Kongsberg K-Pos

Seismic Track Mode

Operator Manual
Release 7.1

322656/A
October 2008
Document history
Document number: 322656
Rev. A October 2008 First version.

The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with a good understanding of basic
DP principles and general DP operation. If this is not the case, then the operator should first attend the
appropriate Kongsberg Maritime training courses.

Note
The information contained in this document remains the sole property of Kongsberg Maritime AS. No
part of this document may be copied or reproduced in any form or by any means, and the information
contained within it is not to be communicated to a third party, without the prior written consent of
Kongsberg Maritime AS.
Kongsberg Maritime AS endeavours to ensure that all information in this document is correct and fairly
stated, but does not accept liability for any errors or omissions.

Warning
The equipment to which this manual applies must only be used for the purpose for which it was
designed. Improper use or maintenance may cause damage to the equipment and/or injury to personnel.
The user must be familiar with the contents of the appropriate manuals before attempting to operate
or work on the equipment.
Kongsberg Maritime disclaims any responsibility for damage or injury caused by improper installation,
use or maintenance of the equipment.

Comments
To assist us in making improvements to the product and to this manual, we welcome comments and
constructive criticism.
e-mail: km.documentation@kongsberg.com

Kongsberg Maritime AS
P.O.Box 483 Telephone: +47 32 28 50 00
N-3601 Kongsberg, Telefax: +47 32 28 50 10
Norway Service: +47 815 35 355
www.kongsberg.com
 Operator Manual

Table of contents

1 SEISMIC TRACK OVERVIEW .............................................. 5

1.1 Introduction ..............................................................................................................5
1.2 External interface .....................................................................................................5
1.3 Cross track control....................................................................................................6
1.3.1 Change of seismic track leg ........................................................................... 6
1.4 Speed control ............................................................................................................7
2 USER INTERFACE .............................................................. 8
2.1 Controls and indicators.............................................................................................8
2.2 Heading Wheel panel ...............................................................................................8
2.3 Performance area ......................................................................................................9
2.4 Sensor view ............................................................................................................10
2.5 Sensors dialog box.................................................................................................. 11
2.6 Steering dialog box.................................................................................................13
2.7 Crab Angle pop-up dialog ......................................................................................13
3 OPERATING MODE .......................................................... 15
3.1 Seismic Track mode ...............................................................................................15
3.2 Entering the Seismic Track mode...........................................................................16
3.3 Changing the track speed setpoint..........................................................................17
3.4 Changing the crab angle .........................................................................................17
3.4.1 Changing the crab angle using the Steering dialog box .................................. 18
3.4.2 Changing the crab angle using the Heading wheel......................................... 18
3.5 Selecting an external track speed setpoint..............................................................19
3.6 Leaving the Seismic Track mode ...........................................................................20
4 OPERATING PROCEDURES .............................................. 21
4.1 Speed sensors .........................................................................................................21
4.1.1 Displayed Speed information....................................................................... 21
4.1.2 Enabling a speed sensor .............................................................................. 21
4.1.3 Entering and enabling a manual speed value ................................................. 21
4.2 Seismic track setup .................................................................................................22
4.2.1 Selecting the gain level ............................................................................... 22
4.2.2 Setting the counter rudder gain .................................................................... 22
4.2.3 Setting the auto trim gain............................................................................. 24
4.2.4 Enabling weather compensation................................................................... 24
4.2.5 Changing the Rate Of Turn.......................................................................... 24
4.2.6 Setting the cross track speed ........................................................................ 25
4.2.7 Setting the maximum rudder angle for automatic heading control .................. 26
4.2.8 Selecting the steering mode ......................................................................... 27
4.2.9 Selecting the steering group......................................................................... 27

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Seismic Track Mode

4 322656/A
 Seismic Track overview

1 SEISMIC TRACK OVERVIEW

This section contains the following topics:
1.1 Introduction..................................................................5
1.2 External interface .........................................................5
1.3 Cross track control .......................................................6
1.4 Speed control ...............................................................7

1.1 Introduction
The Seismic Track mode is a remote track control function that is
provided with data from an external seismic track computer.
The purpose of this mode is to maintain the vessel on a predefined
seismic track. It is based on “Autopilot” mode with an additional
cross track regulator. This means that the autopilot and cross
track regulator has been specially tuned and, if automatic speed
control is available, the speed regulator has also been specially
tuned.
If contact with the external seismic track computer is lost or it
stops sending telegrams, the operating mode of the K-Pos system
will automatically change from Seismic Track mode to Autopilot
mode and generate a time out alarm.

1.2 External interface

Two telegrams $DNRTR and $PRVBR can be received from the
external seismic track computer.
The protocol of the $DNRTR telegram and data that it provide
is as follows:
$DNRTR,rrr.r,xxxxxx.x,vvv.v,aaa.a,oooooo,tt,CRLF
where:
• $DNRTR — The start and name of the telegram.
• rrr.r — Track direction (in °).
• xxxxxx.x — Cross track error (in m), e.g. +00012.2 means the
vessel must steer 12.2 m to port.
• vvv.v — Velocity along the track (in m/s).
• aaa.a — Velocity across the track (in m/s). Positive when
vessel moves to starboard, e.g. -0.33 means the vessel moves
to port at 0.33 m/s.
• oooooo — Track offset (in m). Positive when vessel shall
follow a parallel track to starboard side of track, e.g. +00077
means the vessel moves to a parallel track 77 m to starboard.
• tt — Maximum turn rate (in s/°), e. g. 20 means that the vessel
will use 20 seconds to change its heading by one degree.
• CRLF — The end of the telegram.

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Seismic Track Mode

The protocol of the optional $PRVBR telegram and data that

it provide is as follows:
$PRVBR,xxx.xx,N*CC,CRLF
where:
• $PRVBR — The start and name of the telegram.
• xxx.xx — Desired speed (in kts).
• N — Knots.
• CC — Checksum.
• CRLF — The end of the telegram.
These telegrams are used as input to the K-Pos system to steer
the vessel on the desired course with the minimum of cross track
error.
The operator can adjust the speed along the track manually or by
automatic speed control. If automatic speed control is used, the
speed setpoint can be selected by the operator or received from
the external seismic track computer via the optional $PRVBR
telegram.
The vessel speed (velocity) received in the $DNRTR telegram is
used as a seismic speed sensor which can be enabled/disabled by
the operator (see Speed sensors on page 21).
The maximum vessel turn rate (Rate Of Turn) is also received in
the $DNRTR telegram. When in Seismic Track mode, the lowest
Rate of Turn from the telegram or the manually entered operator
setting for the K-Pos system (see Changing the Rate Of Turn on
page 24) will be used.

1.3 Cross track control

Cross track control uses the same regulator as used in Autopilot
mode, which is an ordinary PID regulator with additional logic to
prevent integral part wind up.
The cross track error and cross track speed received via the
$DNRTR telegram from the external seismic track computer is
used to compute a heading setpoint change that will reduce the
cross track error and cross track speed to zero.
The final heading setpoint is calculated as a sum of the output
from the cross track regulator and the seismic track heading
received via the $DNRTR telegram from the external seismic
track computer.

1.3.1 Change of seismic track leg

When a seismic track leg has been completed and a change
to a new track leg is to be made, the K-Pos system will not
have any information about the change. This is because the

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 Seismic Track overview

$DNRTR telegram only indicates the track heading and cross

track information. The track heading received via the $DNRTR
telegram is the tangent heading of the track in the turn.
How a turn is performed from one track leg to the next is
controlled by the Seismic Track computer. The turn circle used to
approach a new seismic track leg is normally very large to avoid
tangling up the streamers deployed out from the vessel aft.
A change in the track heading is interpreted as a turn in progress.
When a turn is in progress, the integral part of the cross track
regulator is gradually reduced to zero.

Figure 1 Seismic Track

The angle α is the tangent angle of the track.

At the start and end of a track leg, there is a extension distance
called run-in and run-out. This is used to ensure that the
streamers cover the whole track leg.

1.4 Speed control

When surge control is activated, automatic speed control is
enabled. When seismic track control is activated, the speed along
and across the track is read from the $DNRTR telegram together
with any other speed measurement sensors (Doppler Log or GPS
speed).
The wanted speed along the track is entered by operator. A speed
regulator calculates the alongships thrust demand to maintain the
wanted speed. If the speed regulator is not used, the alongships
thrust from the joystick is used.

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Seismic Track Mode

2 USER INTERFACE
This section contains the following topics:
2.1 Controls and indicators ................................................8
2.2 Heading Wheel panel ...................................................8
2.3 Performance area .........................................................9
2.4 Sensor view ................................................................10
2.5 Sensors dialog box ..................................................... 11
2.6 Steering dialog box ....................................................13
2.7 Crab Angle pop-up dialog..........................................13

2.1 Controls and indicators

When Seismic Track mode is installed for a K-Pos system,
four new operational mode button functions are required to be
configured.
The four new seismic track buttons, each of which have a status
indicator, are as follows:
The SEISMIC TRACK button selects Seismic Track mode (see
Entering the Seismic Track mode on page 16).
The SPEED + button increases the track speed setpoint in
predefined steps. (see Changing the track speed setpoint on
page 17).
The SPEED - button decreases the track speed setpoint in
predefined steps (see Changing the track speed setpoint on
page 17).
The optional EXTERNAL SPEED button enables the optional
$PRVBR telegram and sets the desired track speed from this
telegram as the track speed setpoint (see Selecting an external
track speed setpoint on page 19).

2.2 Heading Wheel panel

In Seismic Track mode the Heading Wheel panel (see Figure 2)
can be used for changing the Crab Angle and the Rate Of Turn.

8 322656/A
 User Interface

Figure 2 Heading Wheel panel

Heading, Course or Crab Angle buttons
(decrease, set/activate, increase)

Rate Of Turn (ROT) or

Turn Radius buttons
(decrease/increase)

Heading Distance To Turn buttons

(C090143b) Wheel (decrease/increase)

2.3 Performance area

When Seismic Track mode is selected, the information displayed
in the Performance area of the display view is changed to show
the current cross-track error bargraph, “surge” bargraph, leg
offset and crab angle.

Figure 3 Performance area (example with Seismic Track mode selected)

When the “surge” bargraph is purple it indicates that automatic

speed control in the surge axis is activated.
The Cross Track Error is indicated by a single, grey bidirectional
bar which represents the deviation from the track. The numerical
value of this error is shown at the lower side of this bar.
If the deviation exceeds the available display range (set by the
alarm limit value), a plus (+) sign is displayed in the bar. If the
deviation exceeds 999.9 metres (or the equivalent in feet), then
**** m (or **** ft) is displayed.
The Leg Offset and Crab Angle are shown numerically.

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Seismic Track Mode

2.4 Sensor view

In addition to the usual vessel sensors, the Sensor view also
shows the status and performance of the seismic track speed
sensor.

Figure 4 Sensor view (Seismic Track mode)

Note
The measurements from the sensors that are currently being used
by the system have a white background.

Speed GPS
The vessel speed and course as measured by
each of the GPS speed sensors are shown.
Speed Seismic
The vessel alongships and athwartships
speed as measured by the seismic track
speed sensor.
The measurements from the speed sensors
that are currently used by the system are
highlighted.
- - - - - - - - is displayed if a sensor is not OK.

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 User Interface

2.5 Sensors dialog box

Figure 5 Sensors dialog box — Speed page

GPS Speed
Sensor
The identification number of each speed sensor.
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 boxes are shown empty.

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Seismic Track Mode

Seismic Speed
Sensor
The identification number of each speed sensor.
Enable
Select this check box to enable the Seismic speed sensor. You
will not be able to select this check box if the sensor 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.
Manual Speed
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.

12 322656/A
 User Interface

2.6 Steering dialog box

In addition to setting up and configuring the Autopilot mode,
the Steering dialog box is also used to set up and configure the
Seismic Track mode.

Figure 6 Steering dialog box — Seismic Mode page

Crab Angle
Allows you to set the maximum crab angle limit for seismic
track operations. Within the configured range the value can be
increased and decreased in 1 degree steps (see Changing the crab
angle on page 17).
Cross Speed
Allows you to set the cross track speed for seismic track
operations. Within the configured range the value can be
increased and decreased in 0.1 metre/second or 0.1 knot steps
(see Setting the cross track speed on page 25).

2.7 Crab Angle pop-up dialog

The Crab Angle pop-up dialog is used to change the crab angle
when the system is in Seismic Track mode.

322656/A 13
Seismic Track Mode

To display this input dialog, press one of the heading wheel

buttons (DECREASE, ACTIVATE and INCREASE).

Figure 7 Crab Angle pop-up dialog

The value (in degrees) shown in the upper part of the dialog is the
crab angle from the heading wheel, which changes immediately
whenever the wheel is turned, or one of the INCREASE and
DECREASE buttons is pressed.
Rotate the heading wheel clockwise or counter-clockwise to
increase (to starboard) or decrease (to port) the crab angle, or use
the INCREASE and DECREASE buttons to step the values up or
down (typically 0.1 degree for each press).
The dialog is closed by pressing the ACTIVATE button on the
heading wheel. If the heading wheel is not turned, or one of the
INCREASE and DECREASE buttons is not pressed within a
preset time limit, the dialog is closed automatically.
The value shown in the lower right-hand part of the dialog shows
the heading setpoint (in degrees), which cannot be changed from
this dialog.

14 322656/A
 Operating Mode

3 OPERATING MODE
This section contains the following topics:
3.1 Seismic Track mode...................................................15
3.2 Entering the Seismic Track mode ..............................16
3.3 Changing the track speed setpoint .............................17
3.4 Changing the crab angle.............................................17
3.5 Selecting an external track speed setpoint .................19
3.6 Leaving the Seismic Track mode...............................20

3.1 Seismic Track mode

The Seismic Track mode maintains the vessel on a predefined
seismic track.
Before entering Seismic Track mode, a seismic speed sensor must
first be enabled and then Autopilot mode selected.
Note
The seismic speed sensor can also be used in Autopilot mode.

If Autopilot mode is not selected before selecting Seismic Track

mode the following operator advice message is displayed.

The operator must also use the joystick (in Autopilot mode) to
reach the wanted vessel speed before selecting Seismic Track
mode.
If the vessel speed is below a predefined limit when the Seismic
Track mode is selected, an alarm will be generated and the
SEISMIC TRACK button status indicator will flash until the
minimum speed is reached. During the time when the SEISMIC
TRACK button status indicator is flashing, the vessel will not
steer towards the seismic track but instead stay at the last heading
setpoint.
If contact with the external seismic track computer is lost or it
stops sending telegrams, the operating mode of the K-Pos system
will automatically change from Seismic Track mode to Autopilot
mode and generate a time out alarm.
The operator will be notified when the track offset, course or
speed setpoint from the external seismic track computer is
changed. For small changes, the audible signal horn will give a
single beep whereas for larger changes it will give three beeps.

322656/A 15
Seismic Track Mode

If the cross-track offset or the alongships speed change exceeds a

preset limit, an alarm is generated. Since the alongships speed
is often critical, the speed change will not be accepted if it
exceeds the alarm limit and the previous speed setpoint will be
maintained.

3.2 Entering the Seismic Track mode

To enter the Seismic Track mode, proceed as follows:
1 While still in Joystick mode, manoeuvre the vessel onto the
required heading.
2 Ensure that the external seismic track computer is switched
on, setup correctly and sending telegrams to the K-Pos
system.
3 Ensure that the required main propulsion units and rudders
are enabled (see K-Pos Operator Manual).
4 Ensure that two gyrocompasses are enabled (see K-Pos
Operator Manual).
5 Ensure that a speed sensor is enabled, preferably the Seismic
speed sensor. (See Enabling a speed sensor on page 21.)
6 Enable manual speed input (see Entering and enabling a
manual speed value on page 21).
7 Select the required gain level (see Selecting the gain level
on page 22).
8 Set the required counter rudder gain (see Setting the counter
rudder gain on page 22).
9 Set the required auto trim gain (see Setting the auto trim
gain on page 24).
10 If required, enable weather compensation (see Enabling
weather compensation on page 24).
11 Set the required Rate Of Turn (see Changing the Rate Of
Turn on page 24).
12 Set the required maximum rudder angle for automatic
heading control (see Setting the maximum rudder angle for
automatic heading control on page 26).
13 Select the required steering mode (see Selecting the steering
mode on page 27).
14 If applicable, select the required steering group (see
Selecting the steering group on page 27).
15 Press the AUTO PILOT button twice within four seconds.
• The AUTO PILOT and AUTO HEADING button status
indicators start to flash and then become steadily lit when
Autopilot mode is entered.

16 322656/A
 Operating Mode

• The vessel heading is controlled automatically (see K-Pos

Autopilot Mode Operator Manual).
• The vessel speed is controlled from the joystick.
16 Move the joystick in the alongships direction until the
required minimum vessel speed is obtained.
17 Press the SEISMIC TRACK button twice within four seconds.
• The SEISMIC TRACK button status indicator start to
flash and then becomes steadily lit when Seismic Track
mode is entered.
• The numeric value of the crab angle is shown on the
Performance area.
• The vessel follows the seismic track from the external
seismic computer.
18 Press the AUTO SURGE button twice within four seconds.
• The AUTO SURGE button status indicator start to flash
and then becomes steadily lit when automatic speed
control in the alongships (surge) axis is entered.
• The alongships speed setpoint is set to estimated speed.
• The numeric value of the speed setpoint is shown on the
Numeric view.

3.3 Changing the track speed setpoint

The track (alongships) speed setpoint can be changed using the
SPEED + and SPEED - buttons.
To increase or decrease track (alongships) speed setpoint,
proceed as follows:
1 To increase the track (alongships) speed setpoint in
predefined steps, press the SPEED + one or more times.
• After each press of the button, the track (alongships)
speed setpoint is increased by one step.
2 To decrease the track (alongships) speed setpoint in
predefined steps, press the SPEED - one or more times.
• After each press of the button, the track (alongships)
speed setpoint is decreased by one step.

3.4 Changing the crab angle

The crab angle of the vessel can be changed from the Steering
dialog box or using the heading wheel together with the Crab
Angle pop-up dialog.

322656/A 17
Seismic Track Mode

3.4.1 Changing the crab angle using the

Steering dialog box
1 Select Auto Pilot→Seismic.
• The Steering dialog box with the Seismic Mode page is
displayed.

Figure 8 Auto Pilot Steering dialog box - Seismic Mode

page

2 Select a value for the required crab angle in the Crab Angle
text box.
Note
A positive value offsets the heading setpoint to starboard.

3 Click the Apply or OK button to use the specified crab angle.

3.4.2 Changing the crab angle using the

Heading wheel
You can change the crab angle using the Heading Wheel and
its CRAB ANGLE buttons (from left to right), DECREASE,
ACTIVATE and INCREASE (see Figure 2).
To change the Crab Angle:

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 Operating Mode

1 Press the DECREASE, ACTIVATE or INCREASE button

once.
• The Crab Angle dialog box is displayed.

2 With the Crab Angle dialog box displayed, rotate the

Heading Wheel clockwise or counter-clockwise to increase
(to starboard) or decrease (to port) the Crab Angle, or use
the DECREASE and INCREASE buttons (typically 0.1
degree for each press).
When not used, the dialog box is automatically closed,
however, the dialog box can also be closed by pressing the
ACTIVATE button or any one of the Heading Wheel panel
buttons that are not associated with the Crab Angle.
Note
The Crab Angle dialog box must be displayed if rotation of
the Heading Wheel is to have an effect.

3.5 Selecting an external track speed setpoint

External track speed control can be used if:
• External track speed setpoint (desired speed) is available from
the external seismic track computer.
• Seismic Track mode has been entered.
• AUTO SURGE is selected.
To selecet external track speed setpoint press the EXTERNAL
SPEED button.
The EXTERNAL SPEED button status indicator becomes steadily
lit and the desired track speed in the $PRVBR telegram from the
external seismic computer is set as the alongships speed setpoint.

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Seismic Track Mode

3.6 Leaving the Seismic Track mode

To leave the Seismic Track mode, go to Autopilot mode by
pressing the AUTO PILOT button twice within four seconds.
The AUTO PILOT button status indicator starts to flash and then
becomes steadily lit when Autopilot mode is entered.

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 Operating Procedures

4 OPERATING PROCEDURES
This section contains the following topics:
4.1 Speed sensors .............................................................21
4.2 Seismic track setup ....................................................22

4.1 Speed sensors

The speed information received from the external seismic track
computer is enabled and disabled using the Sensors dialog box
for speed sensors. However, you can enable and disable all
available speed sensors as required.
In seismic track operations the seismic track speed sensor will
normally be the only one in use.
It is recommended to also enable manual speed input since the
manual value will be updated based on the in use sensor. Should
all sensors be lost, you will have an initial manual value that
reflects the real situation.

4.1.1 Displayed Speed information

You can examine the status and measured values for the speed
sensors on the Sensor view (see Sensor view on page 10).

4.1.2 Enabling a speed sensor

To enable a speed sensor, proceed as follows:
1 Select Sensors→Speed to display the Sensors dialog box for
speed sensors.
2 Select the Enable check box for the speed sensor.
3 Click the Apply button. The speed sensor is enabled and the
In Use check box is automatically selected.
4 Click OK to close the Sensors dialog box.

4.1.3 Entering and enabling a manual

speed value
To enter and enable a manual speed value, proceed as follows:
1 Display the Sensors dialog box for speed sensors.
2 Deselect the check boxes for all speed sensors to disable
them.
3 In the Manual Speed field select the Enable check box for
the manual speed.
4 Enter the required value.
5 Click the Apply button. Manual speed is enabled and the In
Use check box is automatically selected.
6 Click OK to close the Sensors dialog box.

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Seismic Track Mode

4.2 Seismic track setup

The Seismic Track mode is setup using the Auto Pilot Steering
dialog box.

4.2.1 Selecting the gain level

The gain applied to the yaw axis can be selected between three
predefined levels, Low (50%), Med (100%) and Hi (150%).
Different gain factors for different gain levels are defined to suit
the characteristics of the vessel. The deviations in heading and
turning rate are multiplied by the selected gain factor to obtain
the required thrust force and moment.
The most suitable gain level depends on the vessel characteristics,
the weather conditions and the required positioning accuracy.
• A high gain level (150%) provides the quickest vessel
response.
• A medium gain level (100%) provides a slower vessel
response than high gain.
• A low gain level (50%) provides the slowest vessel response.
To change the gain level applied to the yaw axis, proceed as
follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Gain page and then select the required gain level
option.
3 Click Apply. The gain level applied to the yaw axis is
changed to the selected option.
4 Click OK to close the dialog box.

4.2.2 Setting the counter rudder gain

The counter rudder gain can be set in the range from 50 to 150%,
with a default of 100%.
The counter rudder gain serves two purposes, firstly to give a
smooth transition to a new heading after a major course change,
and secondly to stabilise the vessel on a straight course.
If the counter rudder gain setting is too low, there may be an
overshoot past the new heading and it may take a long time
before the new heading is stabilised.
If the counter rudder gain setting is too high, there may be an
over-correction followed by a small overshoot past the new
heading, and the vessel may then tend to oscillate around the new
heading. A typical symptom here is an over-active rudder.

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 Operating Procedures

Figure 9 Effects of counter rudder settings

New course
Counter rudder setting too low,
overshoot response.

New course
Counter rudder setting too high,
sluggish and creeping response.

New course
Correct setting of counter rudder,
ideal response.

(CD3291)

To change the counter rudder gain, proceed as follows:

1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Gain page and then change the value for the
counter rudder to the required percentage.
3 Click Apply. The counter rudder gain is changed to the
selected value.
4 Click OK to close the dialog box.

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Seismic Track Mode

4.2.3 Setting the auto trim gain

Auto trim, which can be set in the range from 50 to 150%, with
a default of 100%, corrects for static heading deviation due to
weather forces.
• A low auto trim setting (minimum 50%) results in a slower
correction of static heading deviation.
• A high auto trim setting (maximum 150%) results in a faster
correction of static heading deviation.
To change the auto trim gain, proceed as follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Gain page and then change the value for auto trim
to the required percentage.
3 Click Apply. The counter rudder gain is changed to the
selected value.
4 Click OK to close the dialog box.

4.2.4 Enabling weather compensation

Weather compensation (wind forces) can be enabled and
disabled. When weather compensation is enabled, the vessel
will react much more quickly to sudden changes in wind speed
and direction.
To enable weather compensation, proceed as follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Compensate page and then select the Wind Force
compensation check box.
3 Click Apply. The weather compensation is enabled.
4 Click OK to close the dialog box.

4.2.5 Changing the Rate Of Turn

You can change the Rate Of Turn setpoint using the RATE OF
TURN buttons on each side of the Heading Wheel, DECREASE
(left side) and INCREASE (right side) (see Figure 2).
To change the Rate Of Turn setpoint:
1 Press the DECREASE or INCREASE button once.

24 322656/A
 Operating Procedures

• The Rate Of Turn dialog box is displayed.

2 With the Rate Of Turn dialog box displayed, press the

DECREASE or INCREASE button to change the Rate Of
Turn setpoint (typically 1 degree/minute for each press).
When not used, the dialog box is automatically closed,
however, the dialog box can also be closed by pressing
any one of the Heading Wheel panel buttons that are not
associated with Rate Of Turn.
Note
In Seismic Track mode this setting may be further limited due to
date received in the $DNRTR telegram.

4.2.6 Setting the cross track speed

To specify the cross track speed for the vessel, proceed as follows:
1 Select Auto Pilot→Seismic.
• The Steering dialog box with the Seismic Mode page is
displayed.

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Seismic Track Mode

Figure 10 Auto Pilot Steering dialog box - Seismic Mode

page

2 Select a value for the required speed in the Cross Speed text
box.
3 Click Apply. The defined cross track speed is enabled.
4 Click OK to close the dialog box.

4.2.7 Setting the maximum rudder angle

for automatic heading control
In Seismic Track mode, which has automatic heading control
enabled, the system will not turn the rudders/azimuth thrusters
beyond the specified limit.
If you try to enter angle values beyond predefined limits, a
message instructing you to correct the values will be displayed.
To set the maximum rudder angle that can be used when
automatic heading control is active, proceed as follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Steering page and then select the maximum turn
angle for the rudder/azimuth thrusters:

26 322656/A
 Operating Procedures

• Automatic. In Seismic Track mode with automatic heading

control, the system will not turn the rudders/azimuth
thrusters beyond the specified limit.
• Manual. In Seismic Track mode with joystick heading
control, the system will not turn the rudders/azimuth
thrusters beyond the specified limit. This limit is usually
set to a high value (for example, the maximum physical
angle for rudders or 40 degrees for azimuth thrusters) so
that the maximum steering effect can be achieved.
3 Click Apply. The limits for the rudder angle are enabled.
4 Click OK to close the dialog box.

4.2.8 Selecting the steering mode

The steering mode determines how the steering units within
the active steering group are used to steer the vessel, and is not
available if there is only one steering unit.
The standard steering modes (using two steering units) are:
• Synchron (Synchronous)
Both steering units have the same azimuth angle and both
generate the directional force.
• Async Auto (Asynchronous Auto)
Only one steering unit is used to generate the directional
force, while the other is fixed alongships. The steering unit is
selected automatically depending on the turn direction.
• Async Stbd (Asynchronous Starboard)
The starboard steering unit generates the directional force.
The port steering unit is fixed alongships.
• Async Port (Asynchronous Port)
The port steering unit generates the directional force. The
starboard steering unit is fixed alongships.
To select the steering mode, proceed as follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Steering page and then select the appropriate
mode.
3 Click Apply. The limits for the rudder angle are enabled.
4 Click OK to close the dialog box.

4.2.9 Selecting the steering group

In this mode, you can select the preconfigured steering group to
be used for steering the vessel.

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Seismic Track Mode

Note
This option is not available if there is only one defined steering
group.

Steering units belonging to groups, which are not selected for

steering, provide only alongships force.
To select the steering group, proceed as follows:
1 Select Auto Pilot→Steering to display the Steering dialog
box.
2 Select the Steering page and then select the appropriate
group.
3 Click Apply. The limits for the rudder angle are enabled.
4 Click OK to close the dialog box.

28 322656/A
 Operating Procedures

322656/A 29
 ©2008 Kongsberg Maritime

Kongsberg Maritime AS
P.O.Box 483 Telephone: +47 32 28 50 00
N-3601 Kongsberg, Telefax: +47 32 28 50 10
Norway Service: +47 815 35 355
www.kongsberg.com