayed. The limits are active only when the yaw axis is under automatic control. When active, the heading limits are shown as solid lines on the General view (see page 18-11), the Deviation view (see page 18-2), and the Posplot view (see page 18-26). When inactive, the heading limits are shown as dashed lines on the General view and the Deviation view.
Heading
Note
In all modes, the heading limits are inhibited until a requested change in heading is completed.
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VRS page
Alarm limits can be set for pitch, roll and heave motion. Click Alarm Limits on the Sensors menu. The VRS page of the Alarm Limits dialog box is displayed.
Pitch/Roll/Heave
The system monitors the pitch and roll motions of the vessel as measured by the Vertical Reference Sensors (VRS). If heave measurements are also available from the VRS, the system also monitors this motion. You can specify maximum alarm limits for each motion. If an alarm limit is exceeded, an audible signal sounds and an alarm message is displayed. 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 the limits, select the Active check boxes.
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System settings
2.8
Controller Mode and Gain Level selection

To select the Gain dialog box, either click Gain on the Joystick or AutoPos menu, or press the CONTROL SETUP button. The Gain dialog box is displayed.
Controller Mode
The radio buttons allow you to select from High Precision, Relaxed and Green controller modes. The In Use boxes indicate which controller mode is currently in use by the system. High Precision This is the default controller mode. It is also the controller mode setting if controller mode selection is not available in the SDP system installed on your vessel. Gain level and customised gain settings (if available) apply for this controller mode. Relaxed This controller mode is available in Auto Position and Mixed Joystick system modes. Select the radius by clicking the arrows or typing in a value in the Outer Radius text box. Gain level and customised gain settings (if available) apply for this controller mode. If it is not possible to use Relaxed controller mode when it is selected, the High Precision controller mode will be used.
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With Relaxed controller mode, the position gains are modified to vary within the Relaxed control circle. This means that the force setpoint used to bring the vessel back to position setpoint is very low when close to the center of the control circle. It then increases up to the normal values when close to the border of the area defined by the radius (the gain varies exponentially within the area - see Figure 80 on page 19-9).
Note
The radius for Relaxed controller mode is not a position limit, it is only the area within which the controller gains are very low. If the vessel drifts outside this area, the gains will increase. How far outside the vessel drifts depends on the Gain Level settings (the high-medium-low predefined controller gain or customised controller gain in surge, sway and yaw axes). When leaving Auto Position or Mixed Joystick system mode with Relaxed control active, Relaxed control is temporarily disabled. This is indicated by: The Relaxed In Use check box being cleared. The Gain indicator on the status bar becoming solid black (see Figure 13). The shaded circle on the Posplot view disappearing (see Figure 15). Green This controller mode is available in Auto Position system mode. Select the Outer Radius and Inner Radius by clicking the arrows or typing in a value in the text box. If it is not possible to use Green when it is selected, the High Precision controller mode will be used. The Inner Radius and Outer Radius defines the working area and the operational area, respectively (see Figure 80 in section The Controller on page 19-8 ). When the inner radius is predicted to be exceeded, additional thrust is added in a smoother way than if the outer radius is predicted to be exceeded.
Note
When changing position and/or heading in Green controller mode, the controller mode used is automatically temporarily switched to High Precision controller mode. During a heading change the position carrot is set to the present vessel position. This prevents unnecessary vessel movement. The controller mode will switch back to Green controller mode once position (PosMode) and heading mode (HdgMode) has the state Present. These modes are indicated on the status bar, see page 1-10.
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System settings
Note
If system selected heading is chosen (see page 13-6), the Green controller mode will not be in use. Gain Level (see also page 2-19) is applicable for High Precision and Relaxed controller modes. High/Medium/Low Select the required controller gain level using the High/Medium/Low radio buttons. If available, the gain factors in use for each of the three gain levels are shown in parentheses. The values in parentheses may vary depending on vessel configuration. Customised This setting is optional. Select this option button when you want to perform customised settings of the gain level. Selecting Customised will make the High/Medium/Low option buttons unavailable (they will appear dimmed). After you have selected Customised you can input the Customisation setting for gain factors in the Surge, Sway and Yaw axes by clicking the arrows or typing in a new gain factor in the corresponding text box. The currently selected gain factors in the Surge, Sway and Yaw axes are shown graphically above the numerical values.
Gain Level
Speed Constraints
Speed constraints are used in Green controller mode to limit the vessel speed. You can select Speed Constraints for the Surge, Sway or both axes. Speed constraints should be used while operating within a large area.
The content of this dialog box will vary according to system configuration. The dialog box in the system installed on your vessel may display only some of the items shown in this example.
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Gain Level for High Precision and Relaxed Controller Mode

There are three predefined controller gain levels available; high, medium and low. The selected gain level applies to any of the surge, sway and yaw axes when they are under automatic control and High Precision or Relaxed controller mode is used (see page 2-16). If configured, customised setting of the controller gain level can be performed, with individual gain factor settings for the surge, sway and yaw axes. Different gain factors for each of the three standard gain levels are defined to suit the characteristics of the vessel. The deviations in position, speed, heading and rotation rate are multiplied by the selected gain factor to obtain the required force setpoint. The most suitable gain level depends on the vessel characteristics, the weather conditions and the required positioning accuracy. Operational experience plays a large part in determining the optimum gain level, but the following general points should also be noted: High gain provides the quickest vessel response, the most accurate manoeuvering, and the smallest positioning window. Medium gain provides a slower vessel response than high gain. Low gain provides the slowest vessel response and the largest positioning window. For all three predefined controller gain levels, and also for the customised gain levels, the gain factors are reduced when the position deviation is close to zero. Under ideal conditions (optimum Vessel Model and constant environmental forces), there will be little difference between the effect of the various gain levels since the position deviation will be minimal. Under less than ideal conditions there can be some variation in the vessel position, and you should set the gain level to control the speed and extent of the variation according to the general comments given above.
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System settings
Display presentation of Controller Mode

For a detailed description of the Posplot view see page 18-26.
High Precision
When the controller mode is High Precision, the Gain indicator on the status bar is according to Figure 13.
Low
Medium
High
Customised
Figure 13 Gain indicators for High Precision mode

Relaxed
When the controller mode is Relaxed, the Gain indicator on the status bar is according to Figure 14.
Low
Medium
High
Customised
Figure 14 Gain indicators for Relaxed mode The Relaxed control radius is indicated by a shaded circle on the Posplot view, with the position setpoint as center, see Figure 15.
Figure 15 Posplot of Relaxed controller mode
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Green
When the controller mode is Green, the background of AUTO POS (MainMode) and the Gain indicator on the status bar are both shaded green (see Figure 16). The height of the Gain bar graph on the status bar depends on the Inner Radius (the radius of the working area).
Figure 16 MainMode and Gain indicator for Green controller mode The predicted trajectory for the vessel is displayed as a line pointing from the rotation center. This is the Green Prediction. To show/hide the Green Prediction in the Posplot view, see the description of View Controls/Show on page 18-34. The Green outer and inner control radii are indicated on the Posplot view, with the position setpoint as center, see Figure 17. The inner radius is indicated by a green, shaded circle.
Figure 17 Green control limits displayed in Posplot view
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System settings
2.9
Quick model update

All the forces acting on the vessel that are not measured directly, such as waves and sea current, together with any errors in the measured forces, are calculated over a period of time by the Vessel Model, and the appropriate thrust is applied to counteract them (see SDP system principles on page 19-5 for a description of the Vessel Model.) These unknown forces are presented for the operator as being entirely due to sea current as this is usually the main component. Under normal sea conditions, the major components of the current force change only slowly, and the best positioning performance is achieved by calculating them over a long period of time. During some operations, significant and rapid changes in current forces can occur. For example: When manoeuvering in channels, rivers, harbours or around breakwaters, or in areas with loop current, there may be sudden changes in the current. When relatively large forces are not measured accurately, such as the pipe tension in a pipe-laying operation, there may be sudden errors in the measured forces. Such sudden changes in the current forces would normally result in a position offset which would then be slowly corrected. When selected by the operator, the Quick Model Update function prepares the system for sudden changes in the current by adjusting the mathematical model accordingly and in this way ensures more accurate positioning. The reaction rate can be specified separately for each axis. A timer is included so that the Quick Model Update function is automatically switched off after a specified period.
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Quick model update
Quick Model dialog box

To display the Quick Model dialog box, either click Quick Model on the AutoPos menu or press the QUICK MODEL button.
Enable Duration Time left
Enable or disable the Quick Model Update function. The duration of the function, after which it will be automatically switched off. The timer starts when you select Enable and then click OK or Apply. The Time left field shows the time remaining before the function will be automatically disabled.
Error gain A gain modification factor can be specified for each axis. The modification factors factor is specified as a percentage of the normal reaction to deviation in that axis caused by current forces. A larger factor results in a larger reaction and thereby a shorter integration time for the current forces.
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System settings
2.10 Rotation center for automatic control

The rotation center is used when both the vessel heading and position are under automatic control. Up to 20 rotation centers can be predefined for the vessel in fixed positions relative to the center of gravity. The coordinates of the required rotation center can also be entered manually. The rotation center can be located anywhere, even outside the vessel itself. To define the rotation center to be used when the vessel heading and position are under automatic control, click Rotation Center on the AutoPos menu. The Rotation Center dialog box is displayed.
Note
When the vessels rotation center is set to a location other than CG and the speed setpoint is zero, it will not be possible to perform a change of heading. This is because a heading change with a rotation center other than CG implies a change of position which requires a speed setpoint that is not zero.
Select Rotation Center
Select a rotation center by clicking the appropriate option button. When a predefined rotation center is selected, its coordinates are displayed in the Ahead and Stbd boxes. If Other is selected, a drop-down list box becomes available, from which you can select among predefined rotation centers. A Preview display is shown.
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Rotation center for automatic control
When a rotation center is selected in the drop-down list box, its coordinates are displayed in the Ahead/Astern and Stbd/Port boxes and in the Preview display. All coordinates are measured from the center of gravity of the vessel. If User Defined is selected in the drop-down list box, the coordinates of the required rotation center can be entered directly in the Ahead/Astern and Stbd/Port boxes. In Use Preview The In Use boxes show the coordinates of the currently-active rotation center in the Ahead/Astern and Stbd/Port axes. A red circle on the Preview display shows the position of the currently-active rotation center (In Use). A green circle shows the position of the proposed rotation center (Select Rotation Center).
The available rotation centers are displayed on the Rotation Centers view (see page 18-55). The intersection of the horizontal and vertical lines on the Preview on the Rotation Center dialog box marks the center of gravity of the vessel. When automatic position control is active, the rotation center can only be changed when the position and heading modes (shown in the status bar) are PRESENT. On the Posplot view, the position of the currently-active rotation center is shown as a small circle. Also, the title and coordinates of the rotation center relative to CG are displayed in the top left corner of the Posplot view as shown below.
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System settings
If you click on the RotCnt information, the selected (but presently not used) rotation center is displayed in another colour for a few seconds.
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3 JOYSTICK
This chapter contains the following sections: 3.1 3.2 3.3 Calibrating the joystick Joystick settings Rotation center for joystick manoeuvring
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3-1
Joystick
3.1
Note
Calibrating the joystick

Calibrating the joystick can only be performed by the Chief user (see Changing user on page 2-2), and only when the system is in Standby mode. Calibration of the joystick ensures that a certain deflection of the joystick corresponds to a specific thrust, depending on Joystick Settings. It is necessary to calibrate the joystick when: New hardware has been installed or parts of the hardware (for example the joystick) have been changed. New software has been installed or software has been reinstalled from a CD. To display the Joystick Calibrate dialog box, select Calibrate on the Joystick menu. The dialog box contains a description of how to calibrate the joystick.
Note
The steps that appear dimmed are intended for service personnel from Kongsberg Maritime and shall not be performed by the operator.
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Calibrating the joystick
Calibration procedure
To calibrate the joystick: 1 2 Ensure that the system is in Standby mode. Select Calibrate on the Joystick menu. - The Joystick Calibrate dialog box will be displayed. - A figure indicating the joystick axes is displayed on the dialog box. Set the joystick in ZERO position and click the In Zero Position button. - A red mark appears on the zero position on the figure. Move the joystick for MIN/MAX in the three axes to register joystick swing. - Black lines will appear on the figure indicating joystick swing in all three axes. You may change the joystick deadband. Click the Deadband button. - The Deadband dialog box is displayed. Enter the required deadband in all three axes by typing in values or by clicking the up/down arrows. Click OK. Click OK on the Joystick Calibration dialog box to finish the calibration. - A dialog box is displayed stating that the new calibrating values will be saved. Click OK. - The joystick is calibrated.
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3-3
Joystick
3.2
Joystick settings
Using the Joystick Settings dialog box, you can adjust the following settings: Joystick thrust Joystick precision Environmental compensation Current update To display the Joystick Settings dialog, either click Settings on the Joystick menu, or press the JOYSTICK SETUP button.
Thrust
These option buttons allow you to select either Full or Reduced thrust. Full The maximum force available from all thrusters can be used. This increases the vessels response to movement of the joystick compared to the Reduced option. Reduced The maximum applied thruster force for axes that are under joystick control is limited to about 50% of the available force from all thrusters. The joystick thrust setting can also be changed by pressing the JOYSTICK FULL THRUST button. The status for the joystick thrust setting will be dynamically updated on the Joystick Settings dialog box to reflect this change.
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Joystick settings
Precision
The applied thruster force for axes that are under joystick control can be scaled in various ways. This scaling gives a different response to movement of the joystick, depending on the configuration and operational requirements of the vessel. Figure 18 displays thrust as a function of joystick deflection in the cases of Full and Reduced thrust, with High speed, General or Low speed precision.
Thrust / Max
1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.1 0.2 0.3 0.4 0.5 0.6
Full
High Speed
Reduced
Low Speed
0.7 0.8 0.9 1
Deflection / Max
Figure 18 Joystick response characteristics The option buttons allow you to select from High speed, General or Low speed precision. High speed For precise high-speed manoeuvring. At small movements of the joystick the change in thruster force is large, but decreases with increasing movements. General Linear relationship between movement of the joystick and force exerted by the thrusters. The Precision is automatically changed from High speed to General when changing from high speed to low speed manoeuvring (for example from Autopilot mode to Joystick mode). Low speed For precise low-speed manoeuvring. Progressive relationship between movement of the joystick and force exerted by the thrusters. At small movements of the joystick the change in thruster force is low, but increases with increasing movements. Exponent This shows the exponent used in the calculation of thrust for the currently selected Precision option. This is for information only.
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Joystick
Envir. Comp.
The check boxes allow you to combine joystick control with environmental compensation separately for each of the Surge, Sway and Yaw axes.The system then automatically compensates for the wind forces acting on the vessel by providing the thrusters with the necessary extra thrust in the appropriate direction. When position-reference system measurements are available, the system will calculate the unknown forces, including sea current and wave forces, which are acting on the vessel (collectively referred to as current) and perform automatic compensation for these forces. Environmental compensation is always performed when selected, but the compensation due to current forces is zero if no position-reference system has been accepted or if Current Upd. is not selected. In Joystick mode, when position-reference system measurements are available, the system will calculate the unknown forces, including sea current and wave forces, which are acting on the vessel (collectively referred to as current) and perform automatic compensation for these forces.
Current Upd.
Current Update is by default enabled. You must clear the required Surge/Sway/Yaw check boxes if you do not want the system to compensate for the calculated current forces for axes under joystick control. Compensating for current forces when under joystick control normally increases the system performance when entering automatic control. However, there can be situations where the calculated current is no longer valid for the new operational condition. A typical example would be when entering automatic control after a period using thrusters to hold the vessel against a quay.
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Rotation center for joystick manoeuvring
3.3

When the vessel is in Joystick or mixed joystick/auto mode, it is possible to specify that the vessel should rotate about the fore or aft part of the vessel instead of CG which is the default. This feature can be useful when leaving or approaching another vessel or a fixed structure such as a quay.
Note
In Joystick mode the vessel will not rotate accurately around the selected rotation center. This is because position control is not used in Joystick mode. For example, when manoeuvring alongside a quay which lies to starboard, you may want to move the stern of the vessel in towards the quay without the bow moving out, while at the same time applying a small thrust to starboard. This would be difficult when using CG as the rotation center. By selecting the fore part of the vessel as the rotation center, you can easily use the joystick both to rotate the vessel counter-clockwise about the bow and to move the vessel to starboard (see Figure 19).
Figure 19 Vessel movement with Fore rotation center selected Only rotation centers that are intended for use during joystick manoeuvring can be activated in Joystick mode. A suitable configuration of thrusters must be enabled. For example, if you want the vessel to rotate about the aft part of the vessel, there must be at least one thruster enabled forward of the vessel center. In Joystick mode you can specify a rotation center for use in automatic mode, but the selection will not be effective until an automatic mode is selected. The rotation center in use is automatically changed if the selected rotation center no longer can be applied.
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Joystick
In mixed Joystick mode the system will, if possible, use the Fore, CG or Aft rotation center, but the position setpoint will be at the operator-specified rotation center. The position controller may then force the vessel to rotate around the operator-specified rotation center. We will clarify this with an example. Assume that the vessel is in Auto Position mode with an operator-specified rotation center different from Fore, CG or Aft. The operator then disables automatic yaw control and uses the joystick to command the vessel to rotate counter-clockwise. The joystick control in yaw will try to rotate the vessel around CG, but the position control will work in such a way as to keep the vessel at its position setpoint. The vessel may then be forced to rotate around the position setpoint as shown in Figure 20.
Figure 20 A vessel rotating around its position setpoint
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Rotation Center dialog box

To define the required manual rotation center, click Rotation Center on the Joystick menu. The Rotation Center dialog box is displayed.
Select Rotation Center
Fore Rotate about the fore part of the vessel. CG Rotate about the CG part of the vessel. Aft Rotate about the aft part of the vessel.
In Use
The In Use boxes show the coordinates of the currently-active rotation center in the Ahead/Astern and Stbd/Port axes.
On the Posplot view, the position of the currently-active rotation center is shown as a small circle. Also, the title and coordinates of the rotation center relative to CG are displayed in the top left corner of the Posplot view as shown below.
If you click on the RotCnt information, the selected (but presently not used) rotation center is shown for a few seconds.
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4 THE MESSAGE SYSTEM

This chapter contains the following sections: 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 4.10 System diagnostics Operational checks Message priority Presentation of messages Alarm states Acknowledging messages Alarm lamps Messages on the printer Message explanations Operator advice messages
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The message system
4.1
System diagnostics
The following methods are used for fault detection: Built-In System Test (BIST) that performs a comprehensive system test at power-on. Built-In Test Equipment (BITE) that continually checks for internal system faults when the system is running. Additional self-checking facilities for system components such as I/O cards, hardware voters, etc. Supervision of the controller process station fan and temperature. Comparison of data with preset maximum and minimum limits. Consistency checking of input (e.g. input from triangular potentiometer). Supervision of the serial lines (e.g. Timeout, baud rate, framing error, checksum and format). Any faults are reported.
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Operational checks
4.2
Operational checks
The following checks are continuously carried out during system operation: Detection of possible degraded performance of the SDP system (e.g. thruster not ready, insufficient thrust, demand reduced by blackout prevention, position out of limits, etc.). Logical checking of information (e.g. taut wire; difference between measured and expected wire length exceeds limit). Comparison of data with preset maximum and minimum limits. Comparison of received data with expected values calculated by the mathematical model. Comparison of thruster setpoint and feedback signals. Discrepancies exceeding preset limits are handled as a fault. Consistency checking between similar sensors, both with respect to interface and sensor failures. In dual and triple-redundant systems, comparison checks are also done for the position/heading setpoints and estimates, reference-system origin, used position-reference systems, target transponders and other sensors. Detected faults, discrepancies and advice are reported to the operator, enabling the appropriate operational actions to be taken and, if necessary, initiation of relevant repair procedures.
Audible and visual indications

All messages are presented as text in dedicated display areas. Audible signals and flashing panel lights are used for alarm messages. The operator can select a view showing all current messages in the system at any time. Audible signals may be silenced without acknowledgement of the message.
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The message system
4.3
Message priority
There are four categories of messages, depending on their severity: Emergency messages Emergency messages are generated in response to critical system faults such as over-temperature or power supply failure. All Emergency messages must be critically examined to determine their cause and effect. Alarm messages Alarm messages are generated when conditions are detected that critically affect the capability or performance of the system (such as a system fault or a defined alarm limit exceeded). All Alarm messages must be critically examined to determine their cause and effect. Warning messages Warning messages inform you of the occurrence of conditions in the system that, if ignored, could result in unwanted system response or eventual failure (such as incorrect operator actions, intermittent position-reference data or a defined warning limit exceeded). Information messages Information messages inform you of conditions that are noteworthy, but that have no serious effect on the performance of the system. Emergency and Alarm messages are accompanied by an audible signal which continues until you acknowledge the message. There are no audible signals associated with Warning or Information messages. Emergency, Alarm and Warning messages are accompanied by the relevant lamp flashing in the Alarms button group until you acknowledge the message. If the system tests do not report the same message within a timeout period (usually 20 seconds), the message becomes inactive. Inactive Warning and Alarm messages must be acknowledged before they are removed from the Message Line and the Dynamic Alarm Page (see page 4-7). They will remain displayed with the state Void in the Dynamic Event and Historic Event Pages.
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Presentation of messages
4.4
System messages are colour coded in the following ways: Emergency messages are displayed on magenta background. Alarm messages are displayed on red background. Warning messages are displayed on yellow background. Information messages are displayed on grey background. The messages are presented in two different displays: the Message Line and the Event List window. The presentation of events is subjected to filtering. Only those events that match all attributes specified in the filter are included in the presentation. System-defined filters are provided which cannot be changed by the operator. The Message Line always shows the most recent Emergency, Alarm or Warning message that has not yet been acknowledged.
Figure 21 Example Message Line The Event List window contains a list of all the current system messages. By pressing the ALARM VIEW button in the Alarms button group, you can display the Event List window.
Figure 22 Example - Event List window (First column) If you have not yet acknowledged a message, an asterisk (*) is displayed and the background colour is displayed flashing (see Acknowledging messages on page 4-10 for more information). A vertical bar (|) is displayed in place an asterisk for an unacknowledged message that is in a command group over which the operator station does not have control.
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The message system
Orig
Identifies the originator (source) of the message: SDP-OS# DpMain Equipment Operator station Controller PS group Equipment monitoring system
Member
Members of the originator of the message (not relevant when the originator is an Operator Station or a controller PS group with only one member). If the message is from a controller PS group with more than one process station, this column identifies the members of the group. It may contain up to three characters, depending on the redundancy level. For example, for a triple-redundant system: ABC C - B The message was reported by all three process stations and is still active. The message was reported only by process station C and is still active. The message was reported by process stations A and B. The message from process station A is now inactive. The message was reported by all three process stations and is now inactive (but is not yet acknowledged).
---
Name Time Prior State
Identifies the source of process events and system events. Time and date when the message was first reported. Message priority: Emergency, Alarm, Warning or Info (Information). The state of the Event: High, HighHigh, HighScale, Low, LowLow, LowScale (here all these are commonly referred to as Active), Normal or Void (see also page 4-9). Active Indicates that the alarm condition is present. Normal Indicates that the alarm condition is no longer present. Void Used in the Dynamic Event Page and the Historic Event Page. Indicates that the message is removed from the Dynamic Alarm Page. See page 4-7.
Text
Message text.
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Additional information (Event pages)
Up to three blocks of additional data may be included in the message. The meaning of this additional data varies for each message. See section Message explanations on page 4-14. You can choose among the following Event pages: Dynamic Alarm Page The Dynamic Alarm Page shows a list of the most recent messages. The Dynamic Alarm Page has a limited length; as the list is filled up, the oldest messages are pushed out while the most recent ones are added to the top of the list. Messages where the underlying condition is no longer present are displayed with the state Normal. Messages can be acknowledged on the Dynamic Alarm Page. Acknowledged messages where the underlying condition is no longer present are removed from the Dynamic Alarm Page. Use the Dynamic Alarm Page to get a survey of the current alarm situation. Historic Event Page The Historic Event Page provides a log of all messages that occur. Within the limits of the event database, you can define the time span to be covered by the Historic Event Page. While a message can appear only once on the Dynamic Alarm page, it appears as many times on the historic page as there are changes in its state. Use the Historic Event Page whenever you need to analyze the evolution of events. If the list extends beyond the window area of the display, you can use the up/down arrows in the tool bar. Dynamic Event Page The Dynamic Event Page shows a list of the most recent messages. The Dynamic Event Page has a limited length; as the list is filled up, the oldest messages are pushed out while the most recent ones are added to the top of the list. While a message can appear only once on the Dynamic Alarm page, it appears as many times on the Dynamic Event Page as there are changes in its state. Acknowledged messages where the underlying condition is no longer present remain displayed with the state Void. Use the Dynamic Event Page to get a survey of the current event situation.
Note
Messages cannot be acknowledged on the Historic Event Page and on the Dynamic Event Page.
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4-7
The message system
Defining the time span for the Historic Event Page

The Date And Time dialog box allows you to define the time span for the events displayed on the Historic Event Page. To display the dialog box, click the the Event List window. button in the tool bar of
Most recent time
The time span is defined relative to a specified date and time. The most recent time is the reference. This group box contains controls for setting the most recent time. Now Clicking this button sets the most recent time to the current time. Calendar, Hour, Min:, Sec: You can specify a date and time by using the calendar, and entering the required time in the Hour, Min: and Sec: text boxes.
And time span backwards
The time span is defined in days, hours, minutes and seconds backwards in time. Type in the required values in the Days:, Hours:, Min: and Sec: text boxes.
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Alarm states
4.5
Alarm states
Digital alarms are either Active (the underlying condition is present) or Inactive (the underlying condition is no longer present). Inactive digital alarms are presented with the status Normal on all three pages of the Event List window. Inactive, acknowledged digital alarms are presented with the status Void on the Dynamic Event Page and the Historic Event Page. Active digital alarms are presented with the status High on all three pages of the Event List window. For alarms on analog terminals, however, the Active state is further refined by means of alarm limits. Figure 23 shows the relation between the alarm limits and the validity of alarms states.
Figure 23 Alarm states An analog alarm is in the Normal/Void state when the terminal value is within the High and Low alarm limits. This means that the alarm is Inactive. The alarm becomes Active when the terminal value crosses the High/Low limits. Any change in the alarm state is indicated in the Status cell for that message in the Event List window.
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4-9
The message system
4.6
Acknowledging messages
You can acknowledge either all visible messages or individual messages selected on the Event List window (see Figure 22). When a message has been acknowledged, and the message is reported as inactive by all the controller process stations, it is removed from the message list. If this results in gaps in the list displayed in the Event List window, you can remove these gaps by selecting Refresh on the Event List shortcut menu (see Figure 24), by clicking the refresh button on the toolbar, or by closing and reopening the Event List window. You can acknowledge messages in the following ways: Press the ACK button in the Alarms button group. Click the button in the tool bar of the Event List window. Place the cursor in the Event List window or the Message Line, click the right trackball button to display the following shortcut menu, and select Ack.
Figure 24 Event List shortcut menu To acknowledge the message displayed in the Message Line: Press the ACK panel button or select Ack as described above. To acknowledge all visible current messages: Press the ALARM VIEW panel button. - The Dynamic alarm Page of the Event List window is displayed. Click the right trackball button to display the shortcut menu in Figure 24, and click Select All. - The text font of the messages change to bold. Press the ACK panel button or select Ack as described above. - All visible messages are acknowledged. To acknowledge a selection of messages: Press the ALARM VIEW panel button. - The Event List window is displayed.
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Acknowledging messages
To select a group of consecutive messages, drag the cursor over the asterisks in the left column. - The text font of the messages change to bold. Press the ACK panel button or select Ack as described above. - The messages are acknowledged.
Silence button
You can press the SILENCE button in the Alarms button group at any time to silence the audible signal (without acknowledging the Emergency or Alarm message that caused it). The audible signal will sound again if another Emergency or Alarm message is reported. An audible signal can normally be silenced from any of the Operator Stations in question. However, system alarms can only be silenced from the originating Operator Station. E.g. when an Operator Station becomes not communicational several other Operator Stations may detect the situation and notify it by means of an audible signal. The audible signal must be silenced on every OS that notifies the situation.
(Cd2901)
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The message system
4.7
Alarm lamps
There are three alarm lamps in the Alarms button group: Computer This lamp flashes in response to a hardware-generated alarm indicating that the Operator Station computer has stopped communicating with the operator panel controller via the serial line. This may indicate that the Operator Station computer is dead, or that the serial-line software has stopped executing.
Note
This lamp does not indicate failures in the controller process station(s). If the Operator Station loses contact with the controller process station, a message is displayed on a message dialog box (see Figure 25).
Figure 25 PUIF Network message monitoring message dialog box Power This lamp flashes in response to a hardware-generated alarm indicating a power supply or UPS failure to the operator panel controller. Two power supplies are normally supplying the Power lamp and the audible signal, and if one of these fails, the alarm is activated. Alarm This lamp flashes in response to a software-generated Emergency, Alarm or Warning message from the Operator Station computer; for example, heading or position deviation beyond limits or sensor error. These messages are generated by the controller process station and do not indicate failures in the Operator Station. A flashing lamp indicates unacknowledged messages. A continuously lit lamp indicates that all messages are acknowledged. The lamp will extinguish three seconds after the last Emergency, Alarm or Warning status has been removed.
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Messages on the printer
4.8
Messages on the printer

When an Emergency, Alarm or Warning message is first reported by the system, becomes inactive or is acknowledged, it is printed out on the event printer connected to the Operator Station. The print-out frequency depends on the installed printer solution (for example: immediately, one message at a time, when a batch of messages fills out a whole page, or on request). The format of the printed messages is the same as for the Message Line and the Event List window (see page 4-5), except that each message is preceded by a sequence number. Each new message is given a new sequence number. Whenever a message changes state, it is printed again with the same sequence number.
Event Printer dialog

When the Event Printer is configured as a page printer, the Emergency, Alarm and Warning messages are not printed directly but are saved in a buffer. The Event Printer dialog box allows you to print out all the unprinted events in the buffer. To display the Event Printer dialog box, click Event Printer on the System menu.
Printer name Printer type Unprinted events Flush Refresh
The name of the event printer. The type of the event printer. The number of unprinted messages in the event printer buffer. Click this button to print all of the unprinted events on the event printer. Click this button to update the information shown in the dialog box.
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The message system
4.9
Message explanations
Using the Help system, explanations can be obtained for any of the messages generated by the controller computers. Explanations of Command, Equipment and Internal messages are not available. The Help system can be opened in the following ways: Whenever a message is displayed in the Alarm Line or Event List window, point to the message and click the right trackball button. A shortcut menu is displayed. Click Help on this menu. The System Messages Help is opened with the relevant message explanation displayed. On the Help menu, click Messages. The System messages Help is displayed. This Help system allows you to select the required message from a list of Contents. You can also Search for the required message by searching for words or phrases that are contained in the message or the message explanation. It may occur that the Help selection is not available on the shortcut menu which is displayed when you right-click the message in the Alarm Line/Event List window. In this case the explanation can still be obtained via the Contents list or the Search facility.
Contents
Select the required message from a list of Contents. To open/close the list of messages in the Contents pane, click the +/- sign next to the folder icons.
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Figure 26 System alarms Online Help with Contents displayed There are three subcategories of message explanations: DP/PM System - messages directly connected to DP/PM operation IO Driver - messages regarding IO drivers and the communication with sensors and position-reference systems. Process Control System - messages regarding the Process Control Kernel (PCK) To display the explanation for a particular message, click the required message. See Displayed explanation on page 4-16. To print the explanation of a particular message, select the name of the message and click Print. To print explanations of all the messages that begin with a particular character, select the required book icon and click Print.
Search
To search for a message, display the Search pane (by clicking Search) and type in words or phrases that are contained in the message name or the message explanation. Then click List Topics. Topics that match the search criteria are listed under Search topics to display. Select the required message and click Display. The message explanation is displayed in the message explanation pane.
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The message system
Displayed explanation
The explanation of the selected message is displayed in the form shown below.
Note
The Corrective actions in the message explanations provides only general advice. You must evaluate the required action according to the actual operational situation.
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Back link
The Back link takes you to one of three lists of message explanations (from any DP/PM message to DP/PM alarm messages, from any IO driver message to IO driver alarm messages and from any process control system message to PCK alarm messages).
Menu bar
The following menu bar functions may be of interest: Show(Hide) Back Print Options Shows (hides) the navigation pane. Displays the previous message explanation in the history list. Prints the currently-displayed message explanation. See also Printing message explanations. on page 4-18. Displays the Options menu: Hide (Show) Tabs Hides (shows) the navigation pane. Locate The message that is shown in the message pane when Locate is clicked is highlighted in the Contents pane. Back Displays the previous message explanation in the history list. Forward Displays the next message explanation in the history list (only available if you have clicked Back before). Home Displays the Help start page.
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The message system
Stop Stops an ongoing search. Refresh Updates the screen with any new information (not relevant for this system). Internet Options Displays the standard Microsoft Internet Options dialog box. Print Prints the currently-displayed message explanation. See also Printing message explanations. on page 4-18. Search Highlights Off(On) When Off is selected, the terms that was searched for is highlighted in the message explanation. When On is selected, the terms are not highlighted.
Printing message explanations

In the Contents pane, select the required message or book icon. Click Print. The Print Topics dialog box is displayed. Select whether you want to print the selected topic or print the topic and all subtopics.
The standard MS Windows Print Setup dialog box is displayed.
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This dialog box can be used to select the printer and to define the printer set-up. This is a general-purpose printer connected to an Operator Station or to the network (not the event printer connected to the controller process station).
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The message system
4.10 Operator advice messages

As and when applicable, operator advice messages are superimposed across the center of the colour display in a pop-up window. These messages are displayed if a button is pressed when the operator station is not in command of the system or an attempt is made to select a function that is not allowed in the current system mode or with the currently displayed dialog box. There are three categories of operator advice messages: Alarm (Stop), indicated by the following icon: Warning, indicated by the following icon: Information, indicated by the following icon:
A typical example of each type of operator advice message is shown below:
Figure 27 Operator advice message examples
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5 BUILT-IN TRAINER
This Chapter contains the following sections: 5.1 5.2 5.3 5.4 Trainer functions Using the trainer Setting the start position for the next session Leaving the trainer
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Built-in trainer
5.1
Trainer functions
The built-in trainer provides functions for operator training based on a simulated system. Simulations are performed at the system console with no additional equipment required. In order to use an Operator Station for training, it must be connected to the MainSimulator controller process station (PS) group (see Connecting to a controller PS group on page 7-15). When this condition is met, the text SIMULATING (or other configuration-specific text) is displayed flashing on the title bar. If an Operator Station is not in command of a controller PS group, you can connect it to any available group (such as MainSimulator) at any time. However, if the Operator Station has command of a controller PS group, this system must be in Standby mode before you can connect the Operator Station to a different group. In SDP systems with more than one Operator Station, the built-in trainer can be used at one OS at the same time as the other OSs are used for normal DP operation, without affecting the actual operation of the vessel. In this case the OSs are connected to different controller PS groups. Before leaving an Operator Station after a training session, we strongly recommend that you prepare the OS for DP operation by connecting it to the Main controller PS or another relevant controller PS group.
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Trainer functions
5.2
Using the trainer

To use the trainer: 1 Ensure that the vessel is controlled from the bridge or from another SDP OS. For systems with only one SDP-OS, the DP system must be in Standby mode. Select MainSimulator on the Connect dialog box (see page 7-15). Click OK or Apply. - The Operator Station is connected to the MainSimulator controller PS group. - All other Operator Stations are still connected to the Main (or another relevant) controller PS group(s). - While the Operator Station is connected to the MainSimulator controller PS group, the text SIMULATING (or other configuration-specific text) is displayed flashing in the title bar. Take command of MainSimulator at the Operator Station (see page 7-6). - The TAKE status lamp on the operator panel is lit. On the System menu, click Trainer. - The Trainer Settings dialog box is displayed. - The values for Start Position, Wind Speed, etc. shown on the Trainer Settings dialog box are the values which were in use when the previous training session was stopped (providing no stop or restart of the OS has taken place in the meantime).
2 3
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5-3
Built-in trainer
If required, enter the Start position of the vessel from where you want to start the simulation. You can select to move to this position whenever the system returns to Standby mode by selecting the corresponding check box. Enter the required Wind and Sea Current values to be used during the simulation. Enter the vessel Draught to be used during the simulation. Click OK or Apply. - The system is now ready for simulation. Use the system as you would during normal operation.
7 8 9 10
5.3
Setting the start position for the next session

When the chart background display has been configured, you may use the planning function in the Posplot view to find the start position you want to use for the next trainer session. When the correct start position has been found, change to Standby mode, launch the Trainer Settings dialog box and click the Use last chart center button. The last chart center will then be used as the start position in your next session.
5.4
Leaving the trainer

Before leaving an Operator Station after a training session, we strongly recommend that you prepare the OS for DP operation by connecting it to the Main or another relevant controller PS group. 1 2 3 4 Go to Standby mode. On the System menu, click Connect. - The Connect dialog box is displayed. Select Main (or another relevant controller PS group). Click OK or Apply. - The Operator Station is connected to the Main (or another relevant) controller PS group. - The values for Start Position, Wind Speed, etc. entered in the Trainer Settings dialog box are saved for use as start-up values in a future training session.
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6 DP ONLINE CONSEQUENCE ANALYSIS

This chapter contains the following sections: 6.1 6.2 6.3 6.4 DP Online Consequence Analysis Selecting the DP class Consequence analysis status messages Consequence analysis warning messages
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DP Online Consequence Analysis
6.1

The DP Online Consequence Analysis function performs analyses to determine the vessels ability to maintain its position and heading after predefined worst-case single equipment failures. The analyses are called online because they consider the present environmental conditions, thruster status and power consumption. This function satisfies the requirements of IMO Equipment Class 2 and Equipment Class 3. The analyses checks whether the thrusters remaining in operation after a worst-case single failure are able to generate the same resultant thruster force and moment as required before the failure, and whether the remaining generators are able to produce a sufficient amount of power. A warning message is issued if a failure would result in lack of thrust or power, and subsequently drift-off. The worst-case single failures that are simulated are predefined according to the power and thruster configuration of the vessel. Typically, these failures will be the loss of one complete switchboard, one engine room, or a group of thrusters that can be affected by a single equipment failure. Consequence analyses are performed cyclically, every minute, whenever the following criteria are satisfied: The vessel is in Auto Position mode (consequence analysis can also be performed in other modes, if configured). The position setpoint status is PRESENT POSITION (for Auto Position mode). The heading setpoint status is PRESENT HEADING (for Auto Position mode). DP Class 2 or 3 is selected.
Note
By default, the DP Online Consequence Analysis function is switched off. Prior to engaging Class 2 or Class 3 operations, the corresponding class of operation must be selected using the DP Class dialog box on page 6-3.
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Selecting the DP class
6.2
Selecting the DP class

To activate the DP Consequence Analysis, DP Class 2 or 3 must be selected. Click Dp Class on the AutoPos menu. The DP Class dialog box is displayed.
If configured, the currently selected DP Class is indicated in the Class field of the status bar (see page 1-10).
6.3
Consequence analysis status messages

When the DP Online Consequence Analysis function is activated, an information message is displayed: Consequence analysis running class 2 or Consequence analysis running class 3 When the system mode is changed from automatic control, or if you explicitly turn off the function using the DP Class dialog box, the following information message is displayed: Consequence analysis stopped During a change of position or heading, the failure simulations are temporarily halted. When the vessel reaches PRESENT POSITION and PRESENT HEADING, the failure simulations are started again. No information messages are issued for this type of temporary halt.
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6.4
Consequence analysis warning messages

If an analysis detects that a given worst-case single equipment failure will result in insufficient thrust or power to maintain the vessels position and heading, a warning message is displayed: Consequence analysis drift off warning This message is followed by additional information whose content depends on the type of failure simulated and whether insufficient thrust or insufficient power was detected. For example: power critical if bus 1 lost thrust critical if thrusters 1-4 lost thrust critical if port diesel lost If the message indicates that thrust is critical, you should enable more thrusters. If the message indicates that power is critical, you should make more power available. Alternatively, change to a more favourable heading. When the critical situation is no longer valid, the warning is cancelled.
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7 STARTING OPERATIONS
This chapter contains the following sections: 7.1 7.2 7.3 7.4 7.5 System start-up/shut-down and OS stop/restart Logon Configuration dialog box Command transfer Command Control dialog box Connecting to a controller PS group
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Starting operations
7.1
System start-up/shut-down and OS stop/restart

The SDP controller cabinet and Operator Stations are usually left with the power on and with the system in Standby mode. Placement and naming of switches used in system start-up and shut-down procedures will vary depending on the hardware installed. If the system has been shut down, use the procedure in the Maintenance Information document for your vessel to restart the system.
Stop/Restart dialog box

With the Stop/Restart dialog box, you can perform the following tasks on your Operator Station: Stop the OS software and leave the Windows session running. Restart the OS software with the Windows session running. Shutdown the Windows session (and thus also stop the OS software). Reboot the Windows session (and thus also stop and restart the OS software). Reboot the Operator Station if the system is not performing as required, for example Display views are not updated (i.e. numerical values, heading and position does not change). The Operator Station does not respond to operator input. If it is impossible to move the cursor, or the System menu for some other reason is unavailable, use the procedure on page 7-4 to restart the Operator Station. Any of these options should be performed on one Operator Station at a time to facilitate operation and monitoring of the SDP system from other Operator Stations.
Caution Some of the options you can perform on this dialog box are not part of the normal operating procedures for the SDP system. They are implemented to facilitate service and installation work performed by trained personnel from Kongsberg Maritime.
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System start-up/shut-down and OS stop/restart
To display the Stop/Restart dialog box, click Stop/Restart on the System menu.
OS Software
Stop Stop the OS software and leave the Windows session running. Restart Restart the OS software with the Windows session running.
Windows
Shutdown Stop the OS software, shut down the Windows session and prepare the computer to be turned off. Reboot (with OS Restart) Stop the OS software, reboot the Windows session and restart the OS software.
Note
Avoid restarting the Operator Station by switching the power off and on. It may be damaging to the Windows file system.
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Starting operations
Restart the OS using the Windows Security dialog box

1 Press Ctrl+Alt+Del (simultaneously) on the alphanumeric keyboard. - The Windows Security dialog box is displayed. Select Shut Down. - The Shutdown Windows dialog box is displayed. Select Shutdown.
2 3
For details about how to turn the power on/off, refer to the Maintenance Information document for your vessel. 4 5 6 Turn the power off. Wait. Turn the power on.
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Logon Configuration dialog box
7.2
Logon Configuration dialog box

The Logon Configuration dialog box enables you to perform the following tasks on your Operator Station: Select between user logon and auto logon Select/change the shell to be used when logging on (typically either Microsoft Windows or the OS software).
Caution
Use of this dialog box is not part of the normal operating procedures for the SDP system. It is implemented to facilitate service and installation work performed by trained personnel from Kongsberg Maritime.
Depending on the shell used on your Operator Station, you can display the Logon Configuration dialog box either by selecting AutoStart under the SDP command on the Start menu (only when using Microsoft Windows as shell), or when performing autostart of the SDP system. During autostart, a countdown dialog box is launched. Clicking the button on this countdown dialog box within the countdown limit, displays the Logon Configuration dialog box.
User Logon Logon Profile
Select this option button if the user is required to log on manually each time the system is started. Auto Logon Select this option button if automatic logon is to be configured and performed each time the system is started. This is the normal logon configuration. Drop-down list box where you can select which shell configuration to use when logging on, either Microsoft Windows or the OS software. The OS software is the normal shell configuration. Clicking this button after having selected a new shell configuration will quickly restart the system with the new shell configuration.
Shell
Apply and Logoff
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Starting operations
7.3
Command transfer
Depending on the system configuration, more than one Operator Station can be connected simultaneously to one controller process station (PS) group as described in Connecting to a controllerPS group on page 7-15. For example, the Main controller PS group (which in turn controls the vessels propulsion system), can be controlled from an SDP Operator Station, an STC Operator Station (in integrated systems), or a remote operator terminal. All the available information about the propulsion system is available at all the connected Operator Stations, but only one Operator Station can be in command at any time. All the Operator Stations have TAKE and GIVE buttons. On the Operator Station that has command of the Main controller PS group, the TAKE button is lit and Propulsion is displayed in the title bar. There are two methods for switching command between Operator Stations that are connected to the same controller PS group: Take Command Give Command The system command configuration determines whether or not the Take Command method can be used. The Take and Give actions apply only for the controller PS group to which the Operator Station is connected. In the following example procedures, both OS1 and OS2 are connected to the Main controller PS group, OS1 currently has command of this group, and command is to be transferred to OS2.
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Command transfer
Taking command
Note
This procedure can be used only if allowed by the system command configuration. 1 OS1 is in command. - TAKE on OS1 is lit. - No Command lamps are lit on OS2. To take command at OS2, press the TAKE button at OS2 twice within four seconds. OS2 is now in command. - TAKE on OS2 is lit. - No Command lamps are lit on OS1.
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Giving command
1 OS1 is in command. - TAKE on OS1 is lit. - No Command lamps are lit on OS2. Press the GIVE button at OS1. - The TAKE lamps on all Operator Stations that are connected to this controller PS group begin flashing. - An audible signal sounds at all Operator Stations where this feature is configured. At each Operator Station, pressing the SILENCE button in the Alarms button group silences the alarm. To accept command at OS2, press the TAKE button at OS2 twice within four seconds. OS2 is now in command. - TAKE on OS2 is lit. - No Command lamps are lit on OS1. - The audible signal is silenced.
3 4
If the offered command transfer is not accepted within one minute, then OS1 remains in command. If command has not already been taken by another Operator Station, the offered command transfer can be cancelled during the timeout period by pressing TAKE at OS1.
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Starting operations
7.4
Command Control dialog box

Pressing the STATUS button displays the Command Control dialog box showing the current command status. You may also take or give control of the SDP system from this dialog box.
Note
As a main rule we recommend using the operator panel buttons to take and give command.
The dialog box has three pages, one page with the name of the Operator Station (in this example SDP-OS1), Overview, and Give. The SDP-OS1 page is referred to as the OS page. Some elements are present on all three pages. The information available from the Command Control dialog box is mainly intended for operation of systems with several Operator Stations. The Command Control dialog box provides some opportunities not available from panel buttons. The Command Control dialog box is designed to correspond to the equivalent dialog box in the SVC (Vessel Control) system where it is more frequently used. This has been done to improve the user interface, especially on vessels with Integrated Automation Systems (IAS) on board.
Command groups
In IAS systems, the functionality is divided into Command groups that reflect the way in which the system will be operated. Each of these Command groups will usually represent a specific process area, for example, Ballast, Power, Propulsion, Propulsion Simulation etc.
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All the available information about the command groups is available at all the connected Operator Stations, but, for each Command group, only one Operator Station can be in command at any time. For SDP purposes, Thr_Propulsion and Thr_Propulsion(Sim) are the relevant Command groups, and Take Command and Give Command are the two relevant command transfer actions.
Thr_Propulsion
The Operator Station that controls this Command group, controls the vessels propulsion system. All Operator Stations can take command of Thr_Propulsion.
Thr_Propulsion(Sim)
A training or simulation session can be performed on the Operator Station that controls this Command group (provided that the requirements stated in section Trainer functions, page 5-2, is met).
OS page
Press the STATUS button. Click the OS tab. The OS page is displayed.
Figure 28 OS page - Thr_Propulsion is in command by SDP-OS1. Figure 28 displays the OS page with Thr_Propulsion in command by SDP-OS1. Command Group All command groups are listed in this column. Only Thr_Propulsion and Thr_Propulsion(Sim) are of interest for the SDP system. Using the text In Command, this column displays the command groups over which this OS has control.
Status
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Starting operations
Modified Privileges
Displays the time the command control state of the command groups was last changed by this OS. Displays the Operator Stations privileges for each command group. Takeable is the only one of interest for the SDP system. Takeable means that an Operator Station can take command of the command group in question without acceptance from the Operator Station that was originally in command.
Overview page
Click the Overview tab on the Command Control dialog box. The Overview page is displayed.
Command Group In Command Modified
All Command groups are listed in this column. Displays the Operator Station that is in command. Displays the time when the command control state was last changed by any Operator Station. This may be different from the time displayed for the same command group on the OS page. (The Modified column on the OS page contains the time the control state was last changed by the OS which you are at.)
Command Locations Displays the Operator Stations that can take command of each command group. The asterisks (*) mean that the OS can take command without acceptance. This is usually the case for Operator Stations in SDP systems.
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Give page
Click the Give tab on the Command Control dialog box. The Give page is displayed.
To OS Group Give Command of:
Displays the Operator Station(s) to which command can be transferred. Clicking an OS in the To OS Group list, causes a list of all the command groups over which the OS you are at (here SDP-OS1) currently has command to be displayed in this field.
Command Groups
For SDP operations only the Thr_Propulsion and Thr_Propulsion(Sim) command groups are of interest. You select a command group by clicking its identifier in the Command Group list. There is a folder icon for each command group. The folder icons are colour coded and have their presentation changed to indicate the current status of each command group. Red, closed folder Uncontrolled, critical command group. White, closed folder Uncontrolled command group. Grey, closed folder Another OS is in control of the command group. Green, open folder This OS (here SDP-OS1) is in control of the command group.
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Starting operations
Controls and indicators

The command transfer controls are divided in three groups, TAKE, GIVE and STATUS. Each group contains a lamp, a text field and a button.
Lamps Text field Buttons
For SDP systems, when the dialog box is open, pressing STATUS on the operator panel closes the dialog box. The following descriptions of controls and indicators uses OS1 as an example. Lamps TAKE Lit on OS1 when OS1 is in command. Not lit on OS1 when another OS is in command. Flashes until OS1 accepts when OS1 is offered command, or during the timeout period of one minute. Flashes while OS1 is giving command to another OS, until the other OS accepts, or during the timeout period of one minute. GIVE Flashes while OS1 is giving command to another OS, until the other OS accepts, or during the timeout period of one minute. Text fields and buttons The text fields display the command transfer action that will be performed when the related button is clicked. TAKE button and text field The TAKE button is unavailable when SDP-OS1 is in command or when no command group is selected for command transfer. The messages that may appear in the text field are as follows: Take... Default on the Give page. Clicking the TAKE button displays the OS1 or Overview page, depending on which was last used. Take Appears above the TAKE button on the OS page when an uncontrolled command group or a command group currently under command of another OS is selected. Clicking the TAKE button transfers the command to OS1.
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Cancel Give... Appears above the TAKE button when a Give request is initiated. Clicking the TAKE button cancels the Give request. Accept Give... Appears above the TAKE button when a Give request is received. Clicking the TAKE button accepts a Give request and transfer command to OS1. GIVE button and text field The messages that may appear in the text field are as follows: Give... Default on the OS and Overview pages. Clicking the GIVE button displays the Give page. Give selected... Appears above the GIVE button on the OS and Overview pages when Giveable command groups are selected. Clicking the GIVE button the displays the Give page. Start Give Transfer Appears above the GIVE button on the Give page when Giveable command groups are selected. By clicking the GIVE button you start a Give transfer of the selected command groups. Reject Give Appears above the GIVE button when a Give request is received. Clicking the GIVE button rejects the Give request. STATUS button and text field For SDP systems, the message that may appear in the text field is: Close Default above the STATUS button on all three pages. Clicking the STATUS button closes the dialog box.
Taking or giving command of thruster propulsion

This procedure is used to transfer control of propulsion between SDP/STC Operator Stations. To Take command of propulsion control at the SDP/STC Operator Station where it is required: 1 Press the STATUS button. - The Command Control dialog box is displayed.
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Starting operations
2 3
Make sure that you are on the OS page of the dialog box (if you are not on this page, then click on the OS tab). Highlight Thr_Propulsion, and click on TAKE to transfer thruster propulsion to the station you are at.
To Give command of propulsion control to another SDP/STC Operator Station: 1 2 3 Press the STATUS button. - The Command Control dialog box appears. Click on the Give tab to go to the Give page. Highlight which OS group you want to give command to (by clicking on the group), then highlight Thr_Propulsion, and click on GIVE to start transfer of propulsion. - The TAKE button will start to flash at the station to which command is to be transferred. To accept transfer of Thr_Propulsion, press the STATUS button to call up the Command Control dialog box (if it is not already open). Click on TAKE to complete the transfer of Thr_Propulsion.
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Connecting to a controller PS group
7.5
Connecting to a controller PS group

A controller PS group is a group of one or more SDP controller process stations. The controller PS groups available depend on your system configuration: Main - the main controller PS group MainSimulator - the controller PS group for training and simulating sessions (optional) An operator station can be connected to only one controller PS group at a time. Your system configuration determines the controller PS groups to which each operator station can connect. Several operator stations can be connected simultaneously to a controller PS group, but only one of these operator stations can be in command. See Taking command on page 7-6. If an operator station is not in command of a controller PS group, you can connect that operator station to any available group at any time. However, if the operator station has command of a controller PS group, the system on these controllers must be in Standby mode before you can connect the operator station to a different group. To connect to a controller PS group, click Connect on the System menu. The Connect dialog box is displayed.
Select the required controller PS group. For operating procedures related to the built-in simulator, refer to the separate SDP/SPM Built-in Simulator Operator Manual.
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8 CONTROLLER PROCESS STATIONS

This chapter contains the following sections: 8.1 8.2 Resetting controller process stations Redundant systems
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Controller process stations
8.1
Resetting controller process stations

You can reset a selected controller process stations (PS) for example in the event of a software problem. To retrieve the default settings, all controller PSes must be reset.
Resetting the controller PS in a single-computer system

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

Before resetting a controller PS in a dual or triple-redundant system, you should ensure that another controller PS is operational and is selected as the master computer (see Redundant systems on page 8-5). On the System menu, click Reset Controller PS. The Reset Controller PS dialog box is displayed.
Select the controller PS to be reset and click OK or Apply. The controller PS is reset.
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Resetting controller process stations
Resetting all controller PSes in a dual or triple redundant system

If the vessel is not under control by the SDP system, you can reset all SDP controller PSes simultaneously. During DP operation the SDP controller PSes receive the same input from sensors, position-reference systems and thrusters, and perform the same calculations. The best way to ensure that errors are deleted from the SDP controller PSes is therefore to reset all of them. To retrieve the default settings, all SDP controller PSes must be reset. 1 2 3 4 Ensure that the SDP system does not have control of the vessel propulsion system. Ensure that the SDP system is in Standby mode. Ensure that no thrusters are enabled. Reset all SDP controller PSes simultaneously using the Reset Controller PS dialog box described above. - The Reset Controller PS message box is displayed informing you that the vessel will be without control from this system during the restart period.
Select OK to confirm. - Until at least one SDP controller PS is running, a dialog box containing the following message is displayed on all Operator Stations: No network response from the Controller PS
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When at least one SDP controller PS is running, a message box is displayed on all Operator Stations: The Controller PS is now responding The SDP system is in Standby mode with default settings. The following message is displayed in the Event List window for each controller PS: Equip <yy/mm/dd hh:mm:ss >Alarm <DpPUx>: Station is operational (x refers to controller PS A, B or C).
Select master controller PS (see page 8-5).
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Redundant systems
8.2
Redundant systems
In dual redundant systems, the controller cabinet contains two controller process stations (PSes) that operate with a master/slave relationship. In triple redundant systems, the controller cabinet contains three controller PSes. Fault detection and isolation are achieved by a process of majority voting, whereby all three PSes compare and vote on their critical input and results.
Error objects
A system surveillance function keeps track of the extent to which the controller PS and its associated IO equipment is technically capable of fulfilling its intended purpose. The IO drivers and different system health monitoring functions automatically register error objects. Each error object is identified with a unique name and is used to report the presence or absence of errors. By communicating with other members of the redundancy group, the system keeps track of which errors are shared between all controller PSes in the group (common errors), which ones are exclusive to one controller PS and which ones that make the PS incapable of controlling the process. No weights are assigned to errors. Neither is the number of errors significant. What makes a PS more capable than another is defined by the following list in the order of falling capability: OK Degraded Incapable A PS without errors. A PS with separate errors. An incapable, but running PS. Common error A PS with only common errors.
Dual redundant system

The PSes in a dual redundant system operate in parallel, each receiving the same input from the operator, sensors, reference systems and thrusters, and each performing the same calculations. However, only the Online (Master) PS can control the propulsion system. You can select which PS is to be the Master, however, a switch is only possible to a PS which is of equal or better capability than the current Master. In the event of a deviation between the two PSes, you can update the Offline PS with data from the Master PS. See Redundant Stations dialog box - Redundancy Control on page 8-9.
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Automatic switch-over to the Offline PS
If a failure is detected in the Master PS, a switch-over to the Offline PS is activated automatically and an alarm message is issued: Redundancy group DpMain: B Master This automatic switching is allowed only once. Before any further auto-switching can take place, the operator must have the fault rectified and then reset the error object to the normal state (unlock).
Resetting after an automatic switch-over
On the System menu, click Redundant Stations. - The Redundant Stations dialog box is displayed (for details about this dialog box, see page 8-8). In this dialog box Error Objects are used to report the presence of failures that may lead to an auto-switch from one PS to another. Yes is displayed in the Locked column for locked error objects (errors that have lead to an auto-switch).
2 3 4
Use Error Objects in the Redundant Stations dialog box to find out which errors are present. Have the errors rectified. In the Redundant Stations dialog box, right-click in the Error Objects area. - The following shortcut menu is displayed:
Click Unlock All. - The locked error objects are reset to the normal state (unlocked).
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Redundant systems
Triple redundant system

In triple redundant systems, each PS uses the same data from the sensors and position-reference systems to calculate command signals to the propulsion system (they are all Online). Fault detection and isolation are achieved by a process of majority voting, whereby all three PSes compare and vote on their critical input and results (an external HW voter running a median algorithm is applied on the outputs). If one PS should fail, the two functioning PSes will operate with a master/slave relationship as described in Dual redundant system. In triple redundant systems, all three PSes vote on their input and output, but only one of the PSes, the Master PS, communicates with the operator stations, and outputs serial line information. You can select the PS that is to be the Master, however, a switch is only possible to a PS which is of equal or better capability than the current Master.
Hardware voting
The hardware voting comprises two processing stages. The first stage checks validity of the signal sources. If any of the sources A, B or C are not valid, the stage logic duplicates signals from one PS to replace the not valid ones. This is done to ensure the best inputs for the second processing stage. The second stage selects the median value from three inputs A, B and C. The median value is the one having momentary value between the two others on the voltage scale.
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Redundant Stations dialog box

On the System menu, click Redundant Stations. The Redundant Stations dialog box is displayed.
PS Groups Redundancy Status
Select the target controller PS group for all commands and operational statuses of the dialog box from this list. Master The current master PS is indicated in the appropriate check box. The master PS is designated for specific tasks only done by a single PS on behalf of the redundancy group. You can click the Set button to set the corresponding PS as the master. Online The current online PS is indicated in the appropriate check box. The online PS controls the field output. Capability Displays the Capability status (i.e. to which extent the PS is technically capable of fulfilling its intended purpose). OK No errors. Common Error Errors that are common to all PSes in the controller PS group.
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Redundant systems
Degraded Errors that are restricted to one of the PSes in the group. Incapable The PS is in a state where it should not be used as the master or online PS. Mode Running modes are defined to structure the start-up phase, before a PS is ready to take control. Inactive The PS is not communicating. It may be in the process of initiating or loading, or not executing at all. Starting The PS is communicating, but more preparation is needed. In particular, it may be necessary to initiate IO devices and detect their state. Learning The PS is communicating and has been initiated, but is in the process of retrieving information from other PSes, which are in Running mode. This mode can also be entered from Running mode in cases where normal operation has been interrupted for a while. Running The PS is communicating, and has finished all start-up preparations. Redundancy Control Redundancy type Displays the Redundancy type for the selected controller PS group. Single, DP Dual and DP Triple are the ones that are relevant for SDP purposes. PS fault tolerance This is the number of PSes that can fail without losing control of the system. For a single system this number is 0, for a fully operational dual system it is 1, and for a fully operational triple system it is 2. Update Offline In the event of deviation between the two PSes in a dual (or degraded triple) system, click Update Offline to update the offline PS. Update Offline is unavailable for a fully operational triple redundant system. If a failure is detected in PS A, B or C, the system continues operating as a dual redundant system and the Update Offline functionality becomes available.
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8-9
If a failure is detected in PS A or B in a dual system (or in two of the three PSes in a triple system), the Update Offline button on the dialog box becomes unavailable. The system continues operating as a single system. A message about the status of the last Update Offline is displayed below the Update all button, for example Last update offline OK. Error Objects Error objects are used to report the presence of failures that may lead to an auto-switch from one PS to another. If you right-click in the Error Objects area, the following shortcut menu is displayed:
In Error The PS(es) on which the failure is detected. Locked Yes is displayed for locked error objects (failures that presently exist in the system and that may lead to an auto-switch). To reset all error objects to the normal state, select Unlock all on the shortcut menu. Overruled It can be useful to be able to overrule the automatic detection of failures, especially in cases of instability. This is done by right-clicking the relevant error and selecting Permanent On (the error is regarded as being permanently present) or Permanent Off (the error is regarded as being permanently absent) on the shortcut menu. Description A list of the possible failures. The list is always shown in the dialog box, but only those failures that are marked with Yes in the Locked column are present in the system. (Status field in the lower left corner) The status field displays the current status of the selected controller PS group (Ready, Requesting information..., Request for configuration failed, Request for capability failed, Request for state failed, Switching of Master failed, Error when changing permanent settings). Not relevant during normal operation. Clicking this button updates the content of the dialog box with the current operational status.
PS Operation... Refresh
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9 SENSORS
This chapter contains the following sections: 9.1 9.2 9.3 9.4 9.5 9.6 9.7 Gyrocompasses Wind sensors Vertical reference sensors (VRS) Speed sensors Draught sensors Depth sensors Rate of turn sensors
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Sensors
9.1
Gyrocompasses
At least one gyrocompass must be enabled at all times to provide heading information to the system for automatic control of heading. Gyrocompasses are enabled using the Sensors dialog box Gyro page.
Sensors dialog box - Gyro page

To control the gyrocompasses, either: On the the Sensors menu click Gyro, or Press the GYRO button on the operator panel. The Sensors dialog box is displayed. If necessary, click the Gyro tab to display the Gyro page.
OK
The OK status for each gyrocompass is shown in the matching OK check box. The status for all channels from the gyrocompass must be OK for the check box to be selected. This check box is for information only. Each gyrocompass has an associated Enable check box. Selecting this check box enables the signals from the gyrocompass. The system will automatically disable a gyrocompass if it is not OK, i.e. clear the Enable check box, and also make the check box unavailable.
Enable
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Gyrocompasses
Preference In Use
These option buttons allows you to specify which gyrocompass is preferred for use by the system. The gyrocompass that is currently used by the system to calculate the vessels heading is indicated in the In Use check box. If the gyrocompass is not OK or a failure is detected, the check mark is cleared from the In Use check box, and the system will automatically switch to another gyrocompass enabled for use. The measured heading from the gyrocompass. This text box allows you to specify a gyrocompass correction to compensate for a possible offset of the ships gyrocompass for example compared with a surveyors gyrocompass. The text box is unavailable and appears dimmed when the corresponding gyrocompass is enabled. To ensure consistent data for all users of a gyrocompass, it is recommended to adjust the gyrocompass itself. The measured heading from the gyrocompass with added correction. The Gyro Deviation Calculation (see page 9-4) uses the Used Heading values as input for the calculations.
Gyro Heading Added Correction
Note
Used Heading
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Sensors
Gyro Deviation dialog box

The data from each gyro can be monitored and evaluated using Gyro Deviation Calculation. This function is based on the fact that the vessel heading can be derived from the relative positions between two GPS antennas. The error for each gyro is estimated from the filtered difference between the GPS derived heading and the gyro data. Recommended minimum antenna separation is 10 m, and the accuracy of the computed heading increases with distance between the antennas.
Note
The Gyro Deviation Calculation uses the Used Heading values (see page 9-3) as input for the calculations. To display the Gyro Deviation dialog box, on the Sensors menu, click Gyro Deviation.
Gyro Deviation Calculation
Active Select this check box to enable Gyro Deviation Calculation. Filter Time The default value is the recommended minimum value for your vessel. The shorter the distance between the GPS antennas, the longer the time required for data filtering.
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Gyrocompasses
Calculated Correction
Correction For each gyro the difference between the computed heading and the used heading from the gyro is displayed. You can select to have the Calculated Correction value displayed as a trend plot in the Sensors view (see page 18-56) and in the Trends view (see page 18-82) using the view control dialog boxes for these views. Std.Dev The Standard Deviation for each estimate is displayed. If the Correction is one degree or more, and the Standard Deviation is significantly smaller, you should correct the error on the gyro.
Based on
This displays the GPSs the Gyro Deviation Calculation is based on.
When sailing at high speed, the used heading may deviate from the computed heading due to lack of speed/latitude compensation. After the vessel has stopped, the Correction value may still be incorrect for some minutes.
Note
Before correcting for error on the gyro, you should let the Correction value stabilise.
Gyro status lamp

The GYRO button has a status lamp which shows the status of the gyrocompasses: On At least one gyrocompass is enabled and accepted by the system. Flashing The measurements from one of the enabled gyrocompasses are not accepted by the system. Off No gyrocompasses are enabled.
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Sensors
Displayed heading information

You can examine the measured values from the gyrocompasses in more detail on the Sensors view (see page 18-56).
Rejection of heading measurements

Normally, all the available gyrocompasses will be running and enabled for use. The system then receives and compares the signals from all the gyrocompasses, but uses only one of them to calculate the vessels heading. You can specify which gyrocompass is preferred for use by the system: When two gyrocompasses are enabled, the system will use the preferred gyrocompass. If the difference between the value read from a gyrocompass and the model value exceeds a predefined limit, an alarm is displayed; for example: Gyro 1 prediction error If this error is for the gyrocompass that is in use, the system will change automatically to the other gyrocompass.
Note
In the event of a Gyro prediction error, you should always check the values from the gyrocompasses on the Sensors view and compare with an alternative source of heading information to confirm which gyrocompass is faulty. When three gyrocompasses are enabled, the system will normally use the preferred gyrocompass. If the difference between the measurement from one of the gyrocompasses and the median value exceeds a predefined limit, the measurements from this gyrocompass are rejected and an alarm will be given. If necessary, the system will change to another gyrocompass.
Faulty gyrocompasses
If measurements from a gyrocompass are not accepted by the system, a message is given with information about the failure. The message may define the faulty gyro directly; for example: Gyro 1 not ready. Alternatively, it may indicate only that there is a difference between the measurements from the available gyrocompasses. In the latter case, you must try to find the faulty compass by comparing the received measurements with an alternative source of heading information.
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Gyrocompasses
In the following examples it is assumed that two gyrocompasses are available, that both gyrocompasses are enabled and that Gyro 1 is in use: If there is a failure on Gyro 2 (the gyrocompass that is not in use), disable the signals from Gyro 2 and rectify the fault. If a fault is detected on Gyro 1 (the gyrocompass that is in use), the system will switch to Gyro 2 automatically if Gyro 2 is enabled. Disable the signals from Gyro 1 and rectify the fault. If there is a failure on a gyrocompass and the system cannot detect which compass is faulty; for example: Compass difference perform the following: 1 Check the values from the gyrocompasses on the Sensors view and use an alternative compass or the Gyro Deviation Calculation (see page 9-4) to find which gyrocompass is faulty. Disable the faulty gyrocompass and rectify the fault.
When a faulty gyrocompass is repaired, you should enable it again.
Heading dropout
If the vessel heading that is estimated by the Vessel Model differs significantly from the measured vessel heading, the following message is given: Heading prediction error If this continues for more than two seconds, the system will assume that the information from the gyrocompasses is unreliable and will stop updating the Vessel Model with the measured heading. In this situation the following alarm will be given: Heading dropout The same alarm will occur if no gyrocompasses are enabled, or if there is a total gyrocompass malfunction. It is not possible to operate with automatic heading or position control in a Heading dropout situation. Go to Standby mode to reset the estimated heading from the Vessel Model to the measured gyrocompass heading. Check that the gyrocompasses are ready, whether the readings are drifting or if other error messages indicate interface errors.
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Sensors
9.2
Wind sensors
At least one wind sensor should be enabled at all times to provide the system with wind speed and direction information. Wind sensors are enabled using the Sensors dialog box - Wind page (see page 9-9). Normally, input from all the available wind sensors will be enabled. The system then receives and compares the signals from all the sensors, but uses only one of them to calculate the wind force acting on the vessel. You can specify which wind sensor is preferred for use by the system. If no errors are detected in the wind sensor measurements, the system will always use the operator-preferred sensor (for which Preference is selected in the Sensors dialog box Wind page). The raw measurements of wind speed and direction are filtered internally (using a Kalman filter with both low and high frequency parts), to estimate the most reasonable speed and direction values to be used by the SDP system.
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Wind sensors
Sensors dialog - Wind page

To control the wind sensors, either: On the the Sensors menu click Wind, or Press the WIND button on the operator panel. The Sensors dialog box is displayed. If necessary, click the Wind tab to display the Wind page.
OK
The OK status for each wind sensor is shown in the corresponding OK check box. The status for all channels from the wind sensor must be OK for the check box to be selected. This check box is for information only. Each wind sensor has an associated Enable check box. Selecting this check box enables the signals from the wind sensor. Use these option buttons to select the operator-preferred wind sensor to be used by the system. Indicates the wind sensor currently used to calculate the wind force acting on the vessel. If no errors are detected in the Wind sensor measurements, the system will always use the operator-preferred sensor (see Preference above). The displayed wind speed is the measured wind speed relative to the vessel, not corrected for vessel motion. The displayed wind direction is the measured direction relative to the vessel heading, not corrected for vessel motion.
Enable
Preference In Use
Relative Speed Relative Dir.
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Sensors
Manual
You can manually enter the values for wind speed and wind direction which the system should use to calculate the wind force acting on the vessel. To enter values, disable all sensors and click Apply. The In Use check box for Manual input will be selected, the True Speed and True Dir fields will appear white, and you may enter values using the keyboard or the Numeric Entry Keypad dialog box. Display the true wind speed and direction. The present mode and whether or not one or more sensor is enabled, determine which values are displayed in these fields: In Standby mode with one or more wind sensor enabled, the True Speed/Dir fields display the same values as Relative Speed/Dir. In any mode other than Standby with one or more wind sensor enabled, the True Speed/Dir fields display the true wind speed and direction values (filtered values). In any mode with no wind sensors enabled, the True Speed/Dir fields contain the manually-entered values for the true wind speed and direction.
True Speed True Dir.
Wind status lamp

The WIND button has a status lamp which shows the status of the wind sensors: On At least one wind sensor is enabled and accepted by the system. Flashing The measurements from one of the enabled wind sensors are not accepted by the system or an error situation exists in at least one of the wind sensor channels if only a single wind sensor has been enabled. Off No wind sensors are enabled.
Displayed wind information

You can examine the measured values from the wind sensors in more detail on the Sensors view (see page 18-56).
Faulty wind sensors

If measurements from a wind sensor are not accepted by the system, a message is given with information about the failure. The message may define the faulty sensor directly; for example: Wind 1 not ready
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Wind sensors
Alternatively, it may indicate only that there is a difference between the measurements from the available sensors. The difference may be due to a faulty wind sensor. In the latter situation, you must try to find the faulty sensor by comparing the received measurements with an alternative source of wind information. In any case you should use an alternative source of wind information to determine which wind sensor that provides the wind measurements that is most representative for the wind forces acting on the vessel. In the following examples it is assumed that two wind sensors are available, both sensors are enabled and Wind 1 is in use: If there is a failure on Wind 2 (the sensor that is not in use), disable the signals from Wind 2 and rectify the fault. If a fault is detected on Wind 1 (the sensor that is in use), the system will switch to Wind 2 automatically. Disable the signals from Wind 1 and rectify the fault. If there is a failure on a wind sensor and the system cannot detect which sensor is faulty; for example: Wind speed difference, perform the following: 1 Check the values from the wind sensors on the Sensors view and use an alternative source of wind information to find which sensor is faulty. Disable the faulty sensor and rectify the fault.
When a faulty wind sensor is repaired, you should enable it again.

Note
A wind measurement will be influenced by the location of the sensor. Differences in measurements can arise naturally. It is important to use the sensor that is most representative for the wind forces acting on the vessel.
Rejection of faulty wind data

Faulty jumps in readings from a wind sensor would lead to an unwanted increase in thrust setpoint. To avoid this, the system performs the following test: A wind speed measurement is rejected by the system if the wind speed is above a predefined limit (for example 15 m/s) and increases by more than a predefined value (for example 10 m/s).
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Sensors
A wind direction measurement is rejected by the system if the wind speed is above a predefined limit (for example 10 m/s) and the wind direction changes by more than a predefined value (for example 60 degrees). The wind sensor is rejected if more than a predefined number (for example 15) of consecutive readings are rejected according to the limits described in the previous paragraphs. The following alarm is given: Wind sensor rejected <current speed/direction> In order to adapt quickly to dynamic change in wind, the input data to the test is the difference between new measurements, and low pass filtered speed data with a small time constant (5 seconds). The filter is reset on three different conditions: Continuously reset in Standby mode (to avoid problems entering/leaving the trainer). When sensor Enabled changes from OFF to ON. If there is a long time (5 minutes) since ready/OK from the IO system.
Note
The wind sensor(s) will be rejected if speed is increasing with more than 10m/s in Trainer mode (and not in Standby mode). The situation is resolved by disabling/enabling the rejected sensor.
Operating without wind sensor input

There can be situations where you want to temporarily stop using the input from the wind sensors, such as during helicopter operations or when operating close to another large structure where there may be sudden disturbances of the measured wind. If you disable all the wind sensors, the system continues to use the wind speed and direction values that were measured just before the most recent wind sensor was disabled.
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Vertical reference sensors (VRS)
9.3

At least one vertical reference sensor must be available to provide the system with roll and pitch information. This information is used to adjust the measurements received from the position-reference systems for the vessels roll and pitch motions. If the VRS is equipped with a heave sensor, the heave information is used for monitoring purposes only. Vertical reference sensors are enabled using the Sensors dialog box - VRS page (see page 9-14). If VRS information is lost, the system will be unable to compensate the received position measurements for vessel motion. The positioning capability of the system can then be severely degraded. Normally, all the available VRSs will be enabled for use. The system then receives and compares the signals from all the VRSs, but uses only one of them. You can specify which VRS is preferred for use by the system. If no errors are detected in the VRS measurements, the system will always use the operator-preferred sensor (for which Preference is selected on the Sensors dialog box VRS page).
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Sensors
Sensors dialog - VRS page

To control the VRS, either: On the the Sensors menu click VRS, or Press the VRS, GYRO or WIND button on the operator panel depending on which is available in the system installed. The Sensors dialog box is displayed. If necessary, click the VRS tab to display the VRS page.
OK
The OK status for each VRS is shown in the corresponding OK check box. The status for all channels from the VRS must be OK for the check box to be selected. This check box is for information only. Each VRS has an associated Enable check box. Selecting this check box enables the signals from the VRS. These option buttons allow you to specify which VRS is preferred for use by the system. The VRS that is currently used by the system is indicated in the In Use check box. The measured pitch from the VRS. The measured roll from the VRS. The measured heave from the VRS.
Enable Preference In Use Pitch Roll Heave
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VRS status lamp

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

You can examine the measured values from the VRS in more detail on the Sensors view (see page 18-56).
Faulty VRS
If measurements from a VRS are not accepted by the system, or if at least one of the channels for a VRS is faulty, a message is given with information about the failure. The message may define the faulty VRS directly; for example, VRS not ready. Alternatively, it may indicate only that there is a difference between the measurements from the available VRSs. In the latter situation, you must try to find the faulty sensor by comparing the received measurements with an alternative source of VRS information. In the following examples it is assumed that two VRSs are available, that both are enabled, and that VRS 1 is in use: If there is a failure on VRS 2 (the VRS that is not in use), disable the signals from VRS 2 and rectify the fault. If a fault is detected on VRS 1 (the VRS that is in use), the system will switch to VRS 2 automatically. Disable the signals from VRS 1 and rectify the fault. If there is a failure on a VRS and the system cannot detect which VRS is faulty; for example, VRS pitch difference, perform the following: 1 Check the values from the VRSs on the Sensors view and use alternative VRS information to find which VRS is faulty. 2 Disable the faulty VRS and rectify the fault. When a faulty VRS is repaired, you should enable it again.
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Sensors
9.4
Speed sensors
Speed measurements can be used as an addition to position measurements to improve the vessel speed control. The speed information is received from two sources, the Doppler Log sensors and the GPS speed sensors. You can select available speed sensors or enter a manual alongships vessel speed value. In high speed operations all enabled sensors will normally, unless a sensor has failed, be used by the system. It is recommended to also enable Manual speed input since the Manual value then will be updated based on the In Use sensors. Should all sensors be lost, you then have an initial Manual value that reflects the real situation.
Sensors dialog box - Speed page

To control the speed sensors, either: On the the Sensors menu click Speed, or Press one of the the GYRO, WIND or VRS buttons on the operator panel depending on which is available in the system installed. The Sensors dialog box is displayed. If necessary, click the Speed tab to display the Speed page.
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Speed sensors
Doppler Log
Enable Select this check box to enable the Doppler Log speed sensor. You will not be able to select this check box if the Doppler Log is not OK (the check box is shown dimmed). In Use The sensors that are currently used by the system is indicated in the In Use check box. If a sensor fails, it will no longer be in use, and this check box is cleared. Along Shows the measured alongships vessel speed. Athwart Shows the measured athwartships vessel speed. The Doppler Log speed is marked with G or W depending on the type of speed output: G W Speed over ground Speed through water
GPS Speed
Enable Select this check box to enable the GPS speed sensor. You will not be able to select this check box if the measured GPS speed is not OK (the check box is shown dimmed). In Use The sensor that is currently used by the system is indicated in the In Use check box. If a sensor fails, it will no longer be in use, and this check box is cleared. Speed Shows the measured vessel speed. Course Shows the measured vessel course.
Note
When a failure occurs in the GPS speed and/or course signals, the Speed and Course text boxes are shown empty.
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Sensors
Manual
Select this check box to enable Manual speed. In high speed operations it is recommended to enable Manual when using speed sensors to have an initial Manual value that reflects the real situation. In Use If the manual value is currently used by the system, it is indicated in the In Use check box. This check box is for information only. Along When no speed sensors are enabled, you can enter a value in this field. This field is not available when one or more sensors are enabled. If you try to enter a value that is too high, a message informing you about the legal range is displayed. You will have to change the input value to continue.
Used Speed
Shows the vessel speed used by the system. This is an average, filtered value of the combined measurements from the In Use speed sensors or manual input. Along Shows the used alongships vessel speed. Athwart Shows the used athwartships vessel speed. This will be zero when no speed sensors are enabled.
Displayed speed information

You can examine the measured values from the speed sensors in more detail on the Sensors view (see page 18-56).
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Draught sensors
9.5
Draught sensors
For optimum positioning performance, the system must have accurate information regarding the vessels draught at all times. The vessel draught can either be specified by the operator or measured by a draught sensor. If the information from the draught sensors is correct and reliable, then this should be used in preference to manually-entered or fixed values.
Sensors dialog box - Draught page

To select the source of draught information, either: On the the Sensors menu click Draught, or Press one of the the GYRO, WIND or VRS buttons on the operator panel depending on which is available in the system installed. The Sensors dialog box is displayed. If necessary, click the Draught tab to display the Draught page.
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Sensors
Sensor
When Sensor is selected, you can specify the draught sensor that is to be used. Each draught sensor has an associated Enable check box. Selecting this check box enables the signals from this draught sensor for use by the system. If more than one sensor is enabled, the system uses the average of all the enabled sensors. If Sensor is selected but no sensors are enabled, the Manual value is used by the system. When Manual is selected, the draught value entered under Fixed Draught is used by the system. If you try to enter a value that is too high or too low, the value is rejected by the system and a message informing you about the legal range for draught is displayed. When Operation is selected, the predefined operational draught value is used by the system. When Transit is selected, the predefined transit draught value is used by the system. Shows the draught value that is currently used by the system. This field is for information only.
Manual
Operation Transit Used Draught
The content of this dialog box will vary according to system configuration. The dialog box in the system installed on your vessel may display only some of the items shown in this example.
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Depth sensors
9.6
Depth sensors
The system uses water-depth measurements for display purposes only. Water-depth information can be read from the water-depth sensors or entered manually. If the information from the water-depth sensors is correct and reliable, then this should be used in preference to manually-entered values.
Sensors dialog box - Depth page

To select the source of water-depth information, either: On the Sensors menu click Depth, or Press one of the GYRO, WIND, or VRS buttons on the operator panel depending on which is available in the system installed. The Sensors dialog box is displayed. If necessary, click the Depth tab to display the Depth page.
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Sensors
Sensor Sensor Offset
Shows the measured water depth. Shows the sensor offset. This field is for information only. The sensor offset is the distance from the sensor to the keel, and is applied to the sensor measurement to provide water depth relative to the keel. You can enter a value for the water depth. This value will be used if you select Use Manual Input. If you try to enter a value that is too large or too small, the value will be rejected by the system, and a message informing you about the legal range for depth will be displayed. When Do Not Use is selected, the sensor is not used for water-depth measurements. When Use Sensor is selected, the measurement from the sensor is used by the system for display purposes. When Use Manual Input is selected, the water-depth value entered under Manual Input is used by the system for display purposes. When In Use is shown selected, this indicates that the system is currently using the signal from this particular sensor or the corresponding manually entered value. Only one sensor value is in use at a time. Shows the water-depth value used by the system. When Use Sensor is selected, the value shown is the sensor measurement minus the Sensor Offset value (i.e. the water depth relative to the keel).
Manual Input
Do Not Use Use Sensor Use Manual Input
In Use
Used Depth
Displayed water-depth information

You can examine the measured values from the depth sensors in more detail on the Sensors view (see page 18-56).
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Rate Of Turn sensors
9.7
Rate Of Turn sensors

Rate Of Turn (ROT) measurements can be used to improve the heading control of the vessel. This is useful when a very accurate heading control is required during high-speed sailing, or when a vessel has a hull shape that makes it difficult to control the heading. Measurements of the vessels Rate Of Turn are received from the gyrocompasses, or a dedicated ROT sensor. The ROT sensors should be enabled to allow this information to be used by the SDP system.
Sensors dialog box - Rate Of Turn page

To control the ROT sensors, either: On the the Sensors menu click Rate Of Turn, or Press one of the GYRO, WIND, or VRS buttons on the operator panel depending on which is available in the system installed. The Sensors dialog box is displayed. If necessary, click the Rate Of Turn tab to display the Rate Of Turn page.
OK Enable
The OK status for each sensor is shown in the matching OK check box. This check box is for information only. Each sensor has an associated Enable check box. You enable the sensor by selecting this box. The system will automatically disable a sensor that is not OK. The Enable check box will be cleared and will appear dimmed.
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Sensors
In Use
The sensor that is currently used by the system is indicated in the In Use check box. If no errors are detected in the ROT sensor measurements, the system will use all the OK and enabled sensors. Shows the measured Rate Of Turn.
Rate Of Turn
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10 POSITION INFORMATION
This chapter contains the following sections: 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9 10.10 10.11 10.12 10.13 10.14 10.15 10.16 10.17 Handling position information Position Presentation dialog box Datum Details dialog box Local N/E Properties dialog box UTM Properties dialog box State Plane Zone Methods for enabling position-reference systems Panel buttons Reference System Settings dialog box Reference System dialog box Reference System Properties dialog box Coordinate systems Tests on position measurements Enabling the first position-reference system Enabling other position-reference systems Changing the reference origin Position dropout
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Position information
10.1 Handling position information

Two dialog boxes are used to set up the required conditions for handling and conversion of position information from the position-reference systems and to and from the display (see Figure 29): The Position Presentation dialog box can be used to select the datum and coordinate system for display of position information. See Position Presentation dialog box on page 10-4. The Reference System Properties dialog box can be used to provide information about the input position data from each reference system. See Reference System Properties dialog box on page 10-22. The following characteristics can be specified: - Input datum. - Offset of antenna or sensor head from the vessels center 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 on page 10-24.
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Handling position information
Reference system input REFERENCE SYSTEM PROPERTIES DIALOG BOX On the Sensors menu, select Reference System Properties.
Input format and datum
Format and datum conversion for each position reference system
CONTROLLER Internal geographic coordinate system in system datum
Datum and format for display
Datum and format conversion for display
Display and dialog boxes
Operator communication
Cd2991
Figure 29 Dialog boxes for handling position information
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10.2 Position Presentation dialog box

To select the display format for positions, click Position Presentation on the View menu. The Position Presentation dialog box is displayed.
This dialog box changes appearance according to the selected Co-ordinate system. Datum The available datums can be selected from the drop-down list. If Local-datum is selected, the Details button must be clicked to define all the required transformation parameters. Details Click this button to call up a dialog box which deals with definition of datum transformation parameters. See Datum Details dialog box on page 10-8. Co-ordinate system Select the coordinate system to be used for displaying position information.
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Position Presentation dialog box
Local N/E
Displays positions in a local north/east coordinate system. The positions are presented as North/East coordinates relative to the local origin point. If you select this option you can (if configured) select between a system selected or operator-specified position of origin (see Local N/E Properties dialog box on page 10-9). The length unit to be used is specified by the Length Unit option. UTM
Displays positions in the Universal Transverse Mercator projection. Positions are represented by north and east distance and UTM Zone (with compensation for false northing and false easting if appropriate; see UTM Properties dialog box on page 10-10). If you select this option, you must also select the datum that is to be used for the conversion from the internal coordinate system to these coordinates. The length unit to be used is specified by the Length Unit option.
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Geographic
Displays positions in a global geographic coordinate system. Positions are presented as latitude and longitude in the format specified by the Format option. If you select this option, you must also select the datum that is to be used for the conversion from the internal coordinate representation to these coordinates. US State Plane
Displays positions in the US State Plane coordinate system. Positions are represented by north and east distance to the origin of the State Plane Zone (see State Plane Zone on page 10-11). If you select this option you must also select the datum that is to be used for the conversion from the internal coordinate system to these coordinates, typically NAD-27 or NAD-83. The length unit to be used is specified by the Length Unit option. Length Unit The Length Unit part of the dialog box changes according to the coordinate system selected. For Local N/E, UTM and US State Plane presentations, the system allows you to select the length unit to be used. For Geographic presentation, the system allows you to select the display format for latitude and longitude.
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Position Presentation dialog box
The most appropriate display presentation for position information depends on the operational situation. For example, if you are using only a local position-reference system such as HPR, then you will normally use a Local N/E presentation. If UTM, Geographic or US State Plane presentation is selected for position coordinates, a presentation datum for the displayed positions must be selected because a global position must be related to a specific datum if it is to be unambiguous. Position-presentation in global coordinates may be inaccurate when a local position-reference system is providing the reference origin.
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10.3 Datum Details dialog box

In the Position Presentation dialog box, click Details to display the Datum Details dialog box. A datum describes the earth as an ellipsoid using two parameters: Semimajor Axis and Flattening. The Datum Details dialog box contains the Semimajor Axis and Flattening values and datum transformation parameters for conversion from WGS84 to the selected datum.
For Local-datum all fields are editable, and you must define all the required transformation parameters (see also Reference System Properties dialog box on page 10-22). Translation Rotation Scale Semimajor Axis Flattening The required translation from WGS84 to the selected datum. The required rotation from WGS84 to the selected datum. The required scaling from WGS84 to the selected datum. The semimajor axis of the earth ellipsoid for the selected datum. The inverse flattening of the earth ellipsoid for the selected datum.
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Local N/E Properties dialog box
10.4 Local N/E Properties dialog box

In the Position Presentation dialog box, click the Local N/E Properties button. You can select between a system selected or operator-specified position of origin.
Use Reference System Origin
When selected, the position data of the reference origin (see page 10-26) is subtracted from the position information received by the system. Datum and Position of Origin are unavailable when the Use Reference System Origin check box is selected. Leave the check box cleared if you want to use an operator-specified position of origin.
Datum Position of Origin
Select the required datum for position of origin (on this dialog box only). Enter coordinates of the position of origin. Select the format of the position of origin (in this dialog box only), Geographic, UTM or US State Plane.
An operator-specified position of origin cannot differ from the actual position by more than 20 km. If you try to enter a position of origin that is too far from the actual position, a message box is displayed informing you about the error.
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10.5 UTM Properties dialog box

In the Position Presentation dialog box click the UTM Properties button.
False Easting
When UTM presentation is selected, to avoid the presentation of negative coordinates, you can specify that a fixed offset of 500 000 m is to be added to the east/west component of a UTM position before it is displayed. When UTM presentation is selected, you can specify that a fixed offset of 10 000 000 m is to be added to the north/south component of a UTM position before it is displayed (10 000 000 m is the approximate distance from the Equator to the North Pole in a UTM grid). This avoids the display of negative coordinates for positions in the southern hemisphere. False Northing is normally only applicable on the southern hemisphere. Automatic zone calculation Select this box to have the UTM zone calculated automatically from the geodetic position measurements. Zone The required system UTM zone (not available if the UTM zone is calculated automatically). Zone offset Allows you to apply a fixed offset to the received longitude degrees when calculating the UTM zone of a position. You can offset the system UTM zone up to 3.
False Northing
Zone options
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State Plane Zone
10.6 State Plane Zone

If US State Plane is selected as the Co-ordinate system in the Position Presentation dialog box, the State Plane Zone drop down list allows you to select the relevant state plane zone to be used.
SPCS27 and SPCS83 are defined for NAD27 and NAD83 respectively. The proper datum should therefore also be set, i.e. select NAD27 as datum when using SPCS27 and select NAD83 when using SPCS83.
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10.7 Methods for enabling position-reference systems

The SDP system provides the following methods for enabling and disabling position-reference systems: Panel buttons One of the following, depending on system configuration: - Reference System Settings dialog box - Reference System dialog box For information about all the options available from these dialog boxes, see section 10.9 and 10.10, respectively.
10.8 Panel buttons

The Sensors button group contains buttons which enable or disable each of the available positionreference systems. Each button has a status lamp which shows the status of the reference system: Off Disabled Flashing Enabled and calibrating, enabled and calibrated but rejected by the DP, or not providing data. On Enabled and accepted (acceptable position measurements are being received)
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Reference System Settings dialog box
10.9 Reference System Settings dialog box

On the Sensors menu, click Reference System Settings.
Position Properties
Select the required Datum for position presentation to be used on this dialog box. Select the format of the position of origin, either Geographic, UTM or US State Plane. You can change the position-reference systems relative weight. Normal Provides standard relative weight between the enabled position-reference systems, i.e. all systems with equal estimated variance have equal weights. Reduced GPS Reduces the influence from the measured GPS positions relative to measurements from other position-reference systems. Reduced GPS weight is especially important if you have an oscillating GPS system, as often will be the case in equatorial waters due to ionospheric degradation of GPS. In this way a position-reference system with slow update rate, such as an LBL system, will have greater influence on the model than a GPS system with faster update rate.
Weight
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Example showing typical relative weights when using 2 GPSs and 1 LBL with similar accuracy levels: Normal Reduced GPS GPS-1 GPS-2 HPR 0.33 0.33 0.33 0.10 0.10 0.80
The relative weights used are shown on the Refsys view (see Figure 64 on page 18-46). Acceptance Limits The acceptance limit for the Prediction Test (see page 10-30) and indirectly also the Median Test can be changed. Narrow Narrow limit. Corresponds to a Minimum Prediction Error circle with a small radius. The radius may still increase due to increased noise in the position-reference system. Narrow is recommended when operating in calm weather and with requirements for accurate station-keeping. For example drive-off due to thruster errors will be detected at an early stage, resulting in rejection of all position-reference systems and a Position dropout alarm. If all available (or the dominating) position reference exhibit an erroneous drift in position, the system(s) will also be rejected at an early stage before the vessel is significantly affected by the wrong measurements. Normal Medium limit. The same Minimum Prediction Error limit as for Narrow is used. There is an additional feedback mechanism where the actual deviation from the model is used to increase the Prediction Error limit up to a maximum of 2 to 3 times the smallest radius. Normal should be applied in situations where there is a chance that the DP model does not follow the actual movement of the vessel. This is especially relevant when operating in rough sea. It is also applicable for a vessel operating with another vessel alongside. A negative side-effect of this setting is that the DP system will, to a larger extent than with the Narrow setting, tend to follow drifting position-reference systems. Wide Wide limit. A Minimum Prediction Error circle with an increased radius compared to the other two settings is used. The same feedback mechanism as for Normal is used, and the maximum value of the Prediction Error is also increased. Wide is suitable, for example, for sailing in Mixed/Joystick mode at high speed.
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Reference System Settings dialog box
Median Test
The settings of the Median Test (see page 10-31) can be changed. Off Turns off the median testing. This is indicated with the text OFF in the Median Test field on the Refsys view, and by removal of the median test limit circle from the plot on the Refsys view. Warning Turns on the median testing. When selected, a deviation warning is given if the difference between the position data from a specific position-reference system and the median of all online reference systems exceeds a preset warning limit. Warning can be preferable compared to Warning and Reject (below) in some instances. For example, when operating with two GPSs and one or two HPR systems, and the GPSs have similar failures, Warning and Reject could lead to rejection of the HPR by the median test. Warning and Reject Turns on the median testing. When selected, a reject warning is given if the difference between the position data from a specific position-reference system and the median of all online reference systems exceeds a preset combined warning and reject limit. The position-reference system is rejected. The median test limit circle is shown on the plot on the Refsys view, together with the limit value in the Median Test field.
Set System Mode and Origin
Reset Click this button to reset the System Origin and to deselect all position sources of the corresponding position-reference system. ID Select the position sources to use for the required position-reference systems from the drop-down lists. System Mode The Accepted check boxes show which positionreference systems and/or individual position sources are currently enabled and accepted. The Monitor/Enable/Disable option buttons are used for selecting position-reference systems and individual position sources to monitor, enable and disable, respectively. A reference system enabled for monitoring will not influence the DP model (zero weight), and it will not be included as an active reference system for the median test. Apart from this all other reference system checking is active.
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System Origin The operator may choose to fix the reference origin of one or more reference systems. A reference system with a fixed reference origin will not be calibrated towards the model. Fixed reference origins can be specified by typing in the coordinates and selecting Fix. This is useful when the reference origin is known, for example the position of an HPR or LBL transponder relative to a BOP or an Artemis Fix antenna. Mobile Position sources can be specified to be mobile by selecting the corresponding check boxes.
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Reference System dialog box
10.10 Reference System dialog box

This dialog box contains the following three tabbed pages: Enable page used for selecting position-reference systems to enable and monitor Weight page used for changing the position-reference systems relative weight Validation page used for selecting the acceptance limits for the Prediction test and switching the Median Test on/off
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Enable page
On the Sensors menu, click Reference System. The Enable page of the Reference System dialog box is displayed.
Accepted Monitor Enable
The check boxes show which positionreference systems are currently accepted. Check boxes for selecting position-reference systems to monitor. Check boxes to enable (checked) or disable (unchecked) each of the available positionreference systems.
The Monitor and Enable check boxes for each position-reference system are mutually exclusive. If the Monitor check box of an enabled position-reference system is selected, this position-reference system is disabled. If the Enable check box of a monitored position-reference system is selected, Monitor is deselected for this position-reference system. A reference system enabled for monitoring will not influence the DP model (zero weight), and it will not be included as an active reference system for the median test. Apart from this all other reference system checking is active.
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Weight page
On the Sensors menu, click Reference System. The Reference System dialog box is displayed. Click the Weight tab.
Normal
Provides standard relative weight between the enabled position-reference systems, i.e. all systems with equal estimated variance have equal weights.
Reduced GPS Weight Reduces the influence from the measured GPS positions relative to measurements from other position-reference systems. Reduced GPS weight is especially important if you have an oscillating GPS system, as often will be the case in equatorial waters due to ionospheric degradation of GPS. In this way a position-reference system with slow update rate, such as an LBL system, will have greater influence on the model than a GPS system with faster update rate. Example showing typical relative weights when using 2 GPSs and 1 LBL with similar accuracy levels: Normal Reduced GPS Weight GPS-1 GPS-2 HPR 0.33 0.33 0.33 0.10 0.10 0.80
The relative weights used are shown on the Refsys view (see Figure 64 on page 18-46).
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Validation page
On the Sensors menu, click Reference System. The Reference System dialog box is displayed. Click the Validation tab.
Acceptance Limits
The acceptance limit for the Prediction Test (see page 10-30) and indirectly also the Median Test can be changed. Narrow Narrow limit. Corresponds to a Minimum Prediction Error circle with a small radius. The radius may still increase due to increased noise in the position-reference system. Narrow is recommended when operating in calm weather and with requirements for accurate station-keeping. For example drive-off due to thruster errors will be detected at an early stage, resulting in rejection of all position-reference systems and a Position dropout alarm. If all available (or the dominating) position reference exhibit an erroneous drift in position, the system(s) will also be rejected at an early stage before the vessel is significantly affected by the wrong measurements. Normal Medium limit. The same Minimum Prediction Error limit as for Narrow is used. There is an additional feedback mechanism where the actual deviation from the model is used to increase the Prediction Error limit up to a maximum of 2 to 3 times the smallest radius. Normal should be applied in situations where there is a chance that the DP model does not follow the actual movement of the vessel. This is especially relevant when operating in rough sea. It is also applicable for a vessel operating with another vessel alongside. A negative side-effect of this setting is that the DP system will, to a larger extent than with the Narrow setting, tend to follow drifting position-reference systems.
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Wide Wide limit. A Minimum Prediction Error circle with an increased radius compared to the other two settings is used. The same feedback mechanism as for Normal is used, and the maximum value of the Prediction Error is also increased. Wide is suitable, for example, for sailing in Mixed/Joystick mode at high speed. Median Test The settings of the Median Test (see page 10-31) can be changed. Off Turns off the median testing. This is indicated with the text OFF in the Median Test field on the Refsys view, and by removal of the median test limit circle from the plot on the Refsys view. Warning Turns on the median testing. When selected, a deviation warning is given if the difference between the position data from a specific position-reference system and the median of all online reference systems exceeds a preset warning limit. Warning can be preferable compared to Warning and Reject (below) in some instances. For example, when operating with two GPSs and one or two HPR systems, and the GPSs have similar failures, Warning and Reject could lead to rejection of the HPR by the median test. Warning and Reject Turns on the median testing. When selected, a reject warning is given if the difference between the position data from a specific position-reference system and the median of all online reference systems exceeds a preset combined warning and reject limit. The position-reference system is rejected. The median test limit circle is shown on the plot on the Refsys view, together with the limit value in the Median Test field.
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10.11 Reference System Properties dialog box

The characteristics of a reference system can only be defined when that system is not enabled for use or monitoring. Update period and accuracy can be specified when in operation. On the Sensors menu, click Reference System Properties. The Reference System Properties dialog box is displayed.
Reference system
Select the name of the reference system from the list box. If you have changed the properties of a reference system, and then selected another system from the list, a dialog box is displayed asking if you want to save the changes. For a global reference system, the datum in which the position measurements are received. If this datum is different from the selected system datum (WGS84), conversion to the system datum will be performed. If position information from a global reference system is based on a predefined datum other than those present in the Datum drop down list, you can select Local-datum from this drop-down list. You must then use the Position Presentation dialog box and Datum Details dialog box (see page 10-4 and 10-8, respectively) to define the required transformation parameters.
Datum
CG Offset
Allows you to specify the offset (Ahead, Stbd and Down) from the antenna or sensor head on the vessel to the vessels center of gravity. The received position information is then adjusted for this offset. Some position reference systems have internal adjustments to CG. For these systems, the received position information should not be adjusted by the SDP system.
Note
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Reference System Properties dialog box
Expected values
Allows you to specify an Update Period and an Accuracy for the selected position-reference system. The Update Period is mostly used for HPR systems. To avoid unnecessary time-out warnings, you can extend the Update Period and thus the time before a warning is issued. The Accuracy value is used for calibration purposes and when testing the accuracy of the position-reference system. If calibration fails, increase the value to ease calibration of a position-reference system. Note that the higher the value entered in the Accuracy text box, the wider the limits for the tests on position-reference systems. Clicking this button opens up an extension of the Reference System Properties dialog box (see Quality Filter Actions field on page 10-25). This expansion allows you to set up a quality filter, defined as a general satellite navigation system filter for both GPS, GLONASS and GNSS reference systems. The Details button is only present in the Reference System Properties dialog box when one of the above satellite navigation reference systems has been selected in the list box.
Details
The Reference System Properties dialog box can be used to define the input conversion that is required for each position-reference system: For global reference systems, you must specify the datum that is used by that system so that the position information can be converted to the selected system datum. For global reference systems on UTM format (for example Konmap and Syledis), you must specify whether the position information is received with false northing and/or false easting so that these can be removed. The UTM zone must also be specified. For all reference systems, you can specify the offset from the antenna or sensor head on the vessel to the vessels center of gravity, so that the position information can be adjusted for this offset.
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UTM Properties
Certain position-reference systems provide a UTM position without the required format information which must then be entered by the operator. All UTM positions are assumed to be in the format (zone, false easting and false northing) specified by the operator. If a global position-reference system on UTM format (for example KonMap) is selected in the Reference system drop-down list, the Details button is replaced with the UTM Properties group box.
UTM Properties
Zone Type in a number, or click the up- or down arrow to enter the correct UTM zone. False Easting Select this check box if the position-reference system provides position measurements which include false easting. False Northing Select this check box if the position-reference system provides position measurements which include false northing.
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Reference System Properties dialog box
Quality Filter Actions

With a satellite navigation system selected, and the Details button clicked to show the quality filter, a number of filter parameters can be specified specifically for the selected system. For each filter parameter, a Filter Action, which can be either None, Warning (data used, warning given) or Alarm (data rejected, alarm given), can be specified.
No differential correction
Allows you to select a filter action if no differential data is available/received. This is considered to be an important parameter, and a warning or an alarm must always be given. It is therefore not possible to select None as an action. Allows you to type in the minimum number of satellites in the corresponding text box and to select filter action. The number of satellites you enter must be larger than or equal to the preconfigured number displayed on the dialog box (3 in the example shown). Allows you to type in a maximum value for the HDOP (Horizontal Dilution Of Precision) in the text box and to select filter action. The HDOP is a figure of merit for the quality of the derived position and clock bias estimates. This figure is based on the geometry of the satellite constellation. The more spread out the satellite positions are, the lower the HDOP becomes. Low figures result in low position and clock bias errors.
Min number of satellites (3)
Max. HDOP (1.0-10.0)
Time freeze detection Allows you to select a filter action for the UTC (Universal Time Coordinated, i.e. common standard time) freeze detect function. This quality filter function only applies when receiving telegrams containing clock data.
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10.12 Coordinate systems

Global and local position-reference systems
Position information from position-reference systems may be received by the SDP system in many different forms: Global position-reference systems such as GPS provide position information as Latitude and Longitude in a geodetic coordinate system. The applicable datum must be known (for example: WGS84, ED87). Some global position-reference systems provide positions in the UTM projection (a flat surface projection, defined by a UTM zone and north and east distances from the 0-point of this zone - see page 10-10). The applicable datum must be known (for example: WGS84, ED87). Local position-reference systems such as HPR provide positions in local Cartesian coordinates (defined by two-dimensional measurement of the north/south (X) and east/west (Y) distances from a locally defined reference origin, such as the position of a transponder). Whatever types of position-reference systems are enabled, all position input is converted into a geographic system using WGS84 as a system datum.
System datum
The controller always uses an internal geographic coordinate system, with a specified system datum, WGS84. All position information from global reference systems which use a different datum are converted internally to WGS 84. (To select the datum to be used for display of position information, see Position presentation dialog on page 10-4.) Position information in UTM format is converted to geographic coordinates.
The reference origin

Each positionreference system provides position measurements relative to a known reference point specific for that reference system. The reference point of the first positionreference system selected and accepted for use with the system, becomes the reference origin (the origin in the internal coordinate system). Position information from any other reference systems is then calibrated according to this coordinate system.
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Coordinate systems
This coordinate system remains as the reference origin until all positionreference systems are de-selected and a new positionreference system is selected as the reference origin. Selecting a particular positionreference system as the reference origin does not mean that the SDP system treats it as being better or more reliable than any other positionreference system. It concerns only the location of the reference origin. The reference origin selected should be the one most appropriate to your operational requirements. The position of the reference origin is indicated on the Posplot view (if within the range of the view). The reference system defining the reference origin is marked with an asterisk on the Refsys view.
Note
Recalibrating the origin reference system will give new coordinates for the reference origin system (can vary from zero) unless the reference system/transponder is set to be fixed (see page 10-16).
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10.13 Tests on position measurements

The SDP system performs a series of tests on each positionreference system to check that their position measurements are accurate enough for use. The following online tests are performed: A freeze test rejects repeated measurements. If the variation in the measured position is less than a system set limit over a given period of time, the position-reference system is rejected. A prediction test detects sudden jumps or large systematical deviations in the measured position. The limit for the prediction test is a function of the estimated position in the Vessel Model and the actual measurement accuracy. A variance test monitors the measurement variance and compares the variance value with a calculated limit. A divergence test gives a warning of systematical deviations and/or slow-drift (before the system is rejected by the prediction test). A median test detects position measurements that differ from the median position value with more than a predefined limit. The test is mainly designed to detect slowly drifting position-reference systems. If the results of the prediction, median and variance tests suggest that the position measurements from a particular reference system are not accurate, then that systems measurements are not used. The characteristics of the active positionreference systems are shown on the Refsys view (see page 18-46).
Standard deviation of position measurements

For all position-reference systems, circles are placed around a representative sample of position measurements. The size of the circles relates to the spread, in metres, of the samples of position measurements. The radii of the circles correspond to the standard deviation of the measurements of each position-reference system. The standard deviations are also trended on the Refsys view (see page 18-46).
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Tests on position measurements
Freeze test
If a position-reference system has an internal error causing the same measurements to be continuously sent to the Vessel Model, the SDP system could, if no precautions were taken, mistake the data for good and stable measurements. The freeze test rejects repeated measurements. The SDP system treats repeated reports of the same position from one position-reference system with caution. The position-reference system is monitored and its input rejected if the variation in its position measurements is less than a predefined limit over a given time period. The following alarm message is displayed in the Event List window: Reference position frozen You should disable the frozen position-reference system.
Note
By configuration, the freeze test is disabled for some position-reference systems (usually GPS and/or Artemis) due to the resolution in the data from these position-reference systems.
Variance, weight and the Variance test

The SDP system calculates a variance for each of the position-reference systems in use. The system assigns different weightings to each position-reference system, based on its calculated variance. In this way, the system is able to place more emphasis on the position-reference systems that are providing the best measurements. The higher the systems variance, the lower its weighting factor. The following Warning Message is displayed in the Event List window if the variance of a position-reference system exceeds a system-set limit: Reference high noise The position-reference system is not rejected in this event, but the SDP system places little emphasis on the position-reference system in question. The variance test detects if the variance in the measured values exceeds the reject limit. The variance reject limit is based on the expected variance of the position-reference system. The following Warning Message is displayed in the Event List window when a position-reference system is rejected due to too high variance: Reference high variance
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You should disable the position-reference system if the event of high variance is recurring. No corrective actions are necessary if the problem is intermittent only.
Prediction test
The prediction test detects sudden jumps in the measured position, and immediately rejects those that lie outside the limits, see Figure 30. The test will also reject data that drift away from the Vessel Models predictions. The limit for the Prediction test is a function of the actual measurement accuracy (calculated variance).
POSITION N/E
Rejected measurement
Rejection limit Model prediction Measurement Rejection limit
TIME
Figure 30 Prediction test If the Prediction test limits are exceeded, the following Warning Message is displayed in the Event List window: Reference Prediction Error When this Warning Message is displayed, you should verify that the correct position-reference system is rejected. You can then disable the position-reference system that causes the prediction error. The prediction error limit of the most accurate position-reference system at any time, called the Minimum Prediction Error Limit, is displayed on the Refsys view. Irrespective of the accuracy of a position-reference system, the prediction error limit is usually not set to less than 4 m. This is done to avoid rejecting accurate position-reference systems.
Divergence test
When two or more position-reference systems are in use, this slow drift test detects when measurements from one position-reference system differ from the other(s). The limit is taken as 70 % of the prediction error limit.
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The purpose of the test is to give an early indication of systematic errors before the position-reference system is rejected by the prediction test. This test only warns the operator, and does not automatically reject data. The following Warning Message is displayed in the Event List window: Reference high offset When this Warning Message is displayed, you should examine which position-reference system is drifting using the Refsys view (see page 18-46). Recalibrate or disable the position-reference system that causes the high offset warning.
Median test
The median test can be performed when three or more position-reference systems are in use. The median position is computed from the filtered measurements that are independent of the Vessel Model. The Median test is primarily intended to reject slowly drifting position-reference systems. Unlike the prediction test, the median test is independent of the SDP model. This implies that a position-reference system can be rejected even though its measurements do not deviate from the Vessel Model, as can be the case with slowly drifting position-reference systems.
POSITION NORTH Measurement from system A
Reject limit around total median line North Median line Measurement from system B
Measurement from system C
East Median line
POSITION EAST
Figure 31 Median test When the Median test is active, a blue circle with radius equal to the Median Test Limit and with center at the median value of all positions given by the position-reference systems, is displayed on the Refsys view. The Median Test Limit is taken as 80 % of the Minimum Prediction Error Limit.
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The operator may choose to reject an inaccurate position-reference system, or to only have a warning displayed. The following Warning Message is displayed in the Event List window when a position-reference system is rejected: Reference median rejected When this Warning Message is displayed, you should verify that the correct position-reference system is rejected. The position-reference system that is verified to be in error must be disabled. If the reference system is not disabled, this may lead to rejection of a potentially more accurate reference system by the Prediction test. If measurements from more than one position-reference system are outside the Median Test Limit, only the system with the longest distance to the Median position is rejected. This system will take part in the Median testing in the next sample (unless it is disabled by the operator). In a situation with several drifting position-reference systems, disabling of a reference system may lead to a sudden change in the Median position, as illustrated in Figure 32.
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Position-reference systems A and D are both outside the Median test limit. A is rejected.
A has been disabled by the operator and therefore does not take part in testing. This causes the Median position to change. Position-reference system B is now outside the Median test limit. B is rejected.
(Cd2999)
Figure 32 Disabling of a drifting position-reference system causes the Median position to change.
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10.14 Enabling the first position-reference system

Before enabling the first position-reference system, ensure that the vessel speed is as low as possible. If the system has been in Joystick mode for more than a few minutes without an enabled position-reference system, first go to Standby mode and then back to Joystick mode to reset the Vessel Model. 1 2 3 Ensure that the required gyrocompasses are enabled. Ensure that the required position-reference system is active and available. Enable the positionreference system. - An initial calibration of the positionreference system is performed. - The button status lamp for the selected position-reference system will flash during the calibration process. Check that the status lamp of the selected position-reference system button becomes steadily lit to indicate that acceptable position measurements are being received. Check that the following information message is displayed in the Event List window:
Reference origin <system><vessel pos. north><vessel pos. east> - The origin of this position-reference system is now used as the reference origin. 6 Allow the Vessel Model to stabilise before enabling any additional position-reference systems.
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Enabling other position-reference systems
10.15 Enabling other position-reference systems

The other position-reference systems that are enabled can be in a monitoring state. This is indicated on the Refsys view, here you will see the status for these systems as Mon Online in the Refsys view. To change the status from monitoring to enabled for other reference systems: 1 Enable the other position-reference systems by clicking on the Enable check-box for the system you want to use. - The position measurements from the selected positionreference systems are calibrated against the reference origin. - The button status lamps for the selected position-reference systems will flash during the calibration process (up to 20 seconds). Check that the status lamps of the selected position-reference systems become steadily lit, or that the status shows Online in the Refsys view, indicating that acceptable position measurements are being received and that the calibration process was successful. The following information message should be displayed in the Event List window for each system: Calibration OK <system> <TP coord N> <TP coord E> 3 If the variation in the position measurements from a selected position-reference system is too high during the calibration process, the status lamp will continue flashing and the following Warning Message will be displayed in the Event List window: Calibration error <system> <limit> <variance> - This may be due to an error in the position-reference system or higher noise than the value specified as expected Accuracy on the Reference System Settings dialog box. See page 10-22 for how to change the value. The system will continue trying to calibrate the system until it is disabled. Continuous measurements of the vessels position are essential for dynamic positioning. Several different position-reference systems are normally used.
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10.16 Changing the reference origin

Each position-reference system provides position measurements relative to a known reference point specific for that reference system. The reference point of the first position-reference system selected and accepted for use with the system, becomes the reference origin (the origin in the internal coordinate system). Position information from any other reference systems is then calibrated according to this coordinate system. The reference origin selected should be the one most appropriate to your operational requirements. To change the reference origin: 1 2 Disable all position-reference systems. Wait until the status message Offline (in red) is shown in the Refsys view for all disabled position-reference systems. Enable the position-reference system that is to provide the reference origin. Allow the Vessel Model to stabilise. Enable additional position-reference systems if required.
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10.17 Position dropout

If the vessel position is under automatic control and all position-reference input is lost or rejected, the following alarm message is displayed: No reference system accepted After 20 seconds without reference input, the following alarm is given: Position dropout This means that the system is currently using only the estimated position from the Vessel Model, and that this position has not been updated with measured positions for at least 20 seconds (dead reckoning mode). When this message is generated, the setpoint is set automatically to the current estimated vessel position. The status lamps of all previously enabled position-reference systems, or the common REF. SYST. panel button will be flashing as the system tries to recalibrate.
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Position dropout
You can remain in Position dropout, but the following points must be noted: The displayed vessel position is the estimated position from the Vessel Model. After a few minutes, the vessel may begin to pick up speed in one direction, without this being reflected on the display. A calibration of the lost position-reference systems may occur at any time. This will have no immediate effect, but if the calibrated system is unreliable or drifting, the vessel may begin to move. In this event, you must examine the Posplot view for any jumps in the displayed vessel position. The recommended action in Position dropout (if operational circumstances allow) is: 1 2 Return the system to joystick control in all axes and use the joystick to manoeuvre the vessel. When at least one reliable position-reference system is successfully calibrated, return to the required operational mode.
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11 MAIN MODES AND OPERATING PROCEDURES

This Chapter describes the main DP operational modes and operating procedures. 11.1 11.2 Standby mode Joystick mode Joystick mode with automatic heading control Joystick mode with automatic position control Joystick mode with automatic stabilisation 11.3 Auto Position mode
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Main modes and operating procedures
11.1 Standby mode

The Standby mode is a waiting and reset mode in which the system is in a high state of readiness, but in which no vessel control commands can be made. The Standby mode is the default mode when the system is first switched on. In this mode you can prepare the system for operation. From this mode, you can take the system to Joystick mode (page 11-3) or start the built-in trainer (page 5-2) or simulator (refer to separate Simulator operator manual).
Note
When in Standby mode, ignore any displayed position information. In this mode you may also: Calibrate the joystick (see page 3-2). Enable the required gyrocompasses (see page 9-2). Enable the required wind sensors (see page 9-8). Enable the required VRSs (see page 9-14). Enable the required speed sensors (see page 9-16). Enable the required draught sensors (see page 9-19). Enable the required thrusters, propellers and rudders (see page 14-2).
Returning to Standby mode/manual levers

To return to Standby mode from any other mode: 1 2 3 4 Press the STANDBY button twice. - The status lamp becomes lit. Disable all position-reference systems. Disable all thrusters, propellers and rudders. If you are to use manual levers, switch from SDP thruster control to manual thruster control (usually a switch or a button located on the main thruster control panel). - The SDP system provides Thruster not ready alarms.
Note
When switching to manual thruster control, thrusters, propellers and rudders are no longer READY for SDP control (i.e. they lose their READY status).
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Joystick mode
11.2 Joystick mode

In Joystick mode, the operator controls the movement of the vessel using the three-axis joystick. The following applies if the operator is facing forwards or aft when looking at the display screen: - Moving the joystick forward/back controls the vessel in the surge axis. - Moving the joystick left/right controls the vessel in the sway axis. - Rotating the joystick rotates the vessel (the yaw axis). The following applies if the operator is facing to port or starboard when looking at the display screen: - Moving the joystick forward/back controls the vessel in the sway axis. - Moving the joystick left/right controls the vessel in the surge axis. - Rotating the joystick commands the vessel to rotate the (the yaw axis). Refer also to the following sections: Joystick settings (see page 3-4) Thruster Allocation dialog (see page 14-6) Rotation center for joystick manoeuvring (see page 3-7)
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From Standby mode to Joystick mode

Note
Before using the joystick, it must be correctly calibrated. See page 3-2. To take the system from Standby mode to Joystick mode: 1 2 Ensure that the joystick is in the zero position in all three axes, and that it is functioning correctly (see page 18-18). Ensure that the required gyrocompasses are enabled (see page 9-2). See also Position and heading information on page 11-5. Ensure that the required wind sensors are enabled (see page 9-8). Ensure that the required VRSs are enabled (see page 9-14). Ensure that the required draught sensors are enabled (see page 9-19). Ensure that the required thrusters, propellers and rudders are enabled (see page 14-2). If the vessel has a switch or button to select between manual and SDP thruster control (usually located on the main thruster control panel), set this switch/button to SDP. Press the JOYSTICK button twice. - The status lamp becomes lit. Enable the required position-reference systems (see page 10-12). See also Position and heading information on page 11-5.
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Joystick mode
Joystick control of position and heading

To move the vessel along the surge and sway axes (alongships and athwartships directions), tilt the joystick. The direction in which the joystick is tilted determines the direction of applied thruster force, and the angle of tilt determines the amount of applied thruster force. To turn the vessel (the yaw axis), rotate the joystick. The direction in which the joystick is rotated determines the direction of the turning force demand, and the angle through which the joystick is rotated determines the amount of applied turning moment. The Joystick view (see page 18-14) provides useful information in the Joystick mode.
Position and heading information

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

Electrical failures affecting the joystick, such as an open loop or a short circuit, are detected by the system. If the voltage read by the panel controller is outside predefined limits, the joystick value for the actual axis is set to zero (it is no longer possible to control the vessel in this axis using the joystick), and an alarm message is reported: Joystick electrical failure <surge/sway/yaw>
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Mixed joystick/auto modes

While remaining in Joystick mode, and provided the required gyrocompasses and/or position-reference systems are enabled, you can select either one or two of the surge, sway and yaw axes for automatic control: Select YAW for automatic heading control with joystick control of the surge and sway axes (see page 11-6). Select SURGE and SWAY for automatic position control with joystick heading control (see page 11-7). Select YAW and SURGE for automatic heading control, automatic stabilisation in the surge axis, and joystick control of the sway axis (see page 11-8). Select YAW and SWAY for automatic heading control, automatic stabilisation in the sway axis, and joystick control of the surge axis (see page 11-8). If you select all three axes for automatic control, the system automatically enters the Auto Position mode (see page 11-10).
Joystick mode with automatic heading control

In Joystick mode, and with an active gyrocompass, you can select automatic heading control. The current vessel heading becomes the heading setpoint. Thruster control to maintain this heading is provided automatically by the SDP system. Refer also to the following sections: Controller Mode and Gain Level selection (see page 2-16) Changing the heading setpoint (see page 13-1) Alarm Limits dialog box - Position page (heading limit) (see page 2-14) Heading dialog box - Rate Of Turn page (see page 13-7)
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Joystick mode
Selecting automatic heading control
To select automatic heading control while in Joystick mode: 1 2 3 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit. Ensure that the required gyrocompasses are enabled (see page 9-2). Press the YAW button twice. - The YAW status lamp becomes lit. - The current vessel heading becomes the heading setpoint, and the system automatically maintains this heading. - The deviation between the estimated heading and the heading setpoint is shown on the Deviation view (see page 18-2) and the General view (see page 18-11).
Returning to joystick heading control
To return to joystick heading control: 1 2 Press the YAW button twice. - The YAW status lamp becomes unlit. Control the vessels heading manually using the joystick.
Joystick mode with automatic position control in both surge and sway
In Joystick mode, with an active gyrocompass and with an active positionreference system, you can select automatic position control in both the surge and sway axes. (Selection of only one of the surge and sway axes for automatic control is normally combined with automatic heading (yaw) control, and is described under Joystick mode with automatic stabilisation.) Unless there is a specific operational requirement for joystick yaw control, it is better to use the full Auto Position mode when changing position in order to allow the system to maintain a constant heading during the manoeuvre. Refer also to the following sections: Controller Mode and Gain Level Selection (see page 2-16) Changing the position setpoint (see page 12-1) Alarm Limits dialog box - Position page (position limit) (see page 2-13)
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Selecting automatic position control
To select automatic position control while in Joystick mode: 1 2 3 4 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit. Ensure that the required gyrocompasses are enabled (see page 9-2). Ensure that at least one positionreference system is active and enabled (see page 10-12). Press the SURGE and SWAY buttons twice. - The SURGE and SWAY status lamps become lit. - The current vessel position becomes the position setpoint, and the system automatically keeps the vessel at this position. - The deviation between the estimated position and the position setpoint is shown on the Deviation view (see page 18-2) and the General view (see page 18-11).
Returning to joystick position control
To return to joystick position control: 1 2 Press the SURGE and SWAY buttons twice. - The SURGE and SWAY status lamps become unlit. Control the vessels position manually using the joystick.
Joystick mode with automatic stabilisation

In Joystick mode, with an active gyrocompass and with an active positionreference system, you can select automatic stabilisation. This means: either that the yaw and surge axes are under automatic control while the sway axis remains under joystick control or that the yaw and sway axes are under automatic control while the surge axis remains under joystick control. Refer also to the following sections: Controller Mode and Gain Level Selection (see page 2-16) Changing the heading setpoint (see page 13-1) Alarm Limits dialog box - Position page (heading and position limits) (see page 2-13) Speed Setpoint dialog box (see page 12-10) Heading dialog box - Rate Of Turn page (see page 13-7)
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Joystick mode
Selecting automatic stabilisation
To select automatic stabilisation while in Joystick mode: 1 2 3 4 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit. Ensure that the required gyrocompasses are enabled (see page 9-2). Ensure that at least one positionreference system is active and enabled (page 10-12). Press the YAW button twice. - The YAW status lamp becomes lit. - The current vessel heading becomes the heading setpoint and the system automatically keeps the vessel on this heading. Press either SURGE or SWAY twice. - The appropriate status lamp becomes lit. - The current vessel position in the selected axis becomes the position setpoint in that axis and the system automatically keeps the vessel at this position. Control the vessel movement in the unselected axis manually using the joystick.
Returning to joystick control
To return to joystick control in all axes: 1 2 3 Press the YAW button twice. - The YAW status lamp becomes unlit. Press either SURGE or SWAY twice (whichever is lit). - The status lamp becomes unlit. Control the vessels heading and position manually using the joystick.
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11.3 Auto Position mode

In Auto Position mode, the system automatically maintains the heading and position of the vessel. This mode requires at least one active gyrocompass and at least one active position-reference system. The actual number of active sensors required depends on the DP Class requirements for the operation to be performed. Refer also to the following sections: Controller Mode and Gain Level Selection (see page 2-16) Thruster Allocation dialog box (see page 14-6) Changing the position setpoint (see page 12-1) Changing the heading setpoint (see page 13-1) Alarm Limits dialog box (position and heading) (see page 2-13) Rotation center for automatic control (see page 2-24) Quick model update (see page 2-22) DP online consequence analysis (see page 6-1)
From Joystick mode to Auto Position mode

To take the system from Joystick mode to Auto Position mode: 1 2 3 Ensure that at least one gyrocompass is active and enabled (see page 9-2). Ensure that at least one position-reference system is active and enabled (see page 10-12). Ensure that either High Precision or Relaxed (if configured) is set as the selected Controller Mode in the Gain dialog box. Hold the vessel as stationary as possible using the joystick. Press the AUTO POSITION button twice. - The status lamps for the AUTO POSITION, SURGE, SWAY and YAW buttons become lit. - The setpoints for heading and position are set to the present estimated vessel heading and position. - The deviation between the estimated heading and position and the corresponding setpoint are shown on the Deviation view (see page 18-2) and the General view (see page 18-11).
4 5
Alternatively, the system can be taken from Joystick mode via Joystick mode with automatic heading control (see page 11-6) before entering Auto Position mode.
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Auto Position mode
If Green controller mode is desired, continue as follows: 6 Allow the vessel to stabilise in Auto Position mode for about 15 minutes to attain optimal performance in the Green controller mode. Select Green controller mode with the required area set in the Gain dialog box (see page 2-16) and apply. - The defined area is displayed on the Posplot view. The inner and outer areas are indicated with dashed circles with green shading on the inner area. - The background of Auto Position in the status bar is shaded green. - The Gain symbol in the status bar is changed to a green shaded box indicating that Green controller mode is active.
Note
No change in position or heading should be attempted during the first five minutes after entering the Auto Position mode in order to allow the Vessel Model to stabilise. For critical DP operations or during difficult weather/current conditions, this initial time period should be extended to at least 15 minutes.
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12 CHANGING THE POSITION SETPOINT

This chapter contains the following sections: 12.1 12.2 12.3 12.4 12.5 12.6 12.7 Stopping a change of position Marking a new position setpoint on the Posplot view Position R/B dialog box (range/bearing) Position Inc dialog box (incremental) Position dialog box Speed Setpoint dialog box Acceleration/Retardation Settings dialog box
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Changing the position setpoint
12.1 Stopping a change of position

To set the vessels present position as the position setpoint, press the PRESENT POSITION button twice. This will interrupt a requested change of position.
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Marking a new position setpoint on the Posplot view
12.2 Marking a new position setpoint on the Posplot view

With the Posplot view displayed, you can change the position setpoint using the trackball. 1 Click on the position setpoint symbol in the Posplot view:
- The Position dialog box is displayed.
Figure 33 Changing the position setpoint 2 Move the setpoint symbol with the trackball. - The setpoint symbol moves on the display and the position coordinates are updated dynamically on the Position dialog box. Click again to fix the setpoint symbol at the required position. - A temporary position setpoint symbol is displayed at the new position and the coordinates, distance and both true and relative direction from the present position setpoint are displayed on the Position dialog box. Either click OK to accept the new position setpoint, or click Cancel to continue with the existing setpoint.
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12.3 Position R/B dialog box (range/bearing)

This dialog box is useful in operations that require frequent changes of position setpoint. On the AutoPos menu, select Position R/B. The Position R/B dialog box is displayed.
Range True Bearing
Enter the range from the Present Setpoint to the New Setpoint in this text box. Enter the true bearing from the Present Setpoint to the New Setpoint in this text box. A temporary setpoint symbol is displayed on the Posplot view showing the position of the New Setpoint relative to the Present Setpoint.
12.4 Position Inc dialog box (incremental)

This dialog box is useful in operations that require frequent changes of position setpoint. On the AutoPos menu, select Position Inc. The Position Inc dialog box is displayed.
You can enter an increment by typing a value into the increment spin box. You can adjust the size of the increment by clicking on the up or down arrows next to the increment spin box. To add the selected increment in a particular direction to the New Setpoint coordinates, click Forw/Aft/Port/Stbd as appropriate. Each time you click one of these, the New Setpoint coordinates are adjusted and the temporary setpoint symbol on the Posplot view is moved accordingly. Range True Bearing Shows the range from the Present Setpoint position to the New Setpoint position. Shows the true bearing from the Present Setpoint position to the New Setpoint position.
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Position dialog box
12.5 Position dialog box

The Position dialog box provides three ways of specifying the required position setpoint: Inc (Incremental) for defining the setpoint relative to the existing setpoint R/B for defining the setpoint using range and bearing Absolute for defining the setpoint using absolute coordinates Either click Position on the AutoPos menu, or press the CHANGE POSITION button. The Position dialog box is displayed. You can also specify the Speed at which the vessel should try to move during a change of position.
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Inc page
To define the position setpoint relative to the existing setpoint, click the Inc tab of the Position dialog box.
New Setpoint
Shows the coordinates that will be used for the new position setpoint when you click OK or Apply. A temporary setpoint symbol is displayed on the Posplot view showing the position of the New Setpoint relative to the Present Setpoint. Relative This applies increments Ahead/Astern/Port/Starboard. True This applies increments North/South/East/West.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint position to the New Setpoint position.
You can select either Relative or True increments. An increment can be entered by typing a value into the increment spin box. The size of the increment can be adjusted by clicking on the up or down arrows next to the increment spin box. To add the selected increment in a particular direction to the New Setpoint coordinates, click Ahead/Astern/Port/Stbd or North/South/West/East as appropriate. Each time you click one of these, the New Setpoint coordinates are adjusted and the temporary setpoint symbol on the Posplot view is moved accordingly.
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Position dialog box
R/B page
To define the position setpoint using range/bearing, click the R/B tab on the Position dialog box. The R/B page is displayed.
New Setpoint
Shows the coordinates that will be used for the new position setpoint when you click OK or Apply. A temporary setpoint symbol is displayed on the Posplot view showing the position of the New Setpoint relative to the Present Setpoint. To define a new position setpoint, enter the range and bearing in the Range and Bearing text boxes.
Start position
Choose whether the new position setpoint is to be calculated relative to the Present Setpoint or the Present Position by clicking the matching radio buttons. Select either True or Relative bearing by clicking the matching radio button. Shows the Range and True Bearing from the Present Setpoint position to the New Setpoint position.
Bearing From Present Setpoint to New Setpoint
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Abs page
To define the position setpoint using absolute coordinates, click the Abs tab of the Position dialog box.
New Setpoint
Shows the coordinates that will be used for the new position setpoint when you click OK or Apply. You can enter New Setpoint coordinates by typing the required coordinates directly into the New Setpoint boxes. A temporary setpoint symbol is displayed on the Posplot view showing the position of the New Setpoint relative to the Present Setpoint.
Previous Setpoint
Shows the coordinates of the previous position setpoint. Clicking the Use button writes these coordinates into the New Setpoint boxes. This feature can be used to return the vessel to a previous position. Shows the Range and True Bearing from the Present Setpoint position to the New Setpoint position.
From Present Setpoint to New Setpoint
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Position dialog box
Speed page
You can specify the speed at which the vessel should try to move during a change of position. Click the Speed tab in the Position dialog box.
New Setpoint
Either enter the required value in the New Setpoint box, or use the up and down arrows to adjust the setpoint by the selected increment or decrement (Increase/Decrease speed step). If the vessel speed setpoint is set to 0.0, the vessel will not change position. If the vessel speed setpoint is set to 0.0 and the vessels rotation center has been set to a position other than CG, it will not be possible to perform a change of heading. This is because a heading change with a rotation center other than CG implies a change of position which requires a speed setpoint that is not zero.
Note
The speed setpoint applies only when the surge and sway axes are under automatic control. As the vessel approaches the position setpoint, the speed setpoint is reduced to zero.
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12.6 Speed Setpoint dialog box

This dialog box is useful in operations that require frequent changes of speed setpoint. To specify the speed at which the vessel should try to move during a change of position, click Speed on the AutoPos menu. The Speed Setpoint dialog box is displayed.
Either enter the required value in the Speed Setpoint box, or use the up and down arrows to adjust the setpoint by the selected increment or decrement (Increase/Decrease speed step).
Note Note
If the vessel speed setpoint is set to 0.0, the vessel will not change position. If the vessel speed setpoint is set to 0.0 and the vessels rotation center has been set to a position other than CG, it will not be possible to perform a change of heading. This is because a heading change with a rotation center other than CG implies a change of position which requires a speed setpoint that is not zero.
This speed applies only when the surge and sway axes are under automatic control. As the vessel approaches the position setpoint, the speed setpoint is reduced to zero.
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Acceleration/Retardation Settings dialog box
12.7 Acceleration/Retardation Settings dialog box

Acceleration and retardation factors in the surge, sway and yaw axes can be specified for Low Speed operation, and for operation in Relaxed Controller Mode. (In Auto Position mode with High Precision Controller Mode selected, the Low Speed Acceleration/Retardation factors apply.) Acceleration and retardation factors in the yaw axis can be specified for High Speed operation. Using the Acceleration/Retardation Settings dialog box you can: Specify the acceleration and retardation factors for the vessel speed in surge and sway axes at start and finish of a commanded change of position Specify the acceleration and retardation factors for the vessels Rate Of Turn at start and finish of a commanded rotation On the Joystick or AutoPos menu, click Acceleration. Click the required tab; Low Speed, Relaxed Control or High Speed.
Controller Reference The acceleration and retardation factors (Surge, Sway and Yaw) can be set in the range 0.0 to 100%, and represent percentage of maximum available acceleration/retardation. The selections on the Low Speed and Relaxed Control pages are identical. On the High Speed page only acceleration/retardation factors in the Yaw axis can be specified. Acceleration Factor As the vessel starts a change of position, the vessel speed is increased to the speed setpoint using the selected acceleration factors in the surge and sway axes. As the vessel starts a change of heading, the Rate Of Turn is increased to the Rate Of Turn setpoint using the selected acceleration factor in the yaw axis.
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Retardation Factor As the vessel approaches the new position setpoint, the vessel speed is decreased to zero using the selected retardation factor in the surge and sway axes. As the vessel approaches the new heading setpoint, the Rate Of Turn is decreased to zero using the selected retardation factor in the yaw axis. The selections available on the Low Speed and Relaxed Control tabbed pages are identical. Low Speed Relaxed Control High Speed These are the acceleration/retardation factors that are used when neither Relaxed Control nor High Speed apply. These are the acceleration/retardation factors that are used when Relaxed Controller mode (see page 2-16) is selected. These are the acceleration/retardation factors that are used in Auto Track (high speed) and Autopilot modes (refer to separate operator manuals).
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13 CHANGING THE HEADING SETPOINT

This chapter contains the following sections: 13.1 13.2 13.3 13.4 13.5
Note
Stopping a change of heading Marking a new heading setpoint on the Posplot view Heading Wheel and its associated panel buttons Heading dialog Acceleration/retardation factors in the yaw axis
It is not possible to perform a change of heading, even though you have entered a new heading setpoint, when the Rate Of Turn setpoint is zero. Nor is it possible to perform a change of heading when the vessels rotation center is set to a position other than CG and the position speed setpoint is zero. The different methods for changing the heading setpoint cannot be used at the same time. When the Heading dialog box is open, you cannot mark a new setpoint on the Posplot view.
Note
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Changing the heading setpoint
13.1 Stopping a change of heading

To set the vessels present heading as the heading setpoint, press the PRESENT HEADING button twice. This will interrupt a requested change of heading, and if the heading Strategy is System Selected, it will be changed to Operator Selected.
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Marking a new heading setpoint on the Posplot view
13.2 Marking a new heading setpoint on the Posplot view

With the Posplot view displayed in the working area, you can change the heading setpoint using the trackball. 1 Click on the heading setpoint symbol (the blue triangle at the edge of the Posplot view). - The Heading dialog box is displayed (see Figure 34).
Figure 34 Changing the heading setpoint 2 Move the setpoint symbol with the trackball. - The setpoint symbol moves along the edge of the Posplot view and the corresponding heading is updated dynamically on the Heading dialog box. Click again to fix the setpoint symbol at the required heading. - A temporary heading setpoint symbol is displayed. - The New Setpoint and the difference from the Present Setpoint are displayed on the Heading dialog box. Either click OK to accept the new heading setpoint, or click Cancel to continue with the existing setpoint.
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13.3 Heading Wheel and its associated panel buttons

You can change the heading setpoint using the Heading Wheel and its three associated buttons (from left to right), DECREASE, ACTIVATE and INCREASE (see page 1-6). To activate the Heading Wheel, one of its three associated buttons must be pressed. To change heading setpoint: 1
CD2544.CDR
Press the DECREASE, ACTIVATE or INCREASE button once. - The Heading Setpoint dialog box is displayed.
With the Heading Setpoint dialog box displayed, rotate the Heading Wheel clockwise or counter-clockwise to increase (to starboard) or decrease (to port) the heading setpoint, or use the INCREASE and DECREASE buttons (typically 0.1 degree for each press).
Note
The Heading Setpoint dialog box must be displayed if rotation of the Heading Wheel is to have an effect. When not used, the dialog box is automatically closed.
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Heading dialog box
13.4 Heading dialog box

The Heading dialog box contains two tabbed pages which allow you to change the heading setpoint and specify the Rate Of Turn.
Heading page
Either click Heading on the Joystick or AutoPos menu, or press the CHANGE HEADING button. The Heading page of the Heading dialog box is displayed.
Note
When changing the heading setpoint, the turn direction will depend on the new heading setpoint. The shortest turn is always used. Shows the heading that will be used as the new heading setpoint when you click OK or Apply. When Operator Selected is chosen under Strategy, you can enter the Heading Setpoint by typing in the required heading or by increasing or decreasing the value by clicking the arrows next to the New Setpoint spin box. A temporary heading setpoint symbol is displayed on the Posplot view showing the proposed heading setpoint. Previous Setpoint Shows the previous heading setpoint. Clicking the Use button writes this heading into the New Setpoint box. You can therefore use this feature to return the vessel to a previous heading. Offset From Present Setpoint Shows the difference in heading between the New Setpoint and the Present Setpoint. This value is updated dynamically when you enter the new heading setpoint.
New Setpoint
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Strategy
System Selected If you choose System Selected, the displayed systemselected heading is written into the New Setpoint box. When you click OK or Apply, the system will continue to determine what the heading setpoint should be. Operator Selected If you choose Operator Selected, you can enter the Heading Setpoint using any of the other methods described here.
While entering data on the Heading page, before you click OK or Apply, a temporary heading setpoint symbol is displayed on the Posplot view showing the proposed heading setpoint. When System Selected is chosen as Strategy, the heading chosen by the system depends on the current operational mode. For example, in Auto Position mode the system will select the heading that requires the minimum power to be maintained in the current environmental conditions. This heading will change continuously according to the prevailing environmental forces on the vessel.
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Rate Of Turn page

To specify the speed at which the vessel should try to rotate during a change of heading (the vessels Rate Of Turn), click Rate Of Turn on the Joystick or AutoPos menu. The Rate Of Turn page of the Heading dialog box is displayed.
New Setpoint
Either enter the required value in the New Setpoint box, or use the up and down arrows to adjust the setpoint by the selected increment or decrement (Increase/Decrease step).
This Rate Of Turn applies only when the yaw axis is under automatic control. As the vessel approaches the heading setpoint, the Rate Of Turn is reduced to zero. When the vessel rotation center is at a position other than the center of gravity of the vessel, the actual Rate Of Turn may be less than the speed specified. This is because the speed of movement of the center of gravity is limited in proportion to the required vessel speed (see pages 12-9 and 12-10) and the distance of the rotation center from the center of gravity.
Note
It is not possible to perform a change of heading, even though you have entered a new heading setpoint when the Rate Of Turn setpoint is zero.
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13.5 Acceleration/retardation factors in the yaw axis

Acceleration and retardation factors in the yaw axis can be specified for Low Speed and High Speed operations, and for operation in Relaxed Controller Mode. (In Auto Position mode with High Precision Controller Mode selected, the Low Speed Acceleration/Retardation factors apply.) On the Joystick or AutoPos menu, click Acceleration. Click the required tab; Low Speed, Relaxed Control or High Speed.
See Acceleration/Retardation Settings dialog on page 12-11 for more information about this dialog box.
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14 THRUSTERS
The term thruster is used throughout this manual to mean any element of the vessels propulsion system; including propellers, rudders, tunnel thrusters and azimuth thrusters. (The specific terms for the elements of the propulsion system are used whenever this enhances the readability of the manual). This chapter describes the control functions that are related to the vessels thruster systems. 14.1 14.2 14.3 14.4 14.5 14.6 14.7 14.8 14.9 Enabling thrusters Automatic thruster start (for IAS deliveries) Automatic Thruster Start dialog box Thruster Allocation dialog box Allocation Settings dialog box Rudder/nozzle control Thruster biasing Thruster Biasing dialog box Thruster Run-in dialog box
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Thrusters
14.1 Enabling thrusters

When a thruster can be enabled for SDP control, the thruster is shown as READY on the Thruster main view (see page 18-62) and on the Thruster Enable dialog box (see page 14-2). There are generally two criteria for a thruster READY status: the individual thruster must be running the individual thruster must be available for SDP control The SDP system uses only those thrusters that are enabled for use by the system. The thrusters can be enabled and disabled using the Thruster Enable dialog box. You can also monitor if the thrusters are running and ready. The Controls button group contains buttons used to enable or disable each of the available thruster units for SDP control. Each thruster button has a status lamp which is lit when the thruster is enabled. Before a thruster can be enabled, it must be READY. If a thruster is enabled and it subsequently loses its READY status, it is automatically disabled.
Thruster Enable dialog box

To display the Thruster Enable dialog box, on the Thruster menu, click Enable.
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Enabling thrusters
Thrusters and Rudders
Enable/disable All Selecting or clearing this check box allows you to enable or disable all thrusters and rudders for SDP control simultaneously. Running These check boxes show whether the thrusters are running or not. When a thruster status is set as running, the SDP system reads the feedback signal from the thruster and calculates the resulting thruster force. Under certain conditions, the operator can switch the thruster Running signals on/off. The running status can be changed in this way only if all of the following conditions are satisfied: The running status is not interfaced directly from the thruster to the SDP system. The thruster is not READY. The system configuration allows manual setting of thruster running status. Rdy These check boxes show whether the thrusters are READY for SDP control. Enable These check boxes allow you to enable or disable each of the thrusters for SDP control. The system will automatically disable a thruster if it is not READY, i.e. clear the Enable check box, and also make the check box unavailable, thus indicating that before a thruster can be enabled, it must be READY.
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Thrusters
14.2 Automatic thruster start (for IAS deliveries)

The Automatic Thruster Start function allows the system to enable and start thrusters (and propellers) automatically when necessary. A thruster which starts up automatically, can also be automatically enabled. Automatic thruster start and enabling can be switched on and off using the Automatic Thruster Start dialog box. This functionality requires IAS from Kongsberg Maritime. The thrusters are divided into preconfigured groups, and each group is handled separately related to the start request limit and delay specified by the operator. To perform an automatic thruster start, the following conditions must be satisfied: The system must be in Auto Position mode or another mode with automatic control (not in Standby or Joystick mode). No other automatic thruster start requests must be in progress in the group. No thrusters in the group must have been enabled for the past 100 seconds. An additional thruster in a group will be started automatically if one of the following conditions are satisfied: There are no enabled thrusters in the group. The force setpoint is greater than (Start request limit) for a period of time, and this period of time is greater than the time limit set for (Start request delay). If a thruster fails to start, check if any other thruster in the same group was started up manually without being enabled. If so, enable it.
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Automatic Thruster Start dialog box
14.3 Automatic Thruster Start dialog box

On the Thruster menu, click Automatic Start to display the Automatic Thruster Start dialog box.
Thruster Start Thruster Enable (Thruster groups)
Turns on and off automatic start of thrusters in all groups. Turns on and off automatic enabling of thrusters in all groups. Start request limit Allows you to set the force setpoint limit (in %) for automatic start of a thruster. The force setpoint limit is set individually for each thruster group. Start request delay Allows you to set the delay (in seconds) following a violation of the start request limit, before performing an automatic start of a thruster. The Start request delay is set individually for each thruster group.
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Thrusters
14.4 Thruster Allocation dialog box

Thruster allocation can be performed in many different ways. The functions that are available for the vessel are listed on the Thruster Allocation dialog box. Either click Allocation Mode on the Thruster menu, or press the ALLOC SETUP button, or click the AllocMode indicator on the status bar. The Thruster Allocation dialog box is displayed.
Mode
For the azimuth thrusters, you can choose between various thruster allocation modes. The currently-selected thruster allocation mode is shown both on the Thruster Allocation dialog box and on the Thruster main view (see page 18-62). Depending on the operational mode, illegal thruster allocation modes are unavailable on the Thruster Allocation dialog box. Some azimuth thruster allocation modes can be configured to comprise thruster biasing. Thruster biasing (see page 14-12) can also be available as a dedicated thruster allocation mode with its own name. The following are some typical examples of azimuth thruster allocation modes: VARIABLE The system automatically changes the angle of the azimuth thrusters so that the thrust is always angled in the optimum direction. In order to reduce wear and tear on the azimuth thrusters due to continuous changes in the azimuth thruster angles, a dead-band function is incorporated. Use this mode when the environmental forces acting on the vessel are large and are not constantly changing direction.
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Thruster Allocation dialog box
A set of prohibited zones for each thruster can be predefined to prevent a particular thruster from interfering with other thrusters, the hull or other equipment. What happens to the thrust when a thruster passes a prohibited zone can be predefined for each zone (for example, the thrust can be reduced). FIX The system automatically selects a fixed angle for each azimuth thruster. When the environmental force is small and constantly changing direction, this mode can be used in order to avoid continuous changes in the azimuth thruster angle. If disabling and then re-enabling a thruster with a negative pitch or RPM, the system will automatically turn the thruster 180 degrees. ENVIRON FIX A set of alternative, fixed angles are predefined for each azimuth thruster. The system will choose the best predefined angle in the set, based on the direction of the environmental forces when the mode is enabled. If disabling and then re-enabling a thruster with a negative pitch or RPM, the system will automatically turn the thruster 180 degrees. DIVING This is identical to VARIABLE azimuth mode except that the two modes have separate configuration of prohibited zones. It is used to activate dedicated zones during diving operations to prevent the sending of thruster wash towards the umbilical or diving bell. This mode can also be used to protect other kinds of equipment, such as HPR and LTW, and will then be named accordingly. What happens to the thrust when a thruster passes a prohibited zone can be predefined for each zone (for example, the thrust can be reduced). STEERING Azimuth thrusters not used for steering will have predefined fixed angles for use in Autopilot mode. This allocation mode is automatically selected when the system is in Autopilot mode or in Auto Track (high Speed) mode (when the speed is high-high).
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HEAVE RED When using heave reduction, excessive thrust is applied to increase the hydrodynamic damping of the vessel. This reduces the motion of the vessel induced by wave forces. The effect can be used to reduce the motions when particularly critical operations are to be carried out, for example crane operations, transfer of personnel, etc. The azimuth thrusters configured to participate in the motion reduction will be at predefined azimuth angles, and they will as a minimum be run at a predefined force limit, for example 50% force. The thruster angles are selected so that the resulting thrust is zero when there is no thrust demand. MANUAL FIX In this mode the operator can freely set fixed azimuth angles of azimuth thrusters and rudders/nozzles using the Allocation Settings dialog box (see page 14-10). Control The configuration and operational requirements of the vessel determines the controls that are implemented in the SDP system. Details of the available controls are provided with the configuration information for the vessel. The following are examples of thruster allocation controls: Increased Power Allows the thrusters to be used at more than their nominal rating for a limited period of time (if the thrusters are designed to handle this) in order to survive an emergency situation. The Increased Power is predefined for each thruster, typically 10 to 20%. Normally, this mode needs a ready signal to be selected. When the time period has expired, the thruster utilisation is automatically returned to nominal values. Position Priority If both the rotational moment and directional force setpoint cannot both be met due to insufficient available thrust, priority is normally set to obtain the rotational moment setpoint (heading priority). Selecting Position Priority changes the thrust allocation priority from heading to position. Free Run Allows a greater maximum pitch/rpm to enable the vessel to reach full speed when running in Autopilot or Auto Track (high speed) mode. You can select between Off, On and Automatic. When set to Automatic, free run is automatically selected when Autopilot or Auto Track (high speed) mode is entered. The on/off state for free run is also shown on the Thruster main view (see page 18-62). The contents of the Free Run frame may vary depending on vessel configuration.
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Thruster Allocation dialog box
The configuration and operational requirements of the vessel determines the thruster allocation modes that are implemented in the SDP system, as well as the criteria for the automatic mode switch. Details of the available thruster allocation modes are provided with the configuration information for each vessel. For some of the modes (FIX, HEAVE RED, MANUAL FIX, and, when available, ENVIRON FIX), a sufficient number of thrusters must be enabled to select the mode. The system will automatically switch back to the default thruster allocation mode (normally VARIABLE mode), if you deselect thrusters or thrusters lose their READY status.
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14.5 Allocation Settings dialog box
Manual Fix angles
The operator can set fixed direction of azimuth thrusters/rudders by entering the required direction (degrees) in the Value text boxes and selecting the In Use check boxes. An azimuthing unit which is not selected to have fixed angle, will be rotated individually as required. The Thruster Main view (see page 18-66) shows which thrusters and/or rudders are using fixed angle. Manual Fix angles is only effective when the MANUAL FIX allocation mode is selected (see page 14-8). Ignore Forbidden Azimuth Zones When this is selected, the operator may set fixed azimuth angles that otherwise would be within forbidden azimuth zones. Ignore Forbidden Azimuth Zones affects only zones defined in the MANUAL FIX allocation mode.
Rudder Limit
The operator can specify angle limits within which the rudders are allowed to operate. When the In Use check box is selected, the system will not turn the rudders beyond the specified limit.
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Rudder/Nozzle control
14.6 Rudder/Nozzle control

The Rudder/Nozzle Control function uses the rudder/nozzle to generate sideways thrust, either as an addition to stern thrusters or alone if no lateral stern thrusters are available. This function is designed for operation with two main propellers and individually-controlled rudders/nozzles. The rudders may be of traditional or high performance type. For example, during station-keeping modes, one main propeller and rudder/nozzle are used to generate forward directional thrust within the rudder/nozzle angle limits. The second rudder/nozzle is set in the neutral position, and the second propeller is used to reverse and counteract any excess thrust generated alongships by the first. The operator can limit the Max Rudder Angle (see page 14-10), and can use the MANUAL FIX Thruster Allocation mode (see page 14-8) when this is included in the delivery.
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14.7 Thruster biasing

Thruster Biasing allows azimuth thrusters to counteract each other in groups so that the resulting effect of the biasing is zero. Each group can contain either two or three thrusters. Thruster biasing does not limit the use of the thrusters since the counteraction will be reduced when the total demand increases. The operator can specify the level of biasing. Up to six thruster groups can be pre-configured. This function is useful in the following situations: When an azimuth thruster cannot give zero thrust. Other azimuth thrusters or main propellers can be used to compensate for this minimum force. When a higher power consumption is required (than what is actually needed for positioning). When the weather is calm. When heave reduction is required combined with variable azimuth mode. Depending on the vessel configuration, the Thruster Biasing function can also: Reduce the turning of azimuth thrusters when the force setpoint is changing, thereby improving the effective thruster response and the positioning accuracy. Improve the damping of vessel motion. The Thruster Biasing dialog box can be configured to suit the individual needs of each vessel, and the contents (number and configuration of thruster groups and columns) will tend to vary from vessel to vessel. Two examples of the Thruster Biasing dialog box are described in the following sections.
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Thruster Biasing dialog box
14.8 Thruster Biasing dialog box

On the Thruster menu, click Biasing. The Thruster Biasing dialog box is displayed. The content of this dialog box will vary according to system configuration. The dialog box in the system installed on your vessel may display only some of the items shown in the following examples, Manual selection of thruster biasing and Automatically changing biasing available.
Manual selection of thruster biasing
Group Name
The predefined name of the thruster group. The thruster groups are shown colour-coded on the small thruster force model in the upper right corner of the Thruster main view (see page 18-62). Select this box to turn on the Thruster Biasing function for this thruster group. Shows the thruster numbers to counteract each other in each group. A special situation is when there is only one thruster in a group. The text boxes for this group then appear dimmed, with the thruster number shown only in the first text box. With two or more thrusters in a group, you can define the thrusters to interact. An error checking routine informs if The same thruster number is specified twice in the same group The same thruster number is specified in two different groups An illegal thruster number is entered An illegal thruster type is entered These checks only apply for thruster groups that have the In use check box selected.
In use Thrusters
Bias
The minimum force to be used for each thruster when running the thrusters to counteract each other.
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Turn factor
The thrusters will work towards each other (when the Inwards check box selected, see page 14-21) until this force level is reached. When this level is reached, one thruster will turn, and they will both work in the same direction (see Turn factor on page 14-19). Determines the relative priority of angle against force to satisfy the force demand (see Angle Factor on page 14-20). If one thruster in this group is disabled and the other is not, and the demand to the enabled thruster is less than the Bias force, you can choose to spin the enabled thruster. When two thrusters are counteracting each other, you can choose between running them towards each other (Inwards check box selected), or away from each other (Inwards check box not selected) (see Inwards on page 14-21).
Angle factor Spin
Inwards
Automatically changing bias available
Thrusters
Shows the thruster numbers to counteract each other in each group. With two or more thrusters in a group, you can define the thrusters to interact when By Operator is selected (see Thruster Select below). See also the description on page 14-13. The minimum force to be used for each thruster when running the thrusters to counteract each other. You can enter a required Bias value when By Operator is selected (see Thruster Select below). Allows you to set the system to change bias pairs automatically as a function of demand direction. In the Thruster Select frame, you can choose between Automatic, By Operator or No Bias.
Bias
Thruster Select
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Used A check mark in this column indicates the option (Automatic, By Operator or No Bias) used by the system. Automatic When selected, the Thrusters and Bias columns become dimmed, i.e. unavailable for editing by the operator. The system selects thruster bias groups automatically based on a predefined setting. The demand direction decides which group setup is selected. If a thruster becomes the only enabled thruster in a group, this thruster can (based on certain criteria) join another group. The thrusters will then counteract each other so that the resulting thrust is zero for this new group. When a thruster joins a group, the thruster number is shown below the text Joined on the Thruster Biasing dialog box, adjacent to the numbers of the other thrusters in the group. See Figure 35.
Figure 35 Thruster Biasing - Thruster 5 has joined the group containing thrusters 7 and 8 because thruster 4 is disabled. By Operator With Thruster Select set to By Operator, the operator can select the thrusters in each group by typing in the required thruster numbers, and enter Bias values or select Total Bias. No Bias With Thruster Select set to No Bias, the system is still in thruster bias main thruster allocation mode, but no bias is applied. Total Bias Use When Use is selected, a total common bias can be entered. You can also monitor the total applied bias on the dialog box.
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Request When the total bias is entered in this spin box, this bias value is distributed to all of the bias groups. If the bias was initially equal for each group, the total bias is distributed equally. If however the bias was initially unequal for each group, the total will be distributed in the same proportion as the initial proportions. Applied This text box shows the difference of the thrust before and after total bias was applied. Bias Type The Bias Type frame only becomes available when running in FIX thruster allocation mode. The frame appears dimmed in all other thruster allocation modes. You can select between Port, Stbd or Both in this frame. By default the Bias Type is set to Both. When running in FIX thruster allocation mode the SDP system automatically selects a fixed angle for each azimuth thruster, i.e. the azimuth thrusters cannot turn. You can use the Bias Type settings in the Thruster Biasing function to work around this restriction. Depending on the direction of applied thruster setpoint, removal of the thruster biasing on specific thrusters in a group can be allowed. In this situation, the thruster will run below its bias value, including negative values (e.g. pitch/rpm). The thruster will not turn, but the thruster force will be in the opposite direction. In the following examples we have set (by operator) thrusters 7 and 8 to be in the AFT group (and thus to counteract each other). The vessel is run in Joystick mode using the joystick to control the thruster setpoint. The effects of the configured Bias Types Both, Port and Stbd on thruster behaviour are described. When Bias Type is set to Both and thruster setpoint to Starboard, a bias is applied on both thruster 7 and 8. Thruster 7 cannot turn because it is in FIX thruster allocation mode (see Figure 36). The same will happen when you set the thruster setpoint to Port. Thruster 8 will not turn. None of the thrusters will go below the Bias value you have set for the AFT group.
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Figure 36 Thruster allocation FIX combined with Bias Type Both Bias Type set to Port. Thruster setpoint to Starboard (illustrated by the joystick symbol). Starboard thruster (7) is allowed to go negative (i.e. no bias on this thruster). It will only go negative if the force setpoint is not fulfilled by the port thruster (8).
Bias Type set to Port. Thruster setpoint to Port (illustrated by the joystick symbol). Port thruster (8) stops at its bias value and is not allowed to go negative.
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Bias Type set to Stbd. Thruster setpoint to Starboard (illustrated by the joystick symbol). Starboard thruster (7) stops at its bias value and is not allowed to go negative.
Bias Type set to Stbd. Thruster setpoint to Port (illustrated by the joystick symbol). Port thruster (8) is allowed to go negative (i.e. no bias on this thruster). It will only go negative if the force setpoint is not fulfilled by the starboard thruster (7).
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Turn factor
The Turn factor determines when to turn a thruster within a group, instead of continuing to counteract the other thruster. In the examples below, the maximum force for each thruster is 10 tonnes and the idle or bias force is 2 tonnes.
Figure 37 Turn factor - examples
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Angle factor
The Angle factor determines the relative priority of angle against force to satisfy the force setpoint. In the examples below, the same 10 tonnes demand ahead is achieved, but more thrust is used in example 1 (with a higher angle factor), than in example 3 (with a lower angle factor).
Figure 38 Angle factor - examples
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Inwards
When two thrusters are counteracting each other, the Inwards check box determines whether they should be run towards each other or away from each other. The examples below show various situations with Inwards both selected and not selected. The specified setpoint is the force setpoint for this group.
Figure 39 Inwards - examples
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14.9 Thruster Run-in dialog box

The Thruster Run-in function allows the operator to limit the maximum thruster setpoint of each individual thruster configured with this functionality. On the Thruster menu, click Run-in. The Thruster Run-in dialog box is displayed.
Configuration
Enable Select a check box to turn on the Thruster Run-in function for the corresponding thruster. Max. setpoint (%) The maximum setpoint for the corresponding thruster in percent. The specified value must be more than any required minimum setpoint for the thruster (such as for minimum thrust or idle rpm) and must always be at least 20%. This value is valid for both the positive and negative directions. For thrusters with combined pitch/rpm control, the specified maximum setpoint refers to either the pitch or the rpm setpoint, depending on the configuration.
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15 POWER SYSTEM
This chapter describes the relationship between the SDP system and the vessels power system. 15.1 15.2 Power monitoring Power load monitoring and blackout prevention
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Power system
15.1 Power monitoring

The SDP system has no control over the vessels electrical power system. This is administered by a separate Power Management System (PMS). Normally the SDP system receives information about: The power produced by each main generator. Which power bus each generator is connected to. How the power buses are connected. How the thrusters are connected to the power buses. This information is used by the SDP system for power overload control and is also displayed on the Power view (see page 18-41).
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Power load monitoring and blackout prevention
15.2 Power load monitoring and blackout prevention

The Power load monitoring and blackout prevention function performs a dynamic setpoint reduction of the thrusters/propellers to prevent blackout on a power bus or isolated bus section as a consequence of applying too much power to the thrusters as a secondary barrier. The primary barrier is the thruster allocation system itself limiting the thruster output within the power system overall capacity. This is achieved by monitoring the load on the main bus or isolated bus sections and reducing power on the connected thrusters/propellers by reducing setpoint demand if the estimated load exceeds the nominal limit. The reduction is shared between the connected thrusters/propellers in such a way that the effect on the position and heading control is minimised. The function will only limit thruster commands to avoid a stable power plant becoming overloaded. The function cannot prevent a potential blackout caused by generator tripping. The Power Load Monitoring and Blackout Prevention function covers the following standard power plant configurations: Diesel generators supplying thruster/propeller drives Shaft generators supplying thruster drives A combination of diesel generators and shaft generators. This function supplements to the vessels Power Management System (PMS). The thruster/propeller setpoint reduction criteria during SDP control, are set at lower overload levels than the load reduction initiated by the vessels own PMS. The Power Load Monitoring and Blackout Prevention function is active in all operational modes and is illustrated in Figure 40.
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Power system
kW
Reduced power consumption by DP/PM/TC to avoid blackout/overload DP/PM/TC power setpoint Nominal power
Actual DP/PM/TC power consumption
Pitch/rpm reduction
Pitch/rpm reduction
Cd3041
TIME
Figure 40 Power overload control The SDP system requires the following information in order to perform blackout prevention: Generator power and breaker status Bus-tie breaker status Thruster breaker status (if more than one for each thruster) The following functions are also available: Generator Load Limitation Performs load limitation of the most loaded generator if a skew-load situation occurs on the power bus. The overload protection is achieved by automatically reducing the pitch/rpm/force/load on the thrusters/propellers connected to the power bus until the most loaded generator operates within its nominal capacity. Diesel Engine Load Limitation Monitors the load on each diesel engine (fuel-rack monitoring) which drives both a generator and a controllable-pitch propeller on the same shaft. Power load is reduced by reducing the pitch setpoint on the connected propeller when the nominal engine load is exceeded. Note that this function requires an interface to the diesel engine fuel-rack reading.
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Power load monitoring and blackout prevention
Diesel Engine Monitoring Monitors the load on each diesel engine (fuel-rack monitoring) which drives a controllable-pitch propeller. This function requires an interface to the diesel engine fuel-rack reading. This function is for presentation purposes only, and does not perform any load limitation. Thruster Load Monitoring (Current/Power) Monitors the current/power load on each individual thruster/propeller motor. Note that this function requires an interface for the motor current/power reading. Thruster load monitoring will improve thruster failure detection, making it possible to distinguish between feedback failures and internal drive or servo failures.
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16 SYSTEM STATUS INFORMATION

This chapter contains the following sections: 16.1 16.2 16.3 16.4 16.5 16.6 Panel driver logging Remote diagnostics Printing system status data Displaying software information RCA and Vessel Control modes Interface to CyberSea
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System status information
16.1 Panel driver logging

When the SDP system is operated, messages are sent from the operator panel to a panel driver that distributes them to the right parts of the SDP system. The panel driver also receives messages from the SDP system and sends them to the operator panel. It is possible to log messages sent from the operator panel to the SDP system, and from the SDP system to the operator panel. Examples of messages that can be logged: Buttons pressed Changes in lamp status Use of the joystick Use of the Heading Wheel The Kongsberg Maritime service personnel use this information in the case of problems with the SDP system. To limit the quantity of information stored, limitations on the types of messages to be logged are set by service personnel. These limitations vary according to system configuration. Possible limitations : Limitations to types of messages logged Limitations to file size Limitations to the number of messages logged before the oldest ones are overwritten. The system configuration determine whether logging is done automatically or by request. Logged information can be copied to a diskette using the Panel Driver Logging dialog box.
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Panel driver logging
Panel Driver Logging dialog box

Note
The functions provided by the Panel Driver Logging dialog box are only available to the Chief user. See Changing user on page 2-2. On the System menu, point to OS Configuration and then Panel Log and then click Copy Files. The Panel Driver Logging dialog box is displayed.
Enable logging
Note
To enable panel driver logging, select this check box and click OK. Log files are copied to diskettes to be sent to Kongsberg Maritime as an aid to solving problems that may have occurred with the SDP system. Before starting to copy log files, you should deselect the Enable logging check box to stop the logging and avoid overwriting any parts of the log that may contain information relevant to the investigation. Click this button to copy the logged messages to a diskette.
Copy Log Files
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Copy Panel Logfiles to floppies dialog box

When you click the Copy Log Files button, the Copy Panel Logfiles to floppies dialog box is displayed. The dialog box contains a list of the logged files.
File Status
The names of the logged files. The status of the log file operation, such as: Found Selected Copying Finished copying The date and time when the file was logged. File size in bytes. From the drop-down list, select files to be displayed in the file list. Click this button to copy a selection of files to a diskette. Click this button to cancel the copying. The copy process ends when the current file is copied. Displays an updated file list. Click the Refresh button to list files that were not yet logged when the dialog box was opened. Closes the dialog box and the Copy Logfile application. Selecting Close while no files are being copied: Before the application is closed, a dialog box is displayed asking you to verify that the application is to be closed. Selecting Close while a file copy process is in progress: A dialog box is displayed asking you to cancel the copying before you close the application.
Time Size (drop-down list box) Copy Cancel Refresh Close
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Panel driver logging
Selecting panel logfiles from the file list
To select one file to be copied, click the required file name. To select a range of files, select the files to be copied by holding down the Shift key while clicking the first and last of the files. To copy several files that are not in range, select the files by holding down the Ctrl key while clicking each of the files.
Copying panel logfiles
1 2
Insert a diskette in the diskette drive of your computer. Open the Panel Driver Logging dialog box and click the Copy Log Files button. - The Copy Panel Logfiles to floppies dialog box is displayed. Select the files you wish to copy from the file list and click Copy. - The files are copied to the diskette. If the diskette becomes full, a dialog box is displayed asking you to insert a new diskette. Insert an empty diskette. - The copying continues automatically.
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16.2 Remote diagnostics

Online support from Kongsberg Maritime is available through the Remote Diagnostic Service using secure communication facilities. The service engineer at the Support Centre can view the same Operator Station information as the operator on site. Log files and databases can be transferred to the Support Centre for further analysis, and updates may take place on the system on site with the restrictions imposed by the operational guidelines and the classification authorities. The SDP system is prepared for this Remote Diagnostic Service by means of a communication software package installed in each Operator Station. When a remote user is connected on the Remote Access Service connection, the text Remote Diagnostics (on red background) is displayed in the SDP title bar.
To display the Remote Diagnostics dialog box, click Remote Diagnostics on the System menu.
Remote Access Services
A remote user is connected on the Remote Access Service connection when information about Port, User and Duration is displayed in the corresponding text fields. Port The port to which the modem is connected, usually COM1.
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Remote diagnostics
User The user name of the remote user. Duration Duration of time since the remote user was connected to the Remote Access Service connection. Disconnect Click this button to disconnect from the Remote Access Service connection. PcAnywhere Start Click this button to start PcAnywhere when a remote user is connected on the Remote Access Service port. The remote user is connected when information about Port, User and Duration is displayed in the corresponding text fields. Show When PcAnywhere is started, the text on the Start button changes to Show. Click the Show button to open the pcAnywhere waiting... dialog box (see page 16-8) to monitor the TCP/IP Host Service and TCP/IP addresses. Close Click this button to close the Remote Diagnostics dialog box.
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pcAnywhere Waiting... dialog box

The service engineer at the Kongsberg Maritime Support Centre may ask you to present information about the TCP/IP Host Service (remote user) to verify that the required connections are established. This information can be found on the pcAnywhere waiting... dialog box. On the System menu, click Remote Diagnostics to display the Remote Diagnostics dialog box. Click the Start button for PcAnywhere (see dialog box on page 16-6). When PcAnywhere is started, click Show on the Remote Diagnostics dialog box. The pcAnywhere Waiting... dialog box is displayed.
Note
To minimise the pcAnywhere Waiting... dialog box, do not click Cancel, as this will abort pcAnywhere. Instead, click the Windows minimize button ( ) in the upper right corner of the dialog box.
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Printing system status data
16.3 Printing system status data

You can print a predefined set of system status data on the event printer connected to the Operator Station. You can either request an immediate print-out or request repeated print-outs with a given time interval. An example of a printed status page is shown in Figure 41 on page 16-10. To print the status page or to request repeated print-outs, click Print Status on the System menu. The Print Status dialog box is displayed.
Print Status
Click this button to request an immediate print-out of the status page.
Cyclic Print Control Select the Cyclic Print check box if you want a cyclic print-out to be made automatically after a specified Interval. This can only be selected from the Operator Station in command. Interval The time interval for cyclic print-outs of the status page.
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Figure 41 Example status page
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Displaying software information
16.4 Displaying software information

The About dialog box enables you to view vital SDP system and file information. This information can be useful for you to have available when contacting Kongsberg Maritime for help in case of problems with the SDP system. On the Help menu, click About. The About dialog box is displayed, containing an overview of basic software information for your SDP system (see Figure 42).
Figure 42 About dialog box - overview of system information Clicking the EXE/DLLs button on the About dialog box, shown in Figure 42, creates a list of EXE and DLL files in use and their corresponding version numbers (see Figure 43).
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Figure 43 About dialog box - DLL and EXE files in use Clicking Overview displays the contents shown in Figure 42. Clicking Details>> creates a complete and detailed list of which EXE file uses which DLL files (see Figure 44).
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Displaying software information
Figure 44 About dialog box - which programs (EXE files) are using which DLL files The structure of the information presented in Figure 44 are as follows: Program (EXE) column: Lists all the EXE files. Using DLL column: Lists a batch of all the DLL files used by each specific EXE file. Version column: Lists the version of the program (EXE file). Modified column: Lists the date when each DLL and EXE file was last modified. Size column: Lists the file size for each DLL and EXE file. Clicking Overview displays the contents shown in Figure 42. Clicking Details<< displays the contents shown in Figure 43.
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16.5 RCA and Vessel Control modes

An SVC (Vessel Control) system controls the various processes on board a vessel. On a vessel that is set up with both an SDP and an SVC system, you may monitor the active Vessel Control mode and the status of the Vessel Control Areas on the RCA (Redundancy and Criticality Assessment) view, and select Vessel Control mode from the SDP OS. For details on vessel control and RCA, refer to the current SVC Operator Manual.
Vessel Control mode

A Vessel Control mode is a predefined set-up of the vessel. For each Vessel Control mode, a specific selection of thrusters, generators and engines are running to make it possible to perform the intended processes. An example of a Vessel Control mode is Transit. The available Vessel Control modes will vary from vessel to vessel.
Redundancy and Criticality Assessment RCA

The RCA system is an integrated online fault monitoring and assessment tool. It monitors and confirms that the resources for a specific operational control mode are available. The RCA system first verifies that all involved equipment is correctly set up for the intended Vessel Control mode. When the equipment is running, the RCA system continuously checks that it is functioning correctly. The RCA system also monitors and reports the status of all standby equipment to provide an overall redundancy status. If an error is detected, the RCA system reports the situation according to the criticality of the event.
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RCA and Vessel Control modes
Vessel Control Mode dialog box

Vessel Control mode can be selected from the SDP Operator Station. Either select Vessel Control Mode on the System menu, or click VesselMode on the status bar. The Vessel Control Mode dialog box is displayed. You can select any one of the available Vessel Control modes by clicking its option button. Click Apply or OK.
Caution Select a Vessel Control mode according to the vessels intended operation. An incorrect selection of Vessel Control mode may lead to a critical situation. Ensure that the necessary equipment for the Vessel Control mode in question is not intended for maintenance or is unavailable for other reasons.
Status
The status of the Vessel Control modes: Available All equipment status requirements are met (the equipment is already running) and the Vessel Control mode may be selected. Any equipment not required for the mode will automatically be stopped. Blocked The Vessel Control mode cannot be selected due to the current system set-up, or because another mode has been selected. In Service The equipment status requirements have been met and the selected Vessel Control mode is running. Invalid/Aborted The Vessel Control mode has changed to Invalid. Either one or more of the equipment status requirements were not met when In Service was activated, or the equipment start/stop sequence program has aborted. Information about the fault is displayed on the dialog box as a message/warning.
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Not Ready Equipment status requirements are not met and the Vessel Control Mode cannot be selected. The reason for unavailability is explained by a message/warning. Ready The equipment status requirements that must be met to allow the Vessel Control mode to be selected, have been met. Selected The Vessel Control mode has been selected but not fully established. The equipment start/stop sequence program is still being performed. Terminating An exit is being made from the Vessel Control mode (an equipment start/stop sequence for entering another control mode is in progress). Message/Warning Displays information on the status of equipment that is required for the Vessel Control mode in question.
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RCA messages
A set of messages is used to notify the operator when an alarm or warning condition is detected by the RCA system. The messages are displayed in the Event List window. Using the Help Topics: Messages dialog box on page 4-14, you can obtain explanations for any of the messages. RCA trip warning <Vessel Control Area> A malfunction is detected for one of the Vessel Control Areas. The message shown is an example of one of four warning types, trip, major, minor and standby. The additional information is the Vessel Control Area. RCA invalid active vessel mode <Vessel Control mode> The Vessel Control mode has changed to Invalid due to one or more of the equipment status requirements not being fulfilled when In Service was activated. The additional information is the selected Vessel Control mode. RCA new active vessel mode <Vessel Control mode> Information message displayed when a new Vessel Control mode becomes active. The additional information is the selected Vessel Control mode. RCA sequence aborted <Vessel Control mode> The equipment start/stop sequence program has aborted because the requirements for the selected Vessel Control Mode failed. The additional information is the selected Vessel Control mode. RCA timeout <Timeout limit> The RCA communication between the SDP controller process station and the SVC PCU is interrupted. The additional information is the timeout limit in seconds.
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RCA view
The RCA view gives information on the status of the requested Vessel Control mode and the corresponding Vessel Control Areas. On the status bar, click RCA. The RCA view is displayed in the monitoring area on the screen. See also page 1-22 for a description of how to select display views.
Figure 45 Example RCA view
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This shows the present Vessel Control mode and status/text. The same text is also displayed on the Vessel Control Mode dialog box (see page 16-15 for descriptions of each status). The status is indicated by a colour: Green: In Service Yellow: Selected Red: The displayed text is associated with the Invalid/Aborted status of the Vessel Control mode (i.e. the first reason for Invalid/Aborted). These are the Vessel Control Areas for the active Vessel Control mode. These areas will vary from vessel to vessel. Their status is indicated by a colour code: each status (except green/no warning) corresponds to a warning type, RCA trip warning, RCA major warning, RCA minor warning or RCA standby warning (see RCA messages on page 16-17):
Green: No RCA warning. Magenta: RCA trip warning. Process Unit or Subsystem tripped, or conditions exist that will quickly implement a trip. Red: RCA major warning. Major fault in the Process Unit or one or more Subsystems.
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Yellow: RCA minor warning. Minor fault in the Process Unit or one or more of the Subsystems. Cyan (turquoise): RCA standby warning. The required Subsystem standby equipment is not ready. Mode Sequence Information is displayed at a change of Vessel Control mode or when a change of Vessel Control mode is Aborted. First line: Current step in the sequence. Second line: Error in the sequence.
Relation between RCA view and Vessel Control Mode dialog box
Note that information is displayed both on the RCA view and on the Vessel Control Mode dialog box. In the example in Figure 46, Generator 4 is not in service, the status of Transit is Invalid so the colour code on the RCA view is red.
Figure 46 Information displayed on the RCA view and on the Vessel Control Mode dialog box
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Relation between RCA view and status bar

Information displayed on the status bar (RCA, VesselMode) is described in Status bar on page 1-10. Figure 47 illustrates the relation between information given on the RCA view and information displayed on the status bar. The selected Vessel Control mode is Transit. Yellow, the colour code for Selected, is used both on the RCA view and as background colour of Transit on the status bar (this background colour is according to the present Vessel Control modes status, as described on page 16-19). There are no warnings given for any of the Vessel Control Areas, illustrated by a green colour code both on the RCA view (for all Vessel Control Areas) and above the label RCA on the status bar.
Figure 47 Example: RCA status of the Vessel Control Areas and status of the Vessel Control mode Transit displayed on the RCA view and on the status bar.
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16.6 Interface to CyberSea

Marine Cybernetics AS (http://www.marinecybernetics.com/) has developed the CyberSea Simulator for Hardware-In-the-Loop (HIL) safety and performance testing of feedback control systems such as dynamic positioning systems. The SDP system supports interface to CyberSea, which gives the possibility for testing by an independent company. The following interfaces are available: CyberSea FMEA Simulator The SDP system controls the vessel as in normal operation, but the I/O is manipulated by the CyberSea FMEA Simulator. This FMEA Simulator testing is intended to be used in sea-trials and periodical trials. CyberSea DP-HIL Simulator (VSim) Hardware-in-the Loop (HIL) testing may be performed during Factory Acceptance Tests (FAT), commissioning, sea-trials, as well as for ships in operation. The SDP system will act against a simulated vessel in the DP-HIL simulator. 1 2 Ensure that the SDP is in Standby mode. On the System menu, click CyberSea. - The CyberSea Mode dialog box is displayed.
Select the required mode and click OK or Apply. - The text In FMEA mode or In VSim mode (or other configuration-dependable text) is displayed flashing in the title bar. Run testing/simulation as required.
If contact with CyberSea is lost during testing in FMEA mode, this mode is aborted and a message is issued.
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17 SYSTEM STATUS MONITORING

This chapter contains the following sections: 17.1 17.2 17.3 17.4 17.5 17.6 17.7 17.8 17.9 17.10 Introduction System architecture Equipment Station explorer IO manager PBUS IO image IO block IO point browser Driver properties Resetting a disabled serial line
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System status monitoring
17.1 Introduction
Functions are available for monitoring the status of the SDP operator stations, process stations and IO system. During normal operation you can: view the operational status of the Operator Stations, History Stations and Process Stations view information and status indications for every IO driver, IO block and IO point configured in the system.
17.2 System architecture

An SDP system consists of one or more operator stations (OS) and one or more process stations (PS). A history station (HS) may also be included. Communication between operator stations, history stations and process stations is via a single or dual communication net (Net A and Net B). The SDP control software is implemented in one, two or three SDP process stations (DpPSes) depending on the redundancy level of the system. The process stations are implemented in computers located in the SDP Controller Cabinet. Communication with thrusters and sensors is performed by the IO system, which is an integrated part of the DpPS. If additional IO is required for sensors or thrusters, additional dedicated IO process stations can be implemented. The process stations themselves provide no permanent storage of programs and data. When a process station starts up, all its programs and data are loaded from its PS servers, which are located either on one or more operator stations or in the flash memory of the PS itself.
Operator stations
The following standard names are used to identify the operator stations and history stations in SDP systems:
OS name SDP-OS1 SDP-OS2 SDP-OS3 SDP-OS4 SDP-OS6 SDP-HS1 OS description Main SDP Operator Station Main SDP Operator Station Main SDP Operator Station Fire Backup SDP Operator Station Stand-alone Simulator SDP Operator Station Main SDP History Station
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System architecture
cPos-OS1 cPos-OS2 cJoy-OT1 cJoy-OT2 WT1 WT2 WT3 WT4 OT1 OT2
cPos Operator Station cPos Operator Station cJoy Operator Terminal cJoy Operator Terminal cWing Wing Terminal cWing Wing Terminal cWing Wing Terminal cWing Wing Terminal Operator Terminal (serial line interface) Operator Terminal (serial line interface)
Process stations
The process stations are implemented either in Remote Control Units (RCU) or Single Board Computers (SBC). The RCU unit used in RCU-based systems contains a real-time single board computer and IO interfaces in the same unit. SBC-based systems have a separate card rack for each process station. Each card rack contains a backplane which provides slots for the SBC, power supplies, analog and digital IO cards and serial lines.
Redundancy
In single systems, the SDP Controller Cabinet contains a single DpPS. In dual systems, the SDP Controller Cabinet contains two DpPSes which operate with a master/slave relationship. Switching between master and slave can be performed manually, or the switching can be performed automatically by the system. In triple systems, the SDP Cabinet contains three DpPSes. Fault detection and isolation are achieved by a process of majority voting, whereby all three computers compare and vote on their critical input and results. For more information, See Redundant Systems on page 8-5.
WinPS
A WinPS is a Process station that runs on an OS computer, as opposed to a standard PS. A WinPS provides full PS functionality, except that it cannot communicate with the IO system. WinPSes are used for development purposes and in simulators.
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PS names and numbers
The following standard names and numbers are used to identify process stations and redundancy groups in SDP systems.
Redundancy group DpMain Redundancy type Single, DpDual or DpTriple PS description Main SDP Controller PS A Main SDP Controller PS B Main SDP Controller PS C DpM_IO1 DpM_IO2 DpM_Sim DpM_Vrm DpFS_Vrm DpBackup DpB_IO1 DpB_IO2 DpB_Sim DpB_Vrm Single, DpDual or DpTriple Single, DpDual or DpTriple Single Single Single Single Single Single Single Single Main Input/Output 1 Main Input/Output 2 Main - Simulator (WinPS) Main - Built-in Trainer - Vessel Reference Model (WinPS) Field Simulator -Vessel Reference Model (WinPS) Backup SDP Controller PS A Backup Input/Output 1 Backup Input/Output 2 Backup - Simulator (WinPS) Backup - Vessel Reference Model (WinPS)
The Vessel Reference Models run in WinPS and provide simulator and built-in trainer functions.
The IO system
The IO system provides the communication interface for exchange of IO signals between the field devices (thrusters and sensors) and the process station. The main elements of the IO system are: IO drivers IO drivers are responsible for the communication with the field device. The IO driver provides conversion between field values and IO raw values. The following driver types are supported: - PBUS for discrete analog and digital IO - NetIO for communication between PSes - Dedicated sensor and interface drivers for serial line devices such as Artemis, GPS, Fanbeam and HPR - ComAs for generic serial line IO
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System architecture
IO blocks An IO block represents a group of identifiable IO signals from an IO device in the field. For example: - For IO cards belonging to the PBUS driver, an IO block represents an IO card in the IO rack. - For NetIO communication between process stations, an IO block may represent all the signals related to a particular sensor or thruster. IO points IO points are the connection points for IO signals. An IO point may provide signal conditioning elements for conversion between the IO raw value on the driver side and the engineering value on the SDP system side.
Monitoring functions
The following monitoring functions are available: Viewing of status information for the Operator Stations, History Stations and Process Stations in your system, using the Equipment - System Status dialog box. See page 17-6. Viewing of status information for all PSes in the system, using the Station Explorer dialog box. See page 17-15. Viewing of overview information for all IO drivers, IO blocks and IO points, using the IO Manager dialog box. See page 17-19. Viewing of information for selected IO Points using the IO Point Browser dialog box. See page 17-29. Viewing of information displayed for each IO Block, related to each IO Point and its contents, using the IO Block dialog box. See page 17-24.
Note
Many of the features provided by these dialog boxes are related to configuring the system. These features require OS Configuration Mode and/or PS Configuration Mode and therefore are not described in this manual. This manual only describes features that are available in normal operation mode.
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17.3 Equipment
The Equipment - System Status dialog box shows operational status information about the Operator Stations, History Stations and Process Stations in your system. To display the Equipment - System Status dialog, click Equipment on the System menu.
This dialog box has five pages: PS PS Redundancy OS/HS Event Printer Net Status In each line of each page, the background colour of certain fields are changed to indicate alarm conditions. When a system or process alarm condition occurs, the background of the field changes colour and starts to flash. It will continue to flash until the applicable alarm is acknowledged.
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Equipment
PS
The PS page shows the current status of all process stations defined in the system. Station Group name (No column title) Status Identification of the PS. Displays the name of the redundancy group to which this station belongs. Identification of the PS within the redundancy group. For example: Controller PS A, B or C within the DpMain group. Shows the current status of the PS: Operational PS is operational. Booting PS is booting (loading configuration). Rebooting PS is rebooting due to an error. Not Communicational PS has reported a status, but no communication with the PS is possible Not Reported PS has not reported any status. Halt PS has stopped due to an error condition. The available CPU capacity, expressed as a percentage of total CPU capacity. Indicates the state of the A and B network interfaces: OK Both network interfaces are OK. A-ERROR Error on network interface A. B-ERROR Error on network interface B. AB-ERROR Error on both network interfaces. Shows the status of the IO system for this PS: OK No errors reported. ERROR Errors reported.
Spare Time (%) Net State
I/O Status
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Serial Status Other Status:
Not relevant for SDP systems. Shows the status of other sub-systems reported by this station (typically system self-test and monitoring): OK ERROR No errors reported. Errors reported.
Free Memory Uptime
Available memory (or largest continuous block) in kB. (Not applicable for WinPSs.) The accumulated uptime of the station. Shown as a number followed by a character indicating the period. For example: 3.06 d indicates 3.06 days (m=minutes, h=hours, d=days, y=years). Time stamp when the PS was started. Format: day/month/year hour:min:sec Time stamp of last communication. Format: hour:min:sec The PS page has a shortcut menu. Right-click anywhere on the page to display the following menu: Print Image... Station Explorer... see page 17-14 see page 17-15
Started Last reported
PS Info... not relevant for SDP systems during normal operation. System Events... see Presentation of messages on page 4-5. IO Manager... IO Point Browser... see page 17-19 see page 17-29
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Equipment
PS Redundancy
The PS Redundancy page shows redundancy information for all process stations. Station Group name (No column title) Status Identification of the PS. Displays the name of the redundancy group to which this station belongs. Identification of the PS within the redundancy group. For example: Controller PS A, B or C within the DpMain group. Shows the current status of the PS: Operational PS is operational. Booting PS is booting (loading configuration). Rebooting PS is rebooting due to an error. Not Communicational PS has reported a status, but no communication with the PS is possible Not Reported PS has not reported any status. Halt PS has stopped due to an error condition. Displays whether the PS is online or not. See Redundant Systems on page 8-5. Displays whether the PS is master or not. See Redundant Systems on page 8-5. Displays the Capability status, indicating to what extent the PS is technically capable of fulfilling its intended purpose: OK No errors. Common Error Errors that are common to all PSs in the redundancy group. Degraded Errors that related to only this PS in the redundancy group. Incapable The PS is in a state where it should not be used as the master or online computer.
Online Master Capability
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Running mode
Displays the Running mode: Running Starting Inactive The PS is communicating and has finished all start-up preparations. The PS is communicating, but more startup preparation is needed. The PS is not communicating. It may be initializing or loading, or not executing at all.
Type
Displays the redundancy type for the redundancy group. For the DpMain and DpM_IO groups, the following types are relevant: Single, DPDual and DPTriple. The PS Redundancy page has a shortcut menu. Right-click anywhere on the page to display the following menu: Print Image... Station Explorer... see page 17-14 see page 17-15
PS Info... not relevant for SDP systems during normal operation. System Events... see Presentation of messages on page 4-5. IO Manager... IO Point Browser... see page 17-19 see page 17-29
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Equipment
OS/HS
The OS/HS page shows the status of the operator stations and history stations that are defined in the system. Station Status Identification of the OS or HS. Shows the current status of the OS or HS: Operational Not Communicational Not Reported Stopped Last Reported Net State OS or HS is operational. OS or HS has reported a status, but at the moment no communication with the OS or HS is possible. OS or HS has not reported any status. OS or HS is not switched on.
Time stamp of last communication. Format: day-month-year hour:min:sec Indicates the state of the A and B network interfaces: OK A-ERROR B-ERROR AB-ERROR Both network interfaces are OK. Error on network interface A. Error on network interface B. Error on both network interfaces.
The OS/HS page has a shortcut menu. Right-click anywhere on the page to display the following menu:
See Print Image on page 17-14.
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Event Printer
The Event Printer page shows the status of the event printers that are configured in the system. The operator stations in the SDP system are grouped into Print Groups - usually either Main or Backup - where each group has one event printer. Only one of the operator stations (the Master) within a print group will print alarm messages to the event printer. If the Master operator station becomes inactive for any reason, the role of event printer Master passes automatically to another active Member of the Print Group. Station Print Group Master Members Printer Info The address of the event printer. The name of the group of operator stations that can print to this printer. The current master operator station in this print group. The operator stations that are members of this print group. If an operator station is not active, its name is shown in parentheses. Information on the printer status such as Idle or Printing. This information is provided by the printer interface. The Event Printer page has a shortcut menu. Right-click anywhere on the page to display the following menu:
See Print Image on page 17-14.
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Equipment
Net Status
The Net Status page shows the status of the communication network for all OSs, HSs and PSs in the system. This page contains a window that is divided into two panes. The left-hand pane lists all stations in the communication network by means of icons and names. Clicking any icon or name displays in the right-hand pane the status of the communication network as seen from the receiving station in the left-hand pane. If a red A, B or AB is displayed superimposed on an icon, this indicates that the station has a network communication error on net A, B or both. Sending Station Msg pr. 100 sec Lost Msg Net A Lost Msg Net B IpAddress Identification of the OS, HS or PS sending messages to the receiving station. The total number of messages being received every 100 seconds on both networks. The number of lost messages on network A. The number of lost messages on network B. The Internet Protocol (IP) address of the sending station. The right-hand pane is static and once information has been displayed it is not updated. You can update the information either by reselecting the Net Status page or by right-clicking anywhere on the page to display the following shortcut menu:
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Select Print Image to print the content of the current page. Select the Update Statistics command to update the statistical information for the selected station in the right-hand pane. Select the Show only errors command to filter the information displayed in the right-hand pane so that only the stations with lost messages are displayed.
Print Image
By selecting the Print Image command from the shortcut menu for the PS, PS Redundancy, OS/HS or Net Status page, you can print the content of the current page on your printer. The Print dialog box is displayed:
Select the appropriate printer from the Name drop-down list box. Use the Properties button to select the printout format. Comment Color print The text that you type in the Comment text box is printed in a separate box on the top right corner of the printout. Select this check box if a printout in colour is required.
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Station Explorer
17.4 Station Explorer

The Station Explorer provides system status information for all system components in a selected process station, such as: For the basis system: applicable PS system information, self-tests and environment checks (such as temperature check, fan alarm). For the IO Manager: information on all nodes and subnodes of all configured IO parts. For the Network: information on the redundant networks Net A and Net B. All nodes in the process station are represented by graphical symbols showing their current alarm status. To display the Station Explorer dialog box: 1 On the System menu, click Equipment. - The Equipment - System Status dialog box is displayed. Right-click on a PS line anywhere on the PS Status or PS Redundancy page of the Equipment - System Status dialog box. - The following shortcut menu is displayed:
Click Station Explorer. - The Station Explorer dialog box is displayed, showing the PS that you right-clicked in step 2. You can use the drop-down list box to select any other PS to be displayed.
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PS tree structure
The dialog provides a tree structure showing all the nodes and subnodes in the PS. The tree structure can be expanded and collapsed, to display or hide information details. Graphical symbols are displayed to indicate the alarm status. Hotspot symbols provide links to dialog boxes for displaying further information about the IO system.
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Station Explorer
Alarm status indicators

The following alarm status indicators may be displayed on the PS status view pane. There is an error condition in this equipment node, and the alarm is not acknowledged. When acknowledged, a red circle is displayed (see below). The error condition in this equipment node is no longer present, but the alarm is not acknowledged. When acknowledged, a green circle is displayed (see below). There is an error condition in this equipment node and the alarm is acknowledged. The red arrow indicates that there is either an error or an unacknowledged alarm in one or more equipment subnodes. Node and all sub equipment nodes are OK.
Hotspots
Hotspot symbols provide links to dialog boxes for displaying further information about the IO system: Displays the Properties dialog box, which shows an overview of the software and hardware status of the selected PS. This feature is intended only for Kongsberg Maritime personnel. Displays the IO Manager dialog box, which shows the status of the IO drivers and IO blocks for the selected PS. See page 17-19. Displays the Driver Properties dialog box, which shows the configuration of the selected IO driver. See page 17-32. Displays a submenu: For an IO driver:
- The Show PBUS IO Image command displays a graphical view of the IO cards. See page 17-21. - The Show IO Driver command displays the Driver Properties dialog box, which shows the configuration of the selected IO driver. See page 17-32.
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For an IO block (IO card):
- The Show IO Block command displays the IO Block dialog box, which shows information about the selected IO block and its IO points. See page 17-24. - The Properties command displays the Properties dialog box for the selected IO card. This feature is intended only for Kongsberg Maritime personnel. Displays the IO Block dialog box, which shows information about the selected IO block and its IO points. See page 17-24.
Acknowledging PS system alarms

To acknowledge a PS system alarm: 1 Right-click on the appropriate node in the tree structure of the Station Explorer dialog box. - The following shortcut menu is displayed:
Select the appropriate command from the shortcut menu. The Event List window is displayed, containing the relevant alarms: - System Events for Node displays alarms for the selected IO node. - System Events for Node and Subnodes displays alarms for the selected IO node and all subnodes. - System Events for PS displays all alarms for the selected PS.
Acknowledge the alarm. For more information, see Acknowledging messages on page 4-10.
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IO Manager
17.5 IO Manager
The IO Manager dialog box displays an overview of the IO system, showing the IO drivers and IO blocks for a selected station. To display the IO Manager dialog box, either: 1 On the System menu, click Equipment. - The Equipment - System Status dialog box is displayed. 2 Right-click on a PS line anywhere on the PS Status or PS Redundancy page of the Equipment - System Status dialog box. - The following shortcut menu is displayed:
3 or: 1 2 3
Click IO Manager. - The IO Manager dialog box is displayed.
Start the Station Explorer (see page 17-15). Select the required PS from the drop-down list. Click on the IO Manager icon ( ).
The IO Manager dialog box has three pages, which give an overview of the IO Interface system: The IO Configurator page, in expandable tree view, presents the IO drivers, IO objects and IO blocks for the selected PS The IO Statistics page gives an overview of the connected terminals and modules. This feature is intended only for Kongsberg Maritime personnel. The IO Library page presents the contents of the IO typical library. This feature is intended only for Kongsberg Maritime personnel.
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IO Configurator
Use the drop-down box to select the PS for which you will display the IO drivers and IO blocks. In the expandable tree view, the symbols are as follows: 1st level, lists the IO driver types ( 2nd level, lists the IO drivers ( ) ) )
3rd level, lists the IO blocks in alphabetic order (
If you click on a IO driver name, the corresponding Driver Properties dialog box is displayed. See page 17-32. If you click on an IO block name, the corresponding IO Block dialog box is displayed. See page 17-24.
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PBUS IO Image
17.6 PBUS IO Image

The PBUS IO Image provides a graphical view of the status of the PBUS IO cards. This is intended as an aid to faultfinding in the IO system. To display the PBUS IO Image: 1 Start the Station Explorer (see page 17-15). 2 Select the required PS from the drop-down list. 3 Expand the IO Manager to locate the PBUSDriver. 4 Click on the sub-menu symbol ( ) and select the Show PBUS IO Image command from the sub-menu. The PBUS IO Image can be displayed either in Overview level or Detail level: When Overview level is selected, the display corresponds to the physical layout of the IO cards as you see them in the IO cabinet. When Detailed level is selected, more detailed card and rack information is displayed. The Detailed level is intended primarily for Kongsberg Maritime personnel.
Overview level
Example PBUS IO Images at Overview level for an SBC-based PS (left) and an RCU-based PS (right) are shown below.
Card type
Alarm status indicator Slot number
Rack positions containing PSs and power supply units are indicated on the Overview level by the text (PS) and (Pwr) respectively.
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The alarm status indicators are the same as for the Station Explorer. See page 17-17. If you click on an IO card, the IO Block dialog box is displayed showing information about the selected IO card and its IO channels. See page 17-24. If you right-click on an IO card, a shortcut menu is displayed:
The Show IO Block command displays the IO Block dialog box, showing information about the selected IO card and its IO channels. See page 17-24. If the IO card has an error condition, you can select the System Events for Node or System Events for Node and Subnodes command to display the Event List window containing the relevant alarms. The tool bar of the PBUS IO Image window provides the following functions: Displays the Overview level of the PBUS IO Image. Displays the Detailed level of the PBUS IO Image. Shows out-of-rack cards. Not relevant during normal operation. Use this drop-down list box to select any other PS to be displayed.
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PBUS IO Image
Detailed level
Example PBUS IO Images at Detailed level for an SBC-based PS (left) and an RCU-based PS (right) are shown below.
Rack positions containing PSs and power supply units are not shown on the Detailed level. The information provided on the Detailed level is intended primarily for Kongsberg Maritime personnel.
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17.7 IO Block
The IO Block dialog box displays information about a selected IO block and its IO points. This is intended as an aid to faultfinding in the IO system. To display the IO Block dialog box, either: 1 2 3 4 Start the Station Explorer (see page 17-15). Select the required PS from the drop-down list. Expand the appropriate driver to locate the required IO block. Either click on the block icon ( ), or click on the sub-menu symbol ( ) and select the Show IO Block command from the sub-menu. Start the IO Manager (see page 17-19). On the IO Configurator page, select the required PS from the drop-down list. Expand the appropriate driver to locate the required IO block. Click on the IO block name.
or: 1 2 3 4
Note
The content of this dialog varies according to the IO driver. For IO cards belonging to the PBUS driver, a block is the same as an IO card, and a point is the same as an IO channel.
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IO Block
Station Explorer
The upper-left area displays the selected IO block, filtered from the expandable tree structure of the Station Explorer, and displays the driver, alarm status and the block tag of the selected IO block. For more details, see Station Explorer on page 17-15. Displays the name of the selected IO block. Displays descriptive text for the selected IO block. Shows the scan rate for the selected IO block: Task 1 Normal Task 2 Quick Task 3 Rapid
Tag Description Task
Auto
Not relevant for SDP systems.
Upper-right list box The upper-right list box displays the IO block properties represented by Parameters and Values. When you point at a parameter, a tool-tip is displayed, providing more explanatory text.
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IO Points
This area displays information about the IO points for the selected IO block. Direction The direction of the data flow: Output data flow Input data flow IO tag The name of the IO signal. The IO point parameter symbol. Clicking this symbol displays the IO Point Parameters section in the lower part of the dialog box. Status The status of the sensor value: OK Error SIM Sensor value The sensor value and its units. Symbols representing the signal conditioning elements used, in order of execution. See Signal Conditioning on page 17-27 for details.
Note
When the cursor is positioned over one of the bitmaps representing an IO signal conditioning element, the name and parameters of the element are displayed in a tool-tip window. Eng. value The engineering value and its units. Eng. Status The status of the engineering value: OK Error SIM Connection For signals that are to be transferred between process stations, this field displays the name of the NetIO tag that corresponds to this IO point.
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IO Block
Note
If you click a cell in the Connection column, the Connect/Disconnect Terminal dialog box is displayed for the selected IO point. This dialog box has no function during normal operation. Clicking the Details button displays or removes the IO Point Parameters and Engineering Signal Conditioning sections in the lower part of the dialog box.
Details
Shortcut menu
If you right-click on any displayed IO point tag, the following shortcut menu is displayed:
Resize Columns
Resizes the columns displayed in the IO Point Browser dialog box to fit the content of the columns.
Signal Conditioning elements

Signal conditioning elements are used in the IO points of an IO block to parameterize the input/output process signals and to scale the signals. All signal conditioning elements are bidirectional, and may be used both on input and output signals, but some elements are meaningful on input signals only. The symbols are displayed between the Sensor value and Eng. value columns in the IO Point Browser dialog box. The signal conditioning includes elements for: Scaling Inversion Filtering Fail-safe value Compensation for wire resistance.
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The available signal conditioning elements are as follows:

Icon Element name Scale Analogue X Digital Input X Output Description X Sensor scale max. Sensor scale min. Sensor unit Engineering scale max. Engineering scale min. Engineering unit Multi Scale X X X Number of points (For each point) Sensor point (For each point) Engineering point Sensor unit Engineering unit PT 100 X X Wire resistance Sensor unit Engineering unit Engineering unit X X X Engineering scale max Engineering scale min Engineering unit Fail-safe X X Fail-safe value Freeze (checkbox): Checked: Last usable value Not checked: Fail-safe value Filter Limit check X X X X X Filter time (seconds) Gain Bias Use negative input value Invert Fail-safe X X X X X None Fail-safe value Freeze (checkbox): Checked: Last usable value Not checked: Fail-safe value Filter X X On delay (seconds) Off delay (seconds)
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IO Point Browser
17.8 IO Point Browser

The IO Point Browser allows you to search for IO points for a selected PS, and to display information about them. This is intended as an aid to faultfinding in the IO system.
IO Point Browser dialog box

To display the IO Point Browser dialog box: 1 On the System menu, click Equipment. - The Equipment - System Status dialog box is displayed. Right-click on a PS line anywhere on the PS Status or PS Redundancy page of the Equipment - System Status dialog box. - The following shortcut menu is displayed:
Click IO Point Browser. - The IO Point Browser dialog box is displayed.
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Station
Use this drop-down list box to select either all PSs, or the PS within which you want to browse. Tag Browse Criteria Use this text box to enter the browse criteria. Wildcard characters can be used. Match case Use this check box to make the Browse Criteria case sensitive. Match whole tag Use this check box if the Browse Criteria text is the entire name of the required IO point. Match initial tag segment Use this check box if the Browse Criteria text is the beginning of the name of the required IO points.
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IO Point Browser
IO Status
Use these check boxes to restrict the search to IO points which have the specified status: IO OK IO Manual IO Passive IO Error IO FailSafe IO Error Override Use this command button to search for IO points whose name satisfies the specified Browse Criteria. Not relevant for SDP systems. Clicking the Details button displays or removes the IO Point Parameters and Engineering Signal Conditioning sections in the lower part of the dialog box. The upper-left area displays information about the IO points that satisfy the search criteria. This is the same information as displayed on the IO Block dialog (see page 17-24), with one additional column: PCU: The name of the PS that contains the IO point.
Browse by IO Tag Browse by Module Tag Details
Browse results
Shortcut menu
If you right-click on any IO point tag displayed in the browser window, the following shortcut menu is displayed:
Resize Columns Show IO Block
Resizes the columns displayed in the IO Point Browser dialog box to fit the content of the columns. Allows you to view configuration information for the selected IO Block by displaying the corresponding IO Block dialog box. See page 17-24.
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17.9 Driver Properties

The Driver Properties dialog box shows the properties and configuration of a selected IO driver. To display the Driver Properties dialog box, either: 1 Start the Station Explorer (see page 17-15). 2 Select the required PS from the drop-down list. 3 Expand the appropriate driver to locate the required IO driver. 4 or: 1 2 Click on the IO driver icon ( ).
Start the IO Manager (see page 17-19). On the IO Configurator page, select the required PS from the drop-down list. 3 Expand the appropriate driver to locate the required IO driver 4 Click on the IO driver name. The content of the Driver Properties dialog box varies according to the type of IO driver. The information provided on the Driver Properties dialog box is intended primarily for Kongsberg Maritime personnel. The only action that can be performed during normal operation is to reset a disabled serial line using the Int. Status page of the Driver Properties dialog for the ComAs driver.
The Int. status page of the Driver Properties dialog for the ComAs driver displays the interrupt status of a selected serial port.
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Driver Properties
Serial port Enter the number of the serial port to be displayed or reset. 1 - 14 for SBC500 1 - 7 for RCU510 Reset disabled serial port To reset a disabled serial port, select this check box and click OK or Apply. Reset max. interrupt rate To reset the displayed values for Max. receive interrupt rate and Max. exception interrupt rate, select this check box and click OK or Apply. Disabled due to high receive rate Indicates whether the selected port is disabled due to high receive rate (0=enabled, 1=disabled). Disabled due to high exception rate Indicates whether the selected port is disabled due to high exception rate (0=enabled, 1=disabled). Receive interrupt rate Shows the current receive interrupt rate for this serial port. Exception interrupt rate Shows the current exception interrupt rate for this serial port. Max. receive interrupt rate Shows the highest recorded receive interrupt rate for this serial port (since startup or reset). Max. exception interrupt rate Shows the highest recorded exception interrupt rate for this serial port (since startup or reset).
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17.10 Resetting a disabled serial line

A serial port may be automatically disabled by the system to prevent the SDP controller PS system from stopping in the event of high traffic caused by an excessively high number of interrupts. If an automatic disable of interrupt has been performed when reading serial line data from, for example, a position-reference system, an Interrupt disabled alarm message is issued. The message includes the relevant driver tag. This section describes how to manually reset a disabled serial line so that the process station can continue reading input on that serial line. This procedure can be performed without restarting the controller process station. 1 In the Dynamic Alarm Page, right-click the relevant message. - A shortcut menu is displayed. Click Station Explorer on this shortcut menu. - The Driver Properties dialog box for the serial line that has an error is displayed.
Click the Driver Properties hotspot (the indicator to the right of FanbeamDrv_2 in this example). - The Driver Properties dialog box is displayed.
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Resetting a disabled serial line
Click the Driver operation tab. - The Driver operation tabbed page is displayed.
5 6
Select the Reset disabled serial port check box. Click OK. - The serial line is reset.
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18 DISPLAY VIEWS
This chapter contains descriptions of the following display views (in alphabetical order): 18.1 18.2 18.3 18.4 18.5 18.6 18.7 18.8 18.9 18.10 18.11 18.12 18.13 18.14 18.15 Deviation view Diesels view General view Joystick view LTW view Numeric view Posplot view Power view Power consumption view Refsys view Refsys Status view Rotation points view Sensors view Thruster views Trends view
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Display views
18.1 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. See page 1-22 for a description of how to select display views.
Position and heading

The information shown in Figure 48 is always displayed on the Deviation view.
Figure 48 Example Deviation view in Joystick mode This is the present vessel position. If you click this value, the position setpoint together with the text Setpoint are displayed in another colour for a few seconds.
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Deviation view
This is the present vessel heading. If you click this value, the heading setpoint together with the text Setpoint are displayed in another colour for a few seconds.
Position and heading deviation

In most of the DP operating modes: The deviation between the present position and the position setpoint is displayed whenever both the surge and sway axes are under automatic position control. The deviation between the present heading and the heading setpoint is displayed whenever the yaw axis is under automatic heading control.
Figure 49 Example Deviation view in Auto Position mode
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Display views
The position deviation is shown both graphically and numerically. The position deviation is indicated dynamically by a filled circle whose radius represents the deviation from the position setpoint. The colour of the circle changes in relation to the warning and alarm limits for position deviation (if active). If the position deviation exceeds the available display range, a plus (+) sign is displayed in the circle. An arrow symbol shows whether the estimated position is moving towards (decreasing deviation) or away from (increasing deviation) the position setpoint. This arrow also changes colour depending on increasing or decreasing position deviation. The position of the arrow symbol indicates the bearing from the position setpoint to the present position. When the position warning and alarm limits are active, they are shown as solid-drawn circles. When inactive, they are shown as dashed circles. When placing the cursor above the position deviation area, the cursor changes appearance from an arrow to a pointing hand. Clicking the left trackball button with the hand displayed opens the Alarm Limits dialog box, displaying the Position page. The warning and alarm limits for vessel position can be activated and changed on this page. Using the view control dialog box, you can select either a true or a relative display.
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Deviation view
The heading deviation is shown both graphically and numerically. The heading deviation is indicated dynamically by a two-directional bar which represents the deviation from the heading setpoint. The colour of the bar changes in relation to the warning and alarm limits for heading deviation (if active). If the deviation exceeds the available display range, a plus (+) sign is displayed in the bar. The heading deviation is defined positive in the starboard direction relative to the heading setpoint. 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.
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Display views
View controls
To display the view control dialog box: 1 Place the cursor anywhere in the Deviation view and click the right trackball button. - A shortcut menu is displayed. Click Control on this menu. - The Performance view control dialog box is displayed.
True Relative
True display of position deviation. The graphical display of position deviation is displayed in a fixed orientation (north up). Relative display of position deviation. The graphical display of position deviation is displayed relative to the vessel heading (head up).
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Diesels view
18.2 Diesels view

The Diesels view provides a simplified mimic display of the vessels diesel engines and fuel rack system as seen from the SDP system. See page 1-22 for a description of how to select display views. The information presented in this view is based on the following signals received by the SDP system: The power produced by each main diesel generator The fuel rack reading Diesel clutched in or out The configuration shown in this example view consists of starboard and port propellers, each driven by two diesel engines with fuel rack regulation system. Each diesel engine also drives a generator. Each diesel engine is connected to the propeller via a clutch and gearbox.
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Display views
Figure 50 Example Diesels view Main models for fuel-rack regulation in common use are: Propeller with two diesels and two shaft generators (as shown in Figure 50). Propeller with one diesel, no shaft generator. Propeller with two diesels, no shaft generator. Propeller with one diesel, one shaft generator.
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Diesels view
Numerical and graphical displays (bargraphs) of the power produced by main diesel generators are shown. Numerical and graphical displays (bargraph) of the fuel rack load on the diesel engines are shown. Symbols with text indicating main diesel generator (MDG 2) and diesel engine (out_stbd) are displayed. In the bottom right corner of the figure a diesel engine clutch is displayed. Colour codes for the generator, engine and clutch symbols: Green Connected/running Grey Disconnected/not running
These symbols indicate gear and propeller. The text indicate the name of the propeller. Colour codes for the gear and propeller symbols: Green Connected Grey Disconnected
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Display views
These are numerical and graphical displays of the mean fuel rack load on this propeller shaft, based on averaging all fuel racks for all diesels connected to this propeller. The small red dot on the left side of the bar graph is associated with the fuel rack limitation. If no reduction is performed, the position of the red dot equals the limit at which reduction will start (the fuel-rack limit). The fuel-rack reduction starts when the load on one or both of the diesel engines exceeds the fuel-rack limit. The red dot will then move downwards to indicate the actual amount of fuel-rack reduction to be performed, i.e. equal to the propeller demand reduction (of pitch and RPM).
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General view
18.3 General view

The General view shows a combination of graphical and numerical performance data. The information displayed depends on the current operational mode. See page 1-22 for a description of how to select display views.
Position, heading and speed

The information shown in Figure 51 is always displayed on the General view.
Figure 51 Example General view in Joystick mode This is the present position. If you click this value, the position setpoint together with the text Setpoint are displayed in another colour for a few seconds.
This is the present heading. If you click this value, the heading setpoint together with the text Setpoint are displayed in another colour for a few seconds.
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Display views
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).
Position and heading deviation

In most of the DP operating modes: The deviation between the present position and the position setpoint is displayed whenever both the surge and sway axes are under automatic position control. The deviation between the present heading and the heading setpoint is displayed whenever the yaw axis is under automatic heading control.
Figure 52 Example General view in Auto mode
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General view
The position deviation is shown both graphically and numerically. Using the view control dialog box, you can select either a true or a relative display. See the Deviation view (see page 18-2) for a detailed description of this display. The heading deviation is shown both graphically and numerically. See the Deviation view (see page 18-2) for a detailed description of this display.
View controls
To display the view control dialog box: 1 Place the cursor anywhere in the General view and click the right trackball button. - A shortcut menu is displayed. Click View Control on this menu. - The Performance view control dialog box is displayed.
True Relative
True display of position deviation. The graphical display of position deviation is displayed in a fixed orientation (north up). Relative display of position deviation. The graphical display of position deviation is displayed relative to the vessel heading (head up).
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Display views
18.4 Joystick view

The Joystick view shows the thrust setpoint and response, and the vessel speed in the various axes, to assist during positioning with the joystick alone. See page 1-22 for a description of how to select display views.
Figure 53 Example Joystick view Shows the axes that are under joystick control. In the example view displayed, all three axes Yaw, Surge and Sway are controlled by the joystick.
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Joystick view
This is a graphical display of the rotational moment setpoint (upper) and the obtained rotational moment (lower). The numerical value of the obtained rotational moment is displayed. The values represent the demand from the controller and the obtained moment calculated from the thruster feedback. This is a graphical display of the surge force setpoint (left) and the obtained surge force (right). The numerical value of the obtained surge force is displayed. The values represent the demand from the controller and the obtained surge force calculated from the thruster feedback.
This is a graphical display of the sway force setpoint (upper) and the obtained sway force (lower). The numerical value of the obtained sway force is displayed. The values represent the demand from the controller and the obtained sway force calculated from the thruster feedback. This is the estimated surge and sway speed at the center of gravity of the vessel.
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Display views
The resulting force and speed vectors are shown graphically. The numeric values show the range of the display for both force and speed.
This is the estimated sway speed at the bow of the vessel. This value is calculated from the vessel dimensions and the estimated Rate Of Turn. This is the estimated sway speed at the stern of the vessel. This value is calculated from the vessel dimensions and the estimated Rate Of Turn.
This is the estimated Rate Of Turn.
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Joystick view
This shows the status of the speed estimates. OK The system is receiving acceptable position and heading information, and at least one speed sensor is In Use. Manual Manual speed is In Use. Model No speed sensor or Manual speed enabled, but at least one position-reference system is accepted. Dropout No speed sensors or position-reference systems enabled. This shows the present joystick thrust setting as selected on the Joystick Settings dialog box (see page 3-4) which can be either Full Thrust or Reduced Thrust. The present joystick precision setting as selected on the Joystick Settings dialog box is shown (see page 3-4). The joystick precision setting can be either High Speed Precision, General Precision or Low Speed Precision. This shows the axes that are currently selected for environmental compensation (see page 3-4).
This shows the joystick demand as a percentage of the maximum available demand in surge, sway and yaw axes.
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Display views
A graphic display of the joystick setpoint is shown. If this Operator Station is not in command, the graphic display shows both the setpoint from this Operator Station (Local) and the setpoint from the operator Station that is in command. This information can be used to ensure a bumpless transfer when you move the command from one OS to another. This information can also be used for checking that the joystick is functioning. Consider whether the joystick is functioning by comparing the displayed joystick setpoint to the actual joystick deflection (surge and sway) and the degree of rotation (yaw).
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LTW view
18.5 LTW view

The Light-weight Taut Wire (LTW) is based on measurements and calculations of the vessels position relative to a fixed point on the seabed. A gimbal head on a boom over the side of the vessel is connected by a wire to a depressor weight on the seabed. The vertical component of the wire length is measured when the depressor is lowered onto the seabed. The angles between the wire and the vertical, both in the alongships and the athwarthships axes (see Figure 54), are measured as the vessel moves away from the point where the depressor weight was deployed. The position is calculated based on this data. The actual length of the wire is also calculated and presented in the LTW view (see Figure 55) Corrections are applied to allow for the offset distance between the sensor on the gimbal head and the vessels rotation center.
Gimbal head
Wire angle athwarthships
Draught
Wire angle alongships
Wire length
Wire length, vertical component
Water depth
Wire length, vertical component
Wire length
Depressor weight
CD2824
Seabed Seabed
Depressor weight
Figure 54 The LTW position-reference system The draught is measured, and the vertical component of the wire length is recalculated whenever the draught changes. Changes of water depth due to turning of the tide are not taken into account. In these circumstances the depressor weight must be lifted off the seabed and relowered to have the system record the change of wire length. The LTW view allows you to monitor the performance of a Lightweight Taut Wire (LTW) positionreference system.
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Display views
The position of the depressor weight is shown relative to the position of the gimbal head (the center of the graphic display). The maximum operational area is also shown. See page 1-22 for a description of how to select display views.
Figure 55 Example LTW view These are the gimbal head alongship and athwartship axes. The intersection of the axes represents the gimbal head position and is always at the center of the display.
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LTW view
The symbol represents the position of the depressor weight relative to the gimbal head.
This shows the maximum operational area.
These are the display range value, decrease/increase buttons and grid spacing value. The range is the distance from center button decreases to edge of plot. The the display range. The button increases the display range. You can adjust the grid spacing using the view control dialog box (see page 18-23). The grid spacing is automatically adjusted when decreasing/increasing the display range.
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Display views
This shows the status of the Mooring On signal from the LTW system. This signal indicates when the depressor weight is on the sea bed.
This shows the angle of the taut wire in the alongship and athwartships directions as measured at the gimbal head. The Along angle is positive when the gimbal head is forward of the depressor weight. The Athw angle is positive when the gimbal head is to starboard of the depressor weight.
This shows the position of the depressor weight relative to the gimbal head. The Along position is positive when the depressor weight is forward of the gimbal head. The Athw position is positive when the depressor weight is to starboard of the gimbal head.
This shows the wire length. Total is the wire length measured by the gimbal head. Vertical is the depth of the depressor weight relative to the gimbal head, measured by the wire length when the depressor weight was lowered onto the seabed.
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LTW view
View controls
To display the view control dialog box: 1 Place the cursor anywhere in the LTW view and click the right trackball button. - A shortcut menu is displayed. 2 Click View Control on this menu. - The Light Taut Wire Plot view control dialog box is displayed.
Grid
Light Taut Wire Graphics
Range
Show To show or hide the grid. Square Square grid. Circular Circular grid. Spacing The spacing (distance) between grid lines or circles. You can change the grid spacing by clicking the down arrow and selecting a new value from the drop-down list. The grid spacing is automatically adjusted when decreasing/ increasing the display range. LTW 1/2/3/4 Allows you to select the LTW system whose position information is to be displayed in the main graphic area of the view. Allows you to specify the display range explicitly by typing in a value in the text box. Incr.Range/Decr.Range Allows you to increase or decrease the display range according to fixed steps.
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Display views
18.6 Numeric view

The Numeric view shows performance data in numerical form. See page 1-22 for a description of how to select display views.
Figure 56 Example Numeric view The position setpoint, present position and position deviation in north (N) and east (E) direction are shown. These are the position deviation as range and both true and relative bearings from the present position to the position setpoint. Heading setpoint, present heading and heading deviation are shown. These are the Rate Of Turn setpoint and present Rate Of Turn. This displays the vessel speed setpoint, present speed and true or relative direction of vessel movement (as selected using the Performance view control dialog box).
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Numeric view
This displays the warning and alarm limits for position and heading deviation. The check boxes show whether the limits are currently active.
Current force displayed as relative values (selected using the Performance view control dialog box). This is the relative sea current force exerted on the vessel in Surge and Sway directions. Moment: This is the rotation moment exerted on the vessel by the sea current. Current force displayed as true values (selected using the Performance view control dialog box). This is the sea current force exerted on the vessel in north (N) and east (E) directions. Moment: This is the rotation moment exerted on the vessel by the sea current.
View controls
To display the view control dialog box: 1 Place the cursor anywhere in the Numeric view and click the right trackball button. - A shortcut menu is displayed. 2 Click View Control on this menu. - The Performance view control dialog box is displayed.
True Relative
True display of direction of vessel movement and current force (relative to the North direction). Relative display of direction of vessel movement and current force (relative to the vessel heading).
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Display views
18.7 Posplot view

The Posplot view displays the vessels position relative to the position and heading setpoints and to other displayed objects, such as the position of transponders. The prevailing wind and current are also displayed. See page 1-22 for a description of how to select display views. Using the Posplot view control dialog box, you can: Select either a true or a relative display, with either the position setpoint or the present vessel position at the center of the display (see Mode on page 18-33). Display or remove various features on the view (see Show on page 18-34). Show or hide a chart on the Posplot view, and also show or hide the compass rose. In addition, you can select between showing the classical circular view or using the entire view for chart display (see Chart on page 18-34). Show or hide the grid, and select grid type and grid spacing (see Grid on page 18-35).
Note
Grid display is only possible when the range is 10 000 m or less. When the range is larger than 10 000 m, the grid disappears automatically. Maximum range is 3 000 km. Specify the display range, i.e. distance from center to edge of plot (see Range on page 18-35). Display or hide a trace line and trend symbols, and also specify the sample rate and the extent of the trace line/trend symbols (see Trace on page 18-36). The EBL (Electronic Bearing Line) button can be used for measuring positions, distances and bearings on the display. The Posplot view example shown in Figure 57 on page 18-27 shows some of the available display features. The key which follows the example describes all the standard features of the Posplot view. Additional features which relate to specific operational modes are described together with the appropriate operating procedure.
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Posplot view
Figure 57 Example Posplot view The compass rose is marked with degrees. The north/south and east/west geographical axes are displayed. The red portion of the north/south axis indicates the direction of north.
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Display views
This is the vessel symbol that indicates the position of the vessel, relative to known reference points and directions. The center of gravity of the vessel is marked with a small cross. The currentlyselected rotation center is marked with a small circle. The size of the vessel symbol is dynamically scaled according to the selected display range. This vessel symbol is exchanged by an unscaled symbol at small and large range values.
Note
When changing the Posplot view to close range or long range, the vessel symbol changes from showing the correct form and dimensions of the vessel into a simplified shape with a constant size. This is the position setpoint symbol. By selecting and moving this symbol you can change the position setpoint (see page 12-3).
When relaxed controller mode is in use (selected from the Gain dialog box), the radius for relaxed control is shown as a shaded area with the position setpoint as center. The area around this circle is click-sensitive. You can easily adjust the relaxed control radius by clicking in this area to open the Gain dialog box to set a new value. If you select to hide the setpoint from the Show page on the Posplot view control dialog box (see page 18-33), the shaded area indicating the relaxed control radius will also be hidden.
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Posplot view
When Green controller mode is in use (selected from the Gain dialog box), the outer and inner control radii are indicated on the Posplot view, with the position setpoint as center. The inner radius is indicated by a green, shaded circle. The predicted trajectory for the vessel is displayed as a line pointing from the rotation center.
For more information about display presentation of controller modes, see page 2-20.
The position carrot that regulates smooth vessel movement is displayed as a small asterisk. When the position setpoint is changed, the position carrot moves towards the new setpoint. The speed of the carrots movement depends on the speed setpoint.
This is the heading setpoint symbol. By selecting and moving this symbol you can change the heading setpoint (see page 13-3).
This is the present heading symbol.
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Display views
The heading carrot that regulates smooth vessel movement is displayed as a small pointer. When the heading setpoint is changed, the heading carrot moves towards the new setpoint. The speed of the carrots movement depends on the Rate Of Turn setpoint. This shows the rotation center. When a rotation center other than CG is used, the coordinates of the rotation center relative to CG is displayed. This area is click-sensitive. If you click this text, the selected (but not necesarily active) rotation center is displayed in another colour for a few seconds. This displays range value and decrease/increase buttons. The Range value is the distance from center to edge of plot. The button decreases the displayed button increases the range. The displayed range. The Grid value is the spacing between grid lines or circles. The grid spacing is automatically adjusted when decreasing/increasing the display range. This shows the wind arrow. The arrow rotates around the compass rose to show the true wind direction (filtered measurement from the wind sensor). An arrow pointing toward the plot indicates comes from direction, and an arrow pointing outwards from the plot indicates goes to direction. The direction of the arrow depends on the units setting for wind direction as selected using the Units dialog box (see page 2-9).
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Posplot view
This is the true wind speed and direction (filtered measurements from the wind sensor). An s in front of the degrees symbol in the unit for wind direction means setting (goes to). This is selected using the Display Units dialog box (see page 2-9).
This shows the true sea-current arrow. The arrow rotates around the compass rose to show the true sea-current direction. An arrow pointing toward the plot indicates comes from direction, and an arrow pointing outwards from the plot indicates goes to direction. The direction of the arrow depends on the units setting for sea current direction as selected using the Units dialog box (see page 2-9). This is the sea-current speed and true direction. An s. in front of deg in unit for current direction means setting (goes to) if selected using the Units dialog box (see page 2-9).
This shows a transponder symbol for a position reference system. A circle around a transponder symbol indicates that this transponder is the Reference Origin. An empty circle indicates that the Reference Origin transponder has been deselected.
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Display views
These are position warning and alarm limit circles (centred on the position setpoint). With automatic surge and sway control, and with position limits enabled, these circles indicate the warning and alarm limits for position deviation. When the vessel reference point crosses the warning limit circle, a warning is given. When the vessel reference point crosses the alarm limit circle, an alarm is given. The position warning and alarm limit circles are hidden when the position setpoint is hidden (see View Controls, Show on page 18-34). These are heading warning and alarm limit markers (centred on the heading setpoint). With automatic yaw control, and with heading limits enabled, these markers indicate the warning and alarm limits for heading deviation. When the vessel heading crosses the warning limit, a warning is given. When the vessel heading crosses the alarm limit, an alarm is given. The heading warning and alarm limit markers are hidden when the position setpoint is hidden (see View Controls, Show on page 18-34). This shows the EBL (Electronic Bearing Line) button. This feature allows you to view the coordinates of positions on the display (see page 18-38).
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Posplot view
View controls
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.
Mode page
Plot Orientation and Centerpoint
Relative, Vessel Relative display centred on the vessel. The compass rose is displayed relative to the vessel heading, while the heading of the vessel symbol is fixed. The vessel symbol is placed with the currently-selected rotation center at the center of the display. Relative, Position Setpoint Relative display centred on the position setpoint. The compass rose is displayed relative to the vessel heading, while the heading of the vessel symbol is fixed. The position setpoint (required position) is placed at the center of the display. True, Vessel True display centred on the vessel. The compass rose is displayed in a fixed orientation (north-up), while the heading of the vessel symbol is shown relative to the compass rose. The vessel symbol is placed with the currentlyselected rotation center at the center of the display. True, Position Setpoint True display centred on the position setpoint. The compass rose is displayed in a fixed orientation (north-up), while the heading of the vessel symbol is shown relative to the compass rose. The position setpoint (required position) is placed at the center of the display.
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Display views
Note
If the SDP system is equipped with Chart, note that it is possible to toggle off the display of the compass rose on the Posplot view (see description of the Chart page on page 18-34). This makes it more difficult to see whether a relative or true plot orientation is used.
Show page
Show/Hide
Display or remove various features of the Posplot view. The Setpoint, Carrot, Refsys and Wind/Current features are described previously in this section. Green Prediction Selecting Green Prediction displays the predicted trajectory for the vessel as a line pointing from the rotation center.
Chart page
If the Chart Server Application is installed, a chart server can be displayed as background in the Posplot view. See the SDP Chart Server Application Operator Manual.
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Posplot view
Grid page
Show Spacing
Show or hide the grid. The spacing (distance) between grid lines or circles. The grid spacing can be changed by clicking the down arrow and selecting a new value from the drop-down list. The grid spacing is automatically adjusted when decreasing/ increasing the display range.
Type
The type of grid. Use UTM UTM grid can be selected. The grid on the Posplot view is rotated with an angle that corresponds with the Meridian convergence displayed.
Range page
Distance from Center Allows you to specify the display range explicitly by typing in a to Edge of Plot value in the text box. Increase Range / Decrease Range Allows you to increase or decrease the display range in fixed steps using these two buttons.
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Display views
Trace page
Vessel Position/ Heading History
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 currentlyselected vessel rotation center.
Figure 58 Example Posplot trace line 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.
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Posplot view
Figure 59 Example Posplot trend symbols

Note
With the Posplot view at close range when the simplified symbol is displayed, the trended symbols are not shown. Clear All Using this button, permanently clears all the trend symbols and the trace line both in memory and on the Posplot view.
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Display views
EBL function
The EBL (Electronic Bearing Line) function allows you to view the geographic coordinates of any position on the Posplot view, the distance of this position from the present position of the vessel, and both the true and relative bearings to the position from the present position of the vessel. To display the EBL: 1 2 Click the EBL button. - The EBL dialog box is displayed (see Figure 60). Move the trackball. - A dotted line is displayed from the present vessel position to the position indicated with the trackball. - The coordinates, range, and true and relative bearings of the indicated position are displayed on the EBL dialog box. Click again to fix the indicated position. - The EBL dialog box is continuously updated with the relative range and bearing from the vessel to the indicated position.
Figure 60 The EBL function
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Posplot view
Panning function
You can easily change the coordinates for the center of the Posplot view using the panning function. The position of the cursor in the Posplot view when activating the function will then be moved to the center of the view. This can be especially useful, for example, when plotting waypoints for a new track using the Waypoint dialog box. The panning function is available from the top of the shortcut menu. The panning related commands on the shortcut menu will change depending on whether or not panning has been selected (see Figure 61).
Figure 61 Example Posplot shortcut menu - Before (left) and after (right) having selected the panning function To use the panning function: 1 2 Place the cursor on the Posplot view at the new position around which the view is to be centred. Click the right trackball button. The Posplot shortcut menu is displayed (see the menu on the left side in Figure 61). Select the Center Here command. The selected position now becomes the new center of the Posplot view and the text Panning ON is shown in red in the upper right corner of the view .
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Display views
When the panning function is on, the following commands related to panning are available on the shortcut menu (see Figure 61): Center Reset Resets the center of the view to the original position (i.e. the vessel position or position setpoint, depending on the centerpoint selected on the Mode page of the View Control dialog box). Center Here Selects a new position for the center of the Posplot view. The panning function is automatically switched off if the rotation center is changed or another centerpoint is selected on the Mode page of the View Control dialog box. The panning function may be automatically switched on in Mixed Joystick mode, dependent on the configuration of your vessel. If required it can be switched off again as described in the previous section.
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Power view
18.8 Power view

The Power view is a simplified mimic display of the vessels electrical power system as seen from the SDP system. See page 1-22 for a description of how to select display views. Normally the SDP system is supplied with information about: The power produced by each main generator. Which power bus each generator is connected to. How the power buses are connected. How the thrusters are connected to the power buses. The thruster power consumption is either measured directly or calculated from the thruster feedback.
Figure 62 Example Power view
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Display views
This is a generator symbol showing the produced power both as a numerical value and graphically as a percentage of the nominal power. The position of the generator breaker symbol shows whether the generator is connected to the power bus or not. In addition, the generator breaker symbol is colour-coded. Red indicates disconnected, green indicates connected. This is a thruster symbol showing the consumed power both as a numerical value and graphically as a percentage of nominal power consumption. The position of the thruster switch symbol shows whether or not the thruster is connected to the power bus. In addition the thruster switch symbol is colour coded. Red indicates disconnected, green indicates connected. The internal names (I/O tags) of the generator breaker, bus and thruster switches can be displayed using the view control dialog box (see below).
The total nominal and consumed power from the generators connected to each main bus or sub-bus can be displayed using the view control dialog box (see below). A trend plot is displayed. You can select the information to be displayed using the view control dialog box (see below).
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Power view
View controls
To display the view control dialog box, either click the trend display of the Power view, or: 1 2 Place the cursor anywhere in the Power view and click the right trackball button to display a shortcut menu. Click View Control on this menu to display the. Power Plot view control dialog box.
Present
Selects whether to display the total nominal and produced power from the generators connected to each Main Bus or each Sub Bus. If configured, selects whether or not to display the internal names (IO Tags) of the generator breaker, bus and thruster switches. The trend plot to be displayed. The time span for the trend plot. Allows you to set the upper and lower limits for the y-axis plot scale.
Show/Hide
Plot Time span Y axis - Range...
Auto Manual
Note
Selecting this option will set the Y-axis range automatically. Allows you to set the Upper and Lower scale limits manually. See the description of the Trends view for detailed descriptions of the available trend plots (see page 18-82).
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Display views
18.9 Power consumption view

The Power Consumption view shows: The consumed power for each main bus in numerical and graphical form as a percentage of available power. Which sub-buses are grouped under each main bus. The available power for each main bus in numerical form. The view is dynamically updated to always show the current bus topology. See page 1-22 for a description of how to select display views.
Figure 63 Example Power Consumption view
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Power consumption view
The consumed power for each main bus in numerical form is displayed. The consumed power for each main bus is shown in graphical form as a percentage of available power for each main bus. The sub-buses that are grouped under each main bus are designated Bus A, Bus B and Bus C.
This is the available power for each main bus displayed in numerical form.
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Display views
18.10 Refsys view

The Refsys view shows the individual and resulting performance of the positionreference systems that are currently enabled. See page 1-22 for a description of how to select display views. The general characteristics of positionreference systems are described in Chapter 10.
Figure 64 Example Refsys view
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Refsys view
These are the display range value, decrease/ increase buttons and grid spacing value. The range is the distance from centre to edge of plot. The button decreases button the display range. The increases the display range. You can adjust the grid spacing using the Refsys view control dialog box (see page 18-52). The grid spacing is automatically adjusted when decreasing/ increasing the display range.
The centre of the plot is the present vessel position. Using the Refsys view control dialog box (see page 18-51), you can select either a true or a relative display. A colour-coded circle is displayed with a radius equal to the minimum prediction error limit and centred on the present vessel position. A colour-coded circle is displayed with a radius equal to the median test acceptance limit and centred on the median value. When the Median test is inactive, the Median Test Limit field will show OFF and the circle will not be displayed. See subsection Changing the settings of the Median Test for detailed information about when the median test is active. This shows a zoomed-in view of the centre of the plot. For each position-reference system, the capital letter with no circle around it represents the last raw position measurement for this system. For each position-reference system, the small inner circle with a capital letter inside represents the filtered position measurement for this system.
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Display views
For each position-reference system, the outer circle (dashed) represents the standard deviation for this system. The small crosses represent a one minute trace of the raw data measurements from a selected position-reference system. An error ellipse is displayed. There is a certain statistical confidence (95 %) that the vessels position is within the region that is encircled by this ellipse. This indicates the legends used for plotting. Colour coding and capital letters help to differentiate the various position-reference systems.
These are numerical values for the minimum prediction error limit and the median test limit. The two circles to the left indicate the colour coding used on the plot. The Median Test field will show the text OFF when the Median Test is set to Off on the Validation page of the Reference System dialog box (see page 10-20). The text OFF will also be displayed when less than three position-reference systems are operational. By clicking on one of the reference system names in the lower-left corner of the view, you can plot a one minute trace of the raw-data position measurements for the selected system. Each position sample is indicated with a + on the plot. The name of the selected system is shown. Click Clear to stop plotting and to remove the raw-data position samples from the plot.
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Refsys view
This shows the status for each reference system or transponder: either Calibrating, Online, Relative, Offline or Lost. For reference systems in monitoring state, the status text is shown with Mon as prefix. If the measurements are acceptable, Calibrating and Online are displayed in green (if the last sample was received) or in orange (if the last sample was not received). If a position-reference system has a transponder that is defined and enabled as mobile, then Relative is displayed instead of Online, provided that the optional Follow Target mode has been previously selected (i.e. at least once). If the measurements are lost, Offline is displayed in red, however, if the measurements are lost during calibration, Lost is displayed in red. When a reference system is turned off, the weight of that system is set to zero, and Offline is displayed in red before the system is removed from the Refsys view. The position-reference system that is providing the Reference Origin is marked with an asterisk. A unique capital letter and colour code is assigned to each reference system to make it easier to differentiate the various systems on the plot. Numerical values and horizontal bars show the weighting applied to the measurements from each reference system during the last second. The sum of weights of reference systems with Online status is always one (1.0). If no new update is received from a specific reference system during the previous second, the weight for this system is set to zero (and Online shown in orange). The colour-coded horizontal bar is not displayed for position-reference systems that have an enabled mobile
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Display views
transponder, i.e. ones with a Relative status. In the lower right corner of the Refsys view, numerical data or a trend plot is displayed. Using the Refsys view control dialog box (see page 18-51) you can select between various types of numerical data and trend plots: Position These are numerical values for the calibrated position (for each reference system) as used by the DP system. The data are presented according to current display units /position selection. Note that colour coding is used.
Transponder Coordinates These are numerical values for the origin of the particular reference system, for example the position of an HPR or LBL transponder or an Artemis Fix antenna. Note that colour coding is used.
Raw Position These are numerical values of raw (uncompensated and untransformed) position measurements (for each reference system) as received by the DP system. The type of reference system determines how the position is displayed: either as Along/Stbd, North/East, Latitude/ Longitude or as Range/Bearing position format. Note that colour coding is used. Trend plot These are trend plots. The type of trend plot is selected from the Refsys view control dialog box. Note that colour coding is used. You can also select the Y-axis scale range (either auto or manual scaling) and the time span.
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Refsys view
View controls
To display the view control dialog box, either click the position/trend display of the Refsys view (lower right), or: 1 Place the cursor anywhere in the Refsys view and click the right trackball button. - A shortcut menu is displayed. Click View Control on this menu. - The Refsys view control dialog box is displayed. Click the required tab.
2 3
Mode page
Plot Orientation (Numerical Data and Trend Plot) Plot
Displays the Refsys plot relative to the North direction (True) or the vessel heading (Relative). Select the required set of numerical data (Position, Transponder Coordinates or Raw Position) or a Trend Plot to be displayed in the lower right corner of the Refsys view. These items are described in detail on page 18-50. The type of trend plot to be displayed. You can select between the following options: RefSys Bias E, RefSys Bias N, RefSys StdDev, RefSysWeight or none. The time span for the trend plot. Allows you to set the upper and lower limits for the yaxis plot scale. You can select between auto and manual scaling of the y-axis scale.
Time span Range...
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Display views
Auto Manual
Selecting this option will set the Y-axis range automatically Allows you to set the Upper and Lower scale limits manually.
Grid page
Show Spacing
To show or hide the grid. The spacing (distance) between grid lines or circles. You can change the grid spacing by clicking the down arrow and selecting a new value from the drop-down list. The grid spacing is automatically adjusted when decreasing/ increasing the display range.
Type
The type of grid.
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Refsys view
Range page
Distance from Center Allows you to specify the display range by typing in a to Edge of Plot value in the text box. Increase Range / Decrease Range Allows you to increase or decrease the display range according to fixed steps.
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Display views
18.11 Refsys Status view

The Refsys Status view shows the status for each reference system or transponder. The information displayed is similar to the reference system status information in the Refsys view (see page 18-49). In addition, the position Offset during the last second is displayed as a bar graph (portion of 10 m) for each reference system.
Figure 65 Example Refsys Status view
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Rotation Centers view
18.12 Rotation Centers view

The Rotation Centers view shows the position of all the rotation centers that are available when the vessel is under automatic control. The coordinates are relative to the center of gravity. When clicking the right trackball button in the Performance or Working area on your Operator Station, a shortcut menu containing the display views is displayed. The Rotation Centers view can be found on the Utility submenu on this shortcut menu. See page 1-22 for a more detailed description of how to select display views.
Figure 66 Example Rotation Centers view
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Display views
18.13 Sensors view

The Sensors view shows the performance and state of each of the vessels gyrocompasses, wind sensors, VRS, water-depth sensors and speed sensors. See page 1-22 for a description of how to select display views. A trend graph for one of the sensor readings is displayed, selected from the Sensor Plot dialog box.
Figure 67 Example Sensors view
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Sensors view
This shows the heading as measured by each of the gyrocompasses. The measurement from the gyrocompass that is currently being used by the system is highlighted. The deviation between the readings from the gyrocompasses are shown graphically. The deviations are shown relative to the measurement from the gyrocompass that is currently being used by the system. The colours used for the markers correspond to the colours used for the gyrocompass numbers. --------- is displayed if a sensor is not OK.
This shows the raw measurements of the relative wind speed and direction as measured by each of the wind sensors. For each sensor the height above sea level is displayed. The measurements from the wind sensor that is currently being used by the system are highlighted. --------- is displayed if a sensor is not OK. The deviations between the measurements from the wind sensors are shown graphically. The deviations are shown relative to the measurements from the wind sensor that is currently being used by the system. The colours used for the markers correspond to the colours used for the wind sensor numbers.
The estimated true wind speed and both true and relative (to the vessel) wind direction are shown. The raw measurements of wind speed and direction are filtered internally (using a Kalman filter with both low and high frequency parts), to estimate the most reasonable speed and direction values to be used by the SDP system.
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Display views
The text Manual is displayed in red if Manual wind speed and direction is used.
The vessel pitch, roll and, if available, heave as measured by each of the VRS sensors are shown. The following sign convention applies for pitch and roll: Pitch + is bow up. Roll + is port up. Heave + is down. The root mean square (r.m.s) values of the sensors for Pitch, Roll and Heave are shown. The measurements from the VRS that is currently being used by the system are highlighted. --------- is displayed if a sensor is not OK. This is the water depth as measured by each of the water-depth sensors. The measurements from the sensors that are currently being used by the system are highlighted. --------- is displayed if a sensor is not OK. A trend graph is displayed. You can select the information to be displayed using the Sensor Plot dialog box for view control (see page 18-59).
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Sensors view
Speed, Log: The vessel alongships and athwartships speed as measured by each of the Doppler Log speed sensors are shown. The Doppler Log speed is marked with G or W depending on the type of speed output: G Speed over the seabed (ground speed) W Speed through the water Speed, GPS: The vessel speed and course as measured by each of the GPS speed sensors are shown. The measurements from the speed sensors that are currently used by the system are highlighted. --------- is displayed if a sensor is not OK.
View controls
To display the Sensor Plot view control dialog box, either click the trend graph of the Sensor view, or: 1 Place the cursor anywhere in the Sensors view and click the right trackball button. - A shortcut menu is displayed. Click View Control on this menu. - The Sensor Plot view control dialog box is displayed.
Range, deviation models
To select the required range for the deviation displays for the measured Gyro heading, Wind Speed and Wind Dir (direction). An example of this is shown in Figure 68, which reflects the setting shown on the dialog box above.
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Display views
Figure 68 Example - Individual setting of range for gyrocompass heading, wind speed and wind direction deviation displays Trend Plot Selection of trend plot and settings for the trend plot. Plot The trend plot to be displayed. Time span The time span for the trend plot. Y axis - Range... Allows you to set the upper and lower limits for the y-axis scale on the trend plot. You can select between auto and manual scaling of the y-axis scale.
Auto Manual
Selecting this option will set the Y-axis range automatically. Allows you to set the Upper and Lower scale limits.
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Thruster views
18.14 Thruster views

The thruster views show how the SDP system is using the available thrusters to provide the required thrust setpoint. The following thruster views are available: A main view (Thr Main) which provides an overview of all the thrusters (see page 18-62). A subview for each thruster, showing more information than the main thruster view (see page 18-67 for Tunnel thruster view, page 18-70 for Azimuth thruster view and page 18-73 for Propeller/rudder view). A view showing setpoint and feedback data for all the thrusters (see page 18-77). A view showing the resultant thruster forces and the real location of the thrusters (see page 18-79).
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Display views
Thruster main view

The thruster main view (Thr Main) shows the performance and status of all the thrusters. To display the Thr Main view, press the THRUSTERS button in the Main Views button group (see page 1-22 for a description of how to select display views). Bar graphs show the thruster force for each thruster unit. The thruster force for each thruster unit and their resultant thruster force are also represented by vectors. Clicking on a thruster symbol in the thruster main view displays the subview for that thruster.
Figure 69 Example - Thruster main view
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Thruster views
Alloc Mode: This is the currently-selected thruster allocation mode (see page 14-6). Alloc Control: This is the currently-selected thruster allocation control and free run status. Priority shows either Hdg (heading) or Pos (position). See Position Priority on page 14-8. FreeRun shows either ON or OFF. Incr.Pow (increased power) shows either RDY in green when increased power is not selected, or ON in red when selected, or nothing when not ready. The Alloc Mode area is click-sensitive. The ordinary cursor changes to a pointing hand when positioned over this area. Clicking the left trackball button opens up the Thruster Allocation dialog box.
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Display views
Force: A numerical display of the resulting force and direction, and a force vector (displayed from the vessels center of gravity), are shown. Moment: This is a numerical display of the resulting turning moment and direction. A curved bar graph represents these values. Individual thrust vectors for each thruster are shown. The thrust vectors change colour when thrusters pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100% All values are based on feedback signals from the thrusters. When using the thruster force bias function, the thrusters are colour-coded (coloured circles around the thruster numbers) to identify the thruster bias groups.
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Thruster views
Status: The Status check boxes show the Running, Ready and Enabled status of each thruster unit. Forces: These are numerical values and bar graphs showing the thruster force for each thruster unit. The bar graphs show the percentage of the maximum available thrust and are scaled individually. Each bar graph is split in two horizontally. The upper part shows the setpoint thruster force (Setp) and the lower part shows the feedback thruster force (Feedb). The numerical values are all based on feedback signals from the thrusters. The bar graphs change colour when thrusters pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100%
These are numerical and graphical displays of pitch/rpm and power feedback for the tunnel thruster.
These are numerical and graphical displays of thruster azimuth and pitch/rpm feedback for each azimuth thruster. The force direction relative to the thruster is indicated by the highlighted arrow. The arrows are colour-coded. A green arrow indicates positive pitch/rpm, while a pink arrow indicates negative pitch/rpm. The same colours are shown both in the day and night palettes.
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Display views
The text FIX is displayed in orange for thrusters that use fixed angles.
These are numerical and graphical displays of propeller pitch/rpm feedback. The force direction relative to the propeller is indicated by the highlighted arrow. The arrows are colour-coded. A green arrow indicates positive pitch/rpm, while a pink arrow indicates negative pitch/rpm. The same colours are shown both in the day and night palettes. A rudder symbol with numerical and graphical indication of rudder angle is shown. Depending on the present mode, the sector is defined by the maximum rudder angle or maximum turn-angle for steering rudder/azimuth thruster.
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Thruster views
Tunnel thruster view
Figure 70 Example Tunnel thruster view This shows the thruster status: Running Ready The thruster is running. The thruster is available for control by the SDP system. The thruster is enabled for control by the SDP system (see page 14-2).
Enabled
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Display views
These are numerical and graphical displays of thruster pitch/rpm and power feedback.
This is the numerical value and a bar graph showing the thruster force. The numerical value is based on feedback signal from the thruster. The bar graph shows the percentage of the maximum available thrust. The bar graph is split in two horizontally. The upper part shows the setpoint force and the lower part shows the feedback force. The bar graph change colour when the thruster pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100% This is a numerical display of the pitch, rpm and power setpoint and feedback, and the difference between them, shown as a percentage of the maximum. The graphical display indicates the difference between the setpoint and feedback (with zero at the center of the scale). Note that only power is configured in this example.
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Thruster views
A trend plot is displayed. You can select the information to be displayed using the view control dialog box (see page 18-76).
By clicking on the left or right arrow (if present) you can display the subview for the previous or next thruster unit. By clicking on the up arrow, you can display the thruster main view.
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Display views
Azimuth thruster view
Figure 71 Example - Azimuth thruster view This shows the thruster status: Running Ready The thruster is running. The thruster is available for control by the SDP system. The thruster is enabled for control by the SDP system (see page 14-2).
Enabled
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Thruster views
These are numerical and graphical displays of thruster azimuth and pitch/rpm feedback. The force direction relative to the thruster is indicated by the highlighted arrow. The arrows are colour-coded. A green arrow indicates positive pitch/rpm, while a pink arrow indicates negative pitch/rpm. The same colours are shown both in the day and night palettes.
These are the numerical value and bar graph showing the thruster force. The numerical value is based on a feedback signal from the thruster. The bar graph shows the percentage of the maximum available thrust. The bar graph is split in two horizontally. The upper part shows the setpoint force and the lower part shows the feedback force. The bar graph change colour when the thruster pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100%
This is a numerical display of the pitch, rpm and azimuth setpoint and feedback, and the difference between them, shown as a percentage of the maximum. The graphical display indicates the difference between the setpoint and feedback (with zero at the center of the scale).
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Display views
A trend plot is displayed. You can select the information to be displayed using the view control dialog box (see page 18-76).
By clicking on the left or right arrow (if present), you can display the subview for the previous or next thruster unit. By clicking on the up arrow, you can display the thruster main view.
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Thruster views
Propeller/rudder view
Figure 72 Example - Propeller/rudder view This shows the propeller and rudder status: Running Ready The propeller is running. The propeller/rudder is available for control by the SDP system. The propeller/rudder is enabled for control by the SDP system (see page 14-2).
Enabled
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Display views
Numerical and graphical displays of propeller pitch/rpm feedback are shown. Numerical and graphical displays of rudder azimuth feedback are shown. The force direction relative to the propeller is indicated by the highlighted arrow. The arrows are colour coded. A green arrow indicates positive pitch/rpm, while a pink arrow indicates negative pitch/rpm. The same colours are shown both in the day and night palette. A rudder symbol with numerical and graphical indication of rudder angle is shown. Depending on the present mode, the sector is defined by the maximum rudder angle or maximum turn-angle for steering rudder/azimuth thruster. These are the numerical value and a bar graph showing the thruster force. The numerical value is based on feedback signal from the thruster. The bar graph shows the percentage of the maximum available thrust. The bar graph is split in two horizontally. The upper part shows the setpoint force and the lower part shows the feedback force. The bar graph change colour when the thruster pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100%
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Thruster views
This is a numerical display of the pitch, rpm and azimuth setpoint and feedback, and the difference between them, shown as a percentage of the maximum. The graphical display indicates the difference between the setpoint and feedback (with zero at the center of the scale). Note that only rpm and azimuth are configured in this example.
A trend plot is shown. You can select the information to be displayed using the view control dialog box (see page 18-76).
By clicking on the left or right arrow (if present) you can display the subview for the previous or next thruster unit. By clicking on the up arrow, you can display the thruster main view.
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Display views
Subview controls
To display the subview control dialog box, either click the displayed trend plot on the thruster subview, or: 1 Place the cursor anywhere in the thruster subview and click the right trackball button. - A shortcut menu is displayed. Click View Control on this menu. - The Thruster Sub Plot view control dialog box is displayed.
Plot
Time span Y axis
The trend plot to be displayed. The following trend plots are available: Thr Pitch Pitch setpoint and feedback for this thruster. Thr RPM RPM setpoint and feedback for this thruster. Thr Azim Azimuth setpoint and feedback for this thruster. Thr Load Load setpoint and feedback for this thruster. The time span for the trend plot. Range... Allows you to set the upper and lower limits for the y-axis plot scale manually or to select automatic scaling.
Auto Manual
Selecting this option will set the Y-axis range automatically. Allows you to set the Upper and Lower scale limits.
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Thruster views
Setpoint/feedback view
The Setp/feedb view shows setpoint and feedback data for all the thrusters.
Figure 73 Example Setp/feedb view Indicates the colour coding used on bar graphs and numerical values for Setpoint, Feedback and the difference (Diff) between them.
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Display views
This shows the thruster/propeller/rudder status: Running This is displayed only if the running status is available to the SDP system. Available for control by the SDP system. Enabled for control by the SDP system (see page 14-2).
Ready Enable
These are numerical displays and bar graphs of the thruster force setpoint and feedback, and the difference between them, shown as a percentage of maximum.
These are numerical displays and bar graphs of the pitch setpoint and feedback, and the difference between them, shown as a percentage of maximum.
These are numerical displays and bar graphs of the rpm setpoint and feedback, and the difference between them, shown as a percentage of maximum.
These are numerical and graphical displays of the thruster azimuth or rudder angle setpoint and feedback, and the difference between them (in degrees).
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Thruster views
Forces view
The Forces view shows the resultant thruster forces and the real location of the thrusters.
Figure 74 Example Forces view
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Display views
These are the resultant thruster force and direction, and the resultant turning moment and direction.
Forces: These are numerical values and bar graphs showing the thruster force for each thruster unit. The bar graphs show the percentage of the maximum available thrust and are scaled individually. Each bar graph is split in two horizontally. The upper part shows the setpoint thruster force (Setp) and the lower part shows the feedback thruster force (Feedb). The numerical values are all based on feedback signals from the thrusters. The bar graphs change colour when thrusters pass limit values for percentage of available thrust (typical values): green 0%- 60% orange 60%- 80% red 80%-100% Status: The Status check boxes show the Running, Ready and Enabled status of each thruster unit.
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Thruster views
Individual thrust vectors (thruster force feedback) for each thruster are shown. The vectors change colour according to the change of colour on the corresponding bar graphs (when passing limit values for percentage of available thrust).
The resultant thruster force vector (displayed from the vessels center of gravity) is displayed. A graphical indication of turning moment is also shown. The turning moment has a maximum sector range of 180 degrees.
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Display views
18.15 Trends view

The Trends view provides dynamic displays (trend plots) and numerical values for trended curves showing the history over a specified period for selected information, such as wind, sea current, position and heading deviation, thruster forces and power consumption. When clicking the right trackball button in the Performance or Working area on your Operator Station, a shortcut menu containing the display views is displayed. The Trends view can be found on the Utility sub menu on this shortcut menu. See page 1-22 for a more detailed description of how to select display views. Using the Trend Plot view control dialog box (see description of View controls on page 18-85) you can select the trend plots to be displayed. Up to three different trend plots can be displayed simultaneously.
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Trends view
Figure 75 Example Trends view The header indicates the name of the variable type for which you have selected to display the trend plot (see View controls on page 18-85 for selection of variable). Depending on the type of variable you have selected, one or several different trend curves will be displayed on the same trend plot. Each curve will have its own specific name shown together with a unique colour code.
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18-83
Display views
This is a trend plot for the selected variable using colour coding to identify and differentiate the various variable curves being plotted. The plot has Time span along the x-axis and measured values along the y-axis. You should note that the most recent values are plotted to the far right, i.e. that the curves move from right to left on the trend plot. Each trend plot has its own Numeric button. Pressing this button displays a Trend Numeric: dialog box.
The Trend Numeric: dialog box presents a range of numerical properties for all curves on the trend plot. Values for the following numerical properties can be calculated and displayed: Average, Minimum, Maximum and StdDev. The values for the numerical properties are calculated over the Time Span over which you have selected to display the specific trend plot (see description of View controls on page 18-85). In addition to displaying the numerical properties for each curve, the Trend Numeric: dialog box contains a lead text column (Item) and a Unit column. The width of the columns and the dialog box itself can be resized in several different ways as follows: 1 By placing the cursor on the delimiters of the column headers and clicking the left trackball button. The cursor will then change shape to a two-headed arrow. You can now drag the cursor to change the column width.
Note
This will not resize the total width of the dialog box itself. 2 By placing the cursor on top of a column or column header and then click the the right trackball button. A shortcut menu is then displayed.
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Trends view
Using the commands available on this menu, you can select to: Hide the column you are pointing at (Hide Column command), with the exception of the Item column. Using this command you will be able to hide one or several columns, thus obtaining a more compact dialog box showing only the numerical properties you are interested in. Show all the columns on the dialog box (Show All Columns command) using the default values for column widths. Adjust the width of each column according to the width of each single column header (Width by Header command). Adjust the width of each column according to the width of the contents of each single column (Width by Contents command). Save the column definition (i.e. the resized dialog box) for later use (Save command). Next time you open the dialog box, it will be displayed using the last-saved column definition.
Note
The Trend Numeric dialog box will resize according to the changed column widths.
View controls
To display the view control dialog box, either click using the left trackball button on a trend display of the Trends view, or: 1 Place the cursor anywhere in the Trends view and click the right trackball button. - A shortcut menu is displayed. Click View Control on this menu. - The Trend Plot view control dialog box is displayed.
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18-85
Display views
Plot
The trend plots to be displayed. Clicking the down arrow on the far right of the Plot list box opens up a list from which you can select the variable type to be displayed. The time span for the trend plots. Range... Allows you to set the upper and lower limits for the yaxis plot range. You can select between auto and manual scaling of the y-axis range.
Time span Y axis
Auto Manual
Selecting this option will set the Y-axis range automatically. Allows you to set the upper and lower range limits manually.
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19 SDP SYSTEM THEORY

This chapter contains theory information about the SDP system: 19.1 19.2 19.3 The SDP system Basic forces and motions SDP system principles
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19-1
SDP system theory
19.1 The SDP system

The GreenDPR (SDP) system is a computerised DP control system for automatic position and heading control of a vessel. To control the vessels heading, the DP control system uses data from one or more gyrocompasses, while at least one position-reference system (for example, DGPS or hydroacoustics) enables the DP control system to position the vessel. Setpoints for heading and position are specified by the operator and are then processed by the DP control system to provide control signals to the vessels thruster and main propeller systems. The DP control system always allocates optimum thrust to whichever propulsion units are in use. Deviations from the desired heading or position are automatically detected and appropriate adjustments are made by the system. The DP control system also provides a manual joystick control which may be used for joystick control alone or for combined manual/auto control. Without a position-reference system, the DP control system can provide automatic stabilization and control of the vessel heading using the gyrocompass as the heading reference. The DP control system includes control strategies that will reduce fuel consumption and greenhouse gases.
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Basic forces and motions
19.2 Basic forces and motions

A seagoing vessel is subjected to forces from wind, waves and current, as well as from forces and moments generated by the vessels propulsion system. The term forces in the following sections includes both forces and yawing moments, unless otherwise stated. The vessels responses to these forces, i.e. its changes in position, heading and speed, are measured by position-reference systems, gyrocompasses and vertical reference sensors. Reference systems readings are corrected for roll and pitch using readings from the vertical reference sensors. Wind speed and direction are measured by the wind sensors. The SDP control system calculates the forces that the thrusters must produce in order to control the vessels motion in three degrees of freedom - surge, sway and yaw - in the horizontal plane.
Figure 76 Forces and motions
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19-3
SDP system theory
The vessel also moves in three vertical degrees of freedom: pitch, roll and heave.
Pitch (+ = bow up)
Roll (+ = stbd down)
Heave (+ = down)
Figure 77 Pitch, roll and heave The pitch and roll motions are not controlled by the SDP system. However, in order to allow the position-reference system to correct for these motions, the system must have information about them. This information is received from vertical reference sensors. The SDP system does not control or require information about the heave motion, but the motion can be measured and displayed.
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SDP system principles
19.3 SDP system principles

A simplified block diagram of the SDP system is shown in Figure 78, and described in the sections that follow.
Figure 78 SDP system block diagram The SDP system relies on a mathematical vessel model which includes hydrodynamic characteristics such as current drag coefficients and virtual mass data. This model, called the Mathematical Vessel Model, describes how the vessel responds to an applied force, e.g. from wind or thrusters.
The Extended Kalman Filter

The Extended Kalman Filter estimates the vessels heading, position and velocity in each of the three degrees of freedom surge, sway and yaw. It also incorporates algorithms for estimating the effect of sea current and waves.
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SDP system theory
The Extended Kalman Filter uses a mathematical model of the vessel. A mathematical model itself is never a 100% accurate representation of the real vessel. However, by using the Extended Kalman filtering technique, the model is continuously corrected. The vessels heading and position are measured using the gyrocompasses and position-reference systems, and are used as input data to the SDP system. These measurements are compared with the predicted or estimated data produced by the mathematical model, and the differences are then used to update the model.
Figure 79 Simlified block diagram showing the extended Kalman filter The Extended Kalman Filter provides the following advantages: Optimum self-adaptive noise filtering of heading and position measurements according to noise level and measurement- update rate.
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Optimum combination of data from the different position-reference systems. The system calculates a variance for each position-reference system in use, and places different weighting on their measurements according to each systems individual quality. In the absence of position measurements, the model provides a dead-reckoning mode. This means that the system is able to perform positioning for some time without position measurement updates from any position-reference systems. In the Extended Kalman Filter, the Mathematical Vessel Models reliability and the noise level of the position measurement are the basis for deciding how much to trust each measurement. As time elapses the model uncertainty will decrease by learning from measured vessel response. The process is adaptive. If, for example, only one position-reference system is active and it has a low update rate, the model uncertainty will increase in the periods between measurements, and the vessel model will therefore be heavily updated with each measurement. Offshore trials have verified that the SDP system principles give: Improved suppression of noise in position measurement with a better station-keeping performance. Reduced power consumption and wear and tear on the thrusters due to the improved suppression. A robust handling of combined high and low update rate position sensors, such as DGPS and traditional Long Base-Line hydroacoustic positioning. An Extended Kalman Filter is also used for the heading information based on measurement from the actual gyrocompass in use. Additional advantages can be obtained by use of: Speed measurements: can be used as an addition to position measurements to improve the vessel speed control, and to make calibration of position measurements faster when sailing at high speed. A combination of speed measurement and a position-reference system will be better able to handle drop out of position measurements during sailing. The speed measurement interface can be DGPS or Doppler Log.
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19-7
SDP system theory
ROT measurements: ROT (Rate Of Turn) measurements from ROT sensors can be used to improve the heading control of the vessel. This is useful when very accurate heading control is required during high-speed sailing, or when the vessel has a hull shape that makes it difficult to control the heading.
The Controller
The controller calculates the resulting force to be produced by the thrusters/propellers in order for the vessel to remain on station. In station-keeping operations, the SDP Controller can be working in several of the following modes, all with special characteristics: High Precision control Relaxed control Green control The High Precision control provides high accuracy station-keeping in any weather condition at the expense of power consumption and exposure to wear and tear of machinery and thrusters. The Relaxed control uses the thrusters more smoothly, at the expense of station-keeping accuracy. However, this type of control cannot guarantee that the vessel will stay within its operational area, and is only applicable for calm weather conditions. The Green control uses a different control technology called non-linear Model Predictive Control, which is optimised for precise area keeping with minimum power consumption. The Green control is applicable in all weather conditions. The transition between SDP controller modes is bumpless.
High Precision and Relaxed Control
The controller consists of the following parts: Excursion Feedback The deviation between the operator-specified position/heading setpoints and the actual position/heading data, and similar deviations with respect to the vessels velocity/heading rate, drive the excursion feedback. The differences are multiplied by gain factors giving a force setpoint (restoring setpoint and damping setpoint) required to bring the vessel back to its setpoint values while also slowing down its movements.
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The main difference between High Precision and Relaxed control is the restoring characteristics of the two controller types as indicated in Figure 80.
Thrust
High precision
Relaxed
Position deviation
Figure 80 High precision and Relaxed control Wind Feed-Forward In order to counteract the wind forces as quickly as possible, the feed-forward concept is used. This means that the SDP (OS) system will not allow the vessel to drift away from the required position, but counteracts the wind-induced forces as soon as they are detected. Current Feedback The excursion feedback and wind feed-forward are not sufficient to bring the vessel back to the desired setpoints due to unmeasured external forces (such as waves and current). The system estimates these forces over time, and calculates the force setpoint required to counteract them.
Green control
In the Green control mode, the system maintains the vessel within an allowed area with minimum use of power. The controller design consists of two main parts, each giving its contribution to the control: The Environment Compensator is designed to compensate for the averaged environmental forces, which will maintain the required position under averaged conditions. The Model Predictive Controller (MPC) uses a prediction (Position Predictor) of the vessel movement as input for the control. When the operational boundaries are predicted to be exceeded, the controller reacts to ensure that the vessel stays within the operational area (see Figure 81).
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SDP system theory
Figure 81 Vessel under Green control in the operational area The very smooth control actions reduce wear and tear on mechanical parts of the power and thruster system and reduce fuel consumption and greenhouse gases. A simplified block diagram of the MPC Green control is shown in Figure 82. Due to its nature, the MPC will not instantaneously react to sudden changes in external forces, such as wind gusts, unless the Position Predictor detects that actions must be taken immediately. Unnecessary sudden use of thrust is therefore avoided. The Position Predictor includes the mathematical model of the vessel used in the Extended Kalman Filter of the DP. The position and heading of the vessel are predicted over a period of 1-2 minutes. The non-linear Model Predictive Controller is an online optimisation function, finding the best compromise between using thrust and predicted crossing of operational boundaries.
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Figure 82 Green control structure
Thruster allocation
The SDP (OS) systems controller continuously calculates the actual force requirements in the alongships and athwartships directions (the force setpoint), and the required rotational moment (the turning moment setpoint). The Thruster Allocation distributes these setpoints as pitch/rpm/force/load and azimuth control signals to each thruster/propeller, thus obtaining the force and moment required for the position and heading control. The setpoint is distributed in such a way as to obtain the force and turning moment required for position and heading control, while also ensuring optimum thruster/propeller use with minimum power consumption and minimum wear and tear on the propulsion equipment. If it is not possible to maintain both the turning moment and the force setpoint due to insufficient available thrust, priority is normally set to obtain the turning moment setpoint (heading).
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19-11
SDP system theory
If a thruster/propeller is out of service or deselected, the lost thrust is automatically redistributed to the remaining thrusters/propellers. The magnitude of thrust allocated is reduced if the available power is too low to meet the thrust demand. The allocated thrust will however still be correct with respect to the direction of thrust. Heading (or position) priority is also kept in such a situation. Power optimal thruster allocation is the primary barrier for preventing blackouts and requires the same information as that required for Power Load Monitoring and Blackout Prevention (page 15-3).
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Index
Titles of the dialog boxes, menu items and operator panel buttons are among the entries in this index. Entries of these types are marked as (dialog), (menu) and (button), respectively.
A About (dialog) Details, 16-13 EXE/DLL, 16-12 Overview, 16-11 Acceleration/Retardation Settings (dialog), 12-11, 13-8 Ack (button), 4-10 active and unavailable commands, 1-9 alarm acknowledging, 4-10 lamps, 4-12 limits heading, 2-14 position, 2-13 VRS, 2-15 silence, 4-11 Alarm Limits (dialog) Position, 2-13 VRS, 2-15 alarm message, 4-4 alarm states, 4-9 alarm system, 4-2 Alarm View (button), 4-5 Alarms (button) Alarm lamp, 4-12 Computer lamp, 4-12 Power lamp, 4-12 Alloc Setup (button), 14-6 analog alarms, 4-9 analysis, consequence, DP, 6-2 Auto Position (button), 11-10
Auto Position mode, 11-10 from Joystick mode to, 11-10 Green control, 19-9 Automatic Thruster Start (dialog), 14-5 AutoPos (menu) Acceleration, 12-11, 13-8 Alarm Limits, 2-13 Dp Class, 6-3 Gain, 2-16 Heading, 13-5 Position, 12-5 Position Inc, 12-4 Position R/B, 12-4 Quick Model, 2-23 Rate Of Turn, 13-7 Rotation Center, 2-24 Speed, 12-10 axis control, 1-12 B basic forces and motions, 19-3 blackout prevention, 15-3 C calibrate, joystick, 3-2 Change Heading (button), 13-5 Change Position (button), 12-5 Change User (dialog), 2-2 changing cursor image, 1-19 changing user, 2-2 chart, view control, 18-34 command groups, 7-8
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Index-1
Index
status, 7-8 transfer, 7-6 Command Control (dialog) Give, 7-11 OS, 7-9 Overview, 7-8, 7-10 Command Status (button), 7-8 Connect (dialog), 7-15 connecting to a controller group, 7-15 consequence analysis DP, 6-2 running state messages, 6-3 selecting DP class, 6-3 warning messages, 6-4 Control Setup (button), 2-16 controller, gain, 2-16 controller groups, 7-15 Controller Mode Green, 2-16 High Precision, 2-16 Relaxed, 2-16 controller PS resetting, 8-2 selecting master, 8-8 updating offline, 8-8 coordinate systems, 10-2, 10-26 position presentation, 10-4 system datum, 10-26 current, direction display, 2-9 current update, 3-4 CyberSea Mode (dialog), 16-22 D damping of vessel motion, 1-12 Date And Time (dialog), 4-8 Datum Details (dialog), 10-8 Decrease (button), 1-6 depth, displayed on Sensors view, 18-58 depth sensors, 9-21
Deviation view, 18-2 position and heading deviation in Auto Position mode, 18-3 position and heading in Joystick mode, 18-2 dialog boxes, 1-13 spin box, 1-14 text box, 1-14 Diesels view, 18-7 display colours, 2-12 layout, 1-7 menu bar, 1-8 message line, 1-9 monitoring area, 1-10 performance area, 1-9 printing a hardcopy, 2-3 selection of display palette, 2-12 status bar, 1-10 status line, 1-10 title bar, 1-8 units, 2-6 working area, 1-9 display accuracy sea current speed, 2-9 vessel speed, 2-9 display units, 2-6 editing, 2-7 resetting the display units settings, 2-10 selecting the display units set to use, 2-6 wind, waves and sea-current direction, 2-9 Display Units (dialog) compact version, 2-6 extended version, 2-7 display views, 1-19 available views, 1-20 control dialog boxes, 1-23 Deviation view, 18-2 Diesels view, 18-7 General view, 18-11 Joystick view, 18-14 LTW view, 18-19 Numeric view, 18-24
Index-2
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orientation of the operator station, 1-19 Posplot view, 18-26 Power Consumption view, 18-44 Power view, 18-41 preselecting, 1-25 RCA view, 16-18 Refsys Status view, 18-54 Refsys view, 18-46 Rotation Centers, 18-55 selecting, 1-22 Sensor view, 18-56 Thruster views, 18-61 Azimuth thruster view, 18-70 Forces view, 18-79 Propeller/rudder view, 18-73 Setpoint/feedback view, 18-77 Thruster main view, 18-62 Tunnel thruster view, 18-67 tooltip, hotspot cursor and change of cursor image, 1-19 Trends view, 18-82 zooming, 1-24 divergence test, 10-30 DP Class (dialog), 6-3 DpPS, 17-2 draught, sensors, 9-19 Driver Properties (dialog), 17-32 dropout heading, 9-7 position, 10-36 E EBL (dialog), 18-38 EBL function, 18-38 electrical failure, joystick, 11-5 Electronic Bearing Line, 18-38 emergency message, 4-4 entering numeric values (dialog), 1-14 environmental compensation, 3-4 Equipment - System Status (dialog), 17-6 Event Printer, 17-12
Net Status, 17-13 OS/HS, 17-11 PS, 17-7 PS Redundancy, 17-9 equipment status, 17-6 Event List (dialog), 4-5 Event printer, 17-12 Event Printer (dialog), 4-13 F FMEA mode, 16-22 free run, in Auto Track (high speed) and Autopilot modes, 14-8 freeze test, 10-29 function keys, 1-5, 1-25 G gain, 2-16 controller, 1-12 customised, 2-18 high/medium/low, 2-18 Gain (dialog), 2-16 General, view, 18-11 view control, 18-13 Give (button), 7-6 giving command, 7-7 Green control, 19-9 Green Controller Mode, 2-16 Gyro (button), 9-2, 9-5 Gyro Deviation (dialog), 9-4 gyrocompasses, 9-2 deviation calculation, 9-4 displayed on Sensors view, 18-57 faulty, 9-6 status lamp, 9-5 H hardcopy, 2-3 Hardcopy (button), 2-3
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Index-3
Index
hardware information, 16-11 heading changing using the Heading Wheel, 13-4 changing using the Posplot view, 13-3 limits, 2-14 operator selected, 13-5 stopping a change of heading, 13-2 system selected, 13-5 Heading (dialog), 13-3 Heading, 13-5 Rate Of Turn, 13-7 Heading Setpoint (dialog), 13-4 Heading Wheel, 1-6, 13-4 Activate (button), 13-4 Decrease (button), 13-4 Increase (button), 13-4 heave, 19-3 limits, 2-15 Help (menu) About, 16-11 Messages, 4-14 High Precision Controller Mode, 2-16 hotspot cursor, 1-19 I Increase (button), 1-6 information message, 4-4 input validation of entered values (dialog), 1-18 IO Block (dialog), 17-21, 17-24 IO Manager (dialog), 17-19 IO Point Browser (dialog), 17-29 IO system, 17-4 J Joystick, view, 18-14 joystick, 1-6 calibrating, 3-2 current update, 3-4
electrical failure, 11-5 environmental compensation, 3-4 precision, 3-4 thrust, 3-4 Joystick (button), 11-4 Joystick (menu) Acceleration, 12-11, 13-8 Alarm Limits, 2-13 Calibrate, 3-2 Gain, 2-16 Heading, 13-5 Rate Of Turn, 13-7 Rotation Center, 3-9 Settings, 3-4 Joystick Calibrate (dialog), 3-2 joystick control position and heading, 11-5 rotation center, 3-7 Joystick Full Thrust (button), 3-4 Joystick mode, 11-3 with auto heading control, 11-6 with auto position control, 11-7 with auto stabilisation, 11-8 Joystick Settings (dialog), 3-4 Joystick Setup (button), 3-4 K keypad, 1-5 L lamps dimming level, 2-4 test, 2-5 Light Taut Wire Plot (dialog), 18-23 limits heading, 2-14 position, 2-13 VRS, 2-15 Local N/E Properties (dialog), 10-9 logging, 16-2 logon configuration, 7-5
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Logon Configuration (dialog), 7-5 LTW, view, 18-19 view control, 18-23 M Main Views, button group, 1-5 master controller PS, selecting, 8-8 median test, 10-31 menu bar, 1-8 active and unavailable commands, 1-9 menus listed, 1-28 message line, 4-5 message system, 4-2 messages acknowledging, 4-10 displayed explanation , 4-16 explanations, 4-14 printing, 4-18 message line on display, 1-9 presentation, 4-5 printed, 4-13 searching for, 4-15 minimum power heading, 13-6 mixed joystick/auto modes, 11-6 modes, 1-4 Auto Position, 11-10 button group, 1-4 Joystick, 11-3 Standby, 11-2 monitoring area, 1-10 N Numeric, view, 18-24 view controls, 18-25 Numeric Entry Keypad (dialog), 1-16 Numeric Entry Keypad Dialog Use (dialog), 1-15 O offline controller PS, updating, 8-8
online system support, 16-6 operator panel, 1-3 operator station, 1-2, 17-2 software restart, 7-2, 7-4 stop, 7-2 P panel, 1-3 panel driver logging, 16-2 Panel Driver Logging (dialog), 16-3 Panel Light Configuration (dialog), 2-4 panel logfiles copying, 16-5 selecting from list, 16-5 panning function (center here), 18-39 PcAnywhere Waiting... (dialog), 16-8 Performance (dialog), 18-6, 18-13, 18-25 performance area, 1-9 pitch, 19-3 limits, 2-15 position changing using absolute coordinates, 12-8 changing using increments, 12-6 changing using Position Inc dialog box, 12-4 changing using Position R/B dialog box, 12-4 changing using Range/Bearing, 12-7 changing using the Position dialog box, 12-5 changing using the Posplot view, 12-3 dropout, 10-36 limits, 2-13 stopping a change of position, 12-2 Position (dialog), 12-3 Absolute, 12-8 Incremental, 12-6 R/B, 12-7 Speed, 12-9
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Index-5
Index
Position Inc (dialog), 12-4 position presentation, 10-4 Position Presentation (dialog), 10-4 Position R/B (dialog), 12-4 position-reference systems changing relative weight, 10-19 changing test limits, 10-20 changing the reference origin, 10-36 controlling, 10-12 divergence test, 10-30 enabling, 10-18, 10-34 enabling other, 10-35 enabling the first, 10-34 freeze test, 10-29 median test, 10-31 monitoring, 10-18 prediction test, 10-30 properties, 10-22 reference origin, 10-26, 10-34 relative weighting of, 10-29 standard deviation, 10-28 status, 1-11 tests on, 10-28 variance test, 10-29 Posplot, view, 18-26 changing heading, 13-3 changing position, 12-3 EBL function, 18-38 view control, 18-33 Posplot (dialog) Chart, 18-34 Grid, 18-35 Mode, 18-33 Range, 18-35 Show, 18-34 Trace, 18-36 Power, 15-1 view, 18-41 view control, 18-43 power, monitoring, 15-2, 15-3 Power Consumption, view, 18-44 Power Plot (dialog), 18-43
prediction test, 10-30 Present Heading (button), 13-2 Present Position (button), 12-2 Print (dialog), 17-14 Print Setup (dialog), 4-18 Print Status (dialog), 16-9 printing, display picture, 2-3 process stations, 17-3 resetting, 8-2 PUIF Network message monitoring (dialog), 4-12 Q Quick Model (button), 2-23 Quick Model (dialog), 2-23 Quick model update, 2-22 R range/bearing, 12-7 rate of turn sensors, 9-23 setpoint, 13-7 RCA view, 16-18 warning status, 1-11 redundancy, 17-3 dual-redundant systems, 8-5 triple-redundant systems, 8-7 Redundancy and Criticality Assessment, 16-14 Redundant Stations (dialog), 8-8 reference origin, 10-26 changing, 10-36 Reference System (dialog) Enable, 10-18 Validation, 10-20 Weight, 10-19
Index-6
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Reference System Properties (dialog), 10-22 Quality Filter Actions, 10-25 UTM Properties, 10-24 Reference System Settings (dialog), 10-13 Refsys, view, 18-46 view control, 18-51 Refsys (dialog) Grid, 18-52 Mode, 18-51 Range, 18-53 Refsys Status, view, 18-54 Relaxed Controller Mode, 2-16 remote diagnostics, 16-6 Remote Diagnostics (dialog), 16-6 Reset Controller PS (dialog), 8-2 resetting display units, 2-10 roll, 19-3 limits, 2-15 roll, pitch, heave, displayed on Sensors view, 18-58 rotation center automatic heading control, 2-24 joystick heading control, 3-7 Rotation Center (dialog) automatic control, 2-24 joystick control, 3-9 Rotation Centers view, 18-55 rotation speed, 13-7 S sea current speed, display accuracy, 2-9 Sensor Plot (dialog), 18-59 sensors, 9-1 depth, 9-21 display view, 18-56 view control, 18-59 draught, 9-19 gyro deviation, 9-4 gyrocompass, 9-2
Rate Of Turn, 9-23 speed, 9-16 VRS (roll, pitch, heave), 9-13 water depth, 9-21 wind, 9-8 Sensors (menu) Alarm Limits, 2-15 Depth, 9-21 Draught, 9-19 Gyro, 9-2 Gyro Deviation, 9-4 Rate Of Turn, 9-23 Reference System, 10-18, 10-19, 10-20 Reference System Properties, 10-22 Reference System Settings, 10-13 Speed, 9-16 VRS, 9-14 Wind, 9-9 serial lines, resetting, 17-34 Set System Date/Time (dialog), 2-11 Set Timezone (dialog), 2-11 shell configuration, 7-5 showing the tooltip, 1-20 signal conditioning, 17-27 Silence (button), 1-5, 4-11 slow-drift test, 10-30 software information, 16-11 speed acceleration/retardation factor, 12-11 changing using the Position - Speed dialog box, 12-9 changing using the Speed Setpoint dialog box, 12-10 display accuracy, 2-9 sensors, 9-16 doppler log, 9-17 enabling, 9-16 GPS, 9-17 setpoint, 12-10 Speed Setpoint (dialog), 12-10 standard deviation, 10-28
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Index-7
Index
Standby (button), 11-2 Standby mode, 11-2 startup procedure, 7-2 Station Explorer (dialog), 17-15 status bar, 1-10 status line, 1-10 status page, printing, 16-9 Stop/Restart (dialog), 7-3 stopping a change of heading, 13-2 stopping a change of position, 12-2 surge, 19-3 Surge (button), 1-4, 11-6, 11-8, 11-9 sway, 19-3 Sway (button), 1-4, 11-6, 11-8, 11-9 System (menu) Change User, 2-2 Connect, 7-15 CyberSea, 16-22 Equipment, 17-6 Event Printer, 4-13 Panel Log, 16-3 Print Status, 16-9 Redundant Stations, 8-8 Remote Diagnostics, 16-6 Reset Controller PS, 8-2 Screen Capture Printer, 2-3 Set Date/Time, 2-11 Set Timezone, 2-11 Stop/Restart, 7-3 Trainer, 5-3 Vessel Control Mode, 16-15 system architecture, 17-2 system messages acknowledging, 4-10 messages on the printer, 4-13 presentation, 4-5 System Messages (dialog) Contents, 4-14 message pane, 4-16 Search, 4-15
system start-up, 7-2 system status, 16-9, 17-1 T Take (button), 7-6 taking command, 7-7 thrust, joystick, 3-4 Thruster (menu) Allocation Mode, 14-6 Automatic Start, 14-5 Biasing, 14-13 Enable, 14-2 Run-in, 14-22 Thruster Allocation (dialog), 14-6 Thruster Biasing (dialog) automatic bias, 14-14 enter bias manually, 14-13 Thruster Enable (dialog), 14-2 Thruster Run-in (dialog), 14-22 Thruster Sub Plot (dialog), 18-76 Thruster views, 18-61 Azimuth thruster view, 18-70 Forces view, 18-79 Propeller/rudder view, 18-73 Setpoint/feedback view, 18-77 Subview control, 18-76 Thruster main view, 18-62 Tunnel thruster view, 18-67 thrusters allocation, 19-11 allocation modes, 14-6 diving, 14-7 environ fix, 14-7 fix, 14-7 heave red, 14-8 steering, 14-7 variable, 14-6 automatic start, 14-4 biasing, 14-12 turn factor, 14-19 control modes, 14-6 enabling, 14-2
Index-8
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301463/A
force bias, 14-12 angle factor, 14-20 inwards, 14-21 lever control, 14-2 manual fix angles, 14-10 rudder limits, 14-10 run-in, 14-22 status, 1-11 Thrusters (button), views, 18-62 time, changing the system time, 2-11 title bar, 1-8 tooltip, 1-19 trackball, 1-5 trainer, 5-2 Trainer Settings (dialog), 5-3 Trend Numeric (dialog), 18-84 Trend Plot (dialog), 18-85 Trends, view, 18-82 view control, 18-85 U units, 2-6 user changing, 2-2 Chief, 2-2 Operator, 2-2 using hotspot cursors, 1-20 UTM Properties (dialog), 10-10 V variance test, 10-29 vertical reference sensors, 9-13 vertical vessel motions, displayed on Sensors view, 18-58 Vessel Control Mode, 16-14 Vessel Control Mode (dialog), 16-15, 16-20
vessel speed, displayed on Sensors view, 18-59 View (menu) Display Units, 2-6 Num Entry Dlg, 1-15 Panel Lamp Test, 2-5 Light Configuration, 2-4 Position Presentation, 10-4 Preselect, 1-25 Reset Display Units, 2-10 Set Palette, 2-12 Show Tooltip, 1-20 Use HotSpot Cursors, 1-20 Use Preselected, 1-25 Views, button group, 1-5 views, 1-19 VRS faulty, 9-15 status lamp, 9-15 VRS (button), 9-14, 9-15 VSim mode, 16-22 W warning limits heading, 2-14 position, 2-13 warning message, 4-4 explanations, 4-14 water depth sensors, 9-21 wave, direction display, 2-9 wind direction display, 2-9 displayed on Sensors view, 18-57 operating without sensor input, 9-12 sensors, 9-8 manually enter values, 9-10 status lamp, 9-10 Wind (button), 9-9, 9-10 WinPS, 17-3
301463/A
Index-9
Index
working area, 1-9 Y Y-Axis Range (dialog) Power Plot, 18-43 Refsys, 18-51 Sensor Plot, 18-60 Thruster Sub Plot, 18-76 Trend Plot, 18-86 yaw, 19-3 Yaw (button), 1-4, 11-6, 11-7, 11-9 Z zoom, 1-24
Index-10
Kongsberg Maritime
301463/A

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Operator Reference Manual Kongsberg SDP (OS)

Dynamic Positioning System (Rel. 6.2)

301463/A May 2006

Kongsberg Maritime A.S P. O. Box 483 N-3601 Kongsberg Norway

Telephone: (47) 32 28 50 00 Telefax: (47) 32 28 50 10 Service: (47) 815 35 355 http://www.kongsberg.com

SDP (OS) Operator Reference Manual

STC SVC UPS UTC UTM VRM VRS WGS

SDP (OS) Operator Reference Manual

SDP (OS) Operator Reference Manual

SDP (OS) Operator Reference Manual

SDP (OS) Operator Reference Manual

1-1 1-2 1-3

2-1 2-2 2-3 2-4

Display Units dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

System date and time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Set palette (display colours) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Alarm Limits dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Controller Mode and Gain Level selection . . . . . . . . . . . . . . . . .

Quick model update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 Rotation center for automatic control . . . . . . . . . . . . . . . . . . . .

JOYSTICK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1 Calibrating the joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Joystick settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Rotation center for joystick manoeuvring . . . . . . . . . . . . . . . . .

THE MESSAGE SYSTEM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1 System diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2 Operational checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-1 4-2 4-3

SDP (OS) Operator Reference Manual

4.3 4.4 4.5 4.6 4.7 4.8 4.9

Message priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Presentation of messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Alarm states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Acknowledging messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Alarm lamps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Messages on the printer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

STARTING OPERATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 System start-up/shut-down and OS stop/restart . . . . . . . . . . . .

Logon Configuration dialog box . . . . . . . . . . . . . . . . . . . . . . . . . Command transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Command Control dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-11 7-11 7-12 7-13

Connecting to a controller PS group . . . . . . . . . . . . . . . . . . . . . .

7-15 8-1 8-2

CONTROLLER PROCESS STATIONS . . . . . . . . . . . . . . . . . . . 8.1 Resetting controller process stations . . . . . . . . . . . . . . . . . . . . . .

SENSORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1 Gyrocompasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Vertical reference sensors (VRS) . . . . . . . . . . . . . . . . . . . . . . . . .

SDP (OS) Operator Reference Manual

Rate Of Turn sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10-1 10-2 10-4

10-10 10-11 10-12 10-12 10-13 10-17

10.11 Reference System Properties dialog box . . . . . . . . . . . . . . . . . . .

10.12 Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.13 Tests on position measurements . . . . . . . . . . . . . . . . . . . . . . . . . .

10.14Enabling the first position-reference system . . . . . . . . . . . . . . .

10-35 10-36 10-36 11-1 11-2

11.2 Joystick mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 Auto Position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-1 12-2 12-3 12-4 12-4 12-5

12.6 Speed Setpoint dialog box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12-11 13-1 13-2 13-3 13-4 13-5

13.5 Acceleration/retardation factors in the yaw axis . . . . . . . . . . . .

SDP (OS) Operator Reference Manual

14 THRUSTERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14.1 Enabling thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14-4 14-5 14-6

14.5 14.6 14.7 14.8

14-10 14-11 14-12 14-13

14-22 15-1 15-2 15-3 16-1 16-2

16.2 Remote diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16-9 16-11 16-14

16.6 Interface to CyberSea . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17 SYSTEM STATUS MONITORING . . . . . . . . . . . . . . . . . . . . . . . 17.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17.2 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17-1 17-2 17-2