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Perform preparation, parameterisation and activation according to"Using TRACKPILOT as Autopilot". In addition:Selecting suitable position sensor: If possible, DGPS or GPS. Onships with BSH or DNV-W1 approval, special features must beobserved when selecting the sensor - see Operating Instructions.Checking accuracy of position data and (if necessary) perfor-ming position-error correction: See Brief Operating Instructions"Radar, ARPA, EPA Functions"

Preparations, Parameterisation, Activation

Sailing along Pre-planned Tracks

Pre-planned Tracks are defined by geographical waypoint coordi-nates and should preferably be edited on a CHARTPILOT. Trackstaken over from position sensors cannot be used by TRACKPILOT.

Selecting Pre-planned Track to be displayed: Click on MAP ,TRACK SYSTEM, LOAD, relevant catalog, tracks to be displayed,then LOAD.Generally switching display of track elements on/off: Click onMAP, and under TRACK VISIBILITY switch the desired componentson/off by clicking.Cancelling display of Pre-planned Tracks: Click on MAP, TRACKSYSTEM, CLEAR, track(s) to be switched off, then CLEAR.

Pre-planned Tracks

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Every displayed Pre-planned Track can be sailed with the TRACK-PILOT, but must previously have been defined as the System Trackon a radar indicator (on the TRACKPILOT master if TRACKPILOThas been activated). System Track is displayed in red.

Defining the System Track: Click on MAP , TRACK SYSTEM,the SET button under SYSTEM TRACK, the track, then SET.➥ System Track can be sailed by TRACKPILOT in predefined

direction only. In case of doubt, check TRK display inSystem Track display.

➥ If, in addition, a line now appears running from ship to awaypoint of System Track (or to edge of PPI if waypoint liesoutside PPI), this is the Temporary Track (see "AutomatedSailing of System Track, Track Mode").

➥ Cancelling the definition of System Track: Click on MAP,TRACK SYSTEM, and CANCEL button under SYSTEM TRACK.

Using the System Track data: For manual sailing of System Track,the set courses and set radii contained in System Track are used. Inaddition, TRACKPILOT is automatically parameterised by means ofparameters (called Pilot Data) entered in System Track. Pre-planned Tracks always contain parameters "Track Control Mode"(see "Automated Sailing of System Track, Track Mode") and "SailingMode" (see below), and for the TRACKPILOT they can contain:Radius, Rudder Economy, Course Limit and Track Limit. All parame-ters can be entered at any waypoint, and are applicable from thereonwards until value is changed.Switch-on of take-over of System Track data: Click on PD button

(PD = Pilot Data); button must be green.➥ As a result, course to be sailed after next waypoint is displayed

as Next Course , and the set radius to be used at nextwaypoint is displayed as Next Radius , together with corre-sponding Curved Headline.

➥ Pilot Data entered in System Track for present track-segmentnow overwrite the existing set values.

Checking and (if necessary) correcting the parameters takenover:- Rudder Economy, Course Limit and Track Limit - see page 1.- Sailing Mode: Only if a Temporary Track is displayed:

Specifying whether a waypoint more then 20 NM away is to beapproached on great circle or on rhumb line: By clicking onSailing Mode button , choose between RHUMB LINE andGREAT CIRCLE.

Setting the course correction for precise track-control in TrackMode: In TRACKPILOT SETTINGS menu, set the field behind CSECORR to AUTO. (For manual setting, see Operating Instruc-tions.)

System Track

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Automated sailing takes place in Track Mode. Beforeswitch-over to Track Mode, additional preparations mustbe made:

Parameterisation of WPT APPROACHING alarm: InTRACKPILOT SETTINGS menu, click on WPTAPPROACH field and enter the time at which WPTAPPROACHING alarm is to appear in addition to WOPalarm before a planned Wheel Over Point (WOP).

Action required if ship is not already on SystemTrack: Depending on how ship is to steer onto SystemTrack after switch-on of Track Mode:

a Ship is to steer onto System Track: Track Limitmust not be exceeded (no OFF TRACK message in System Track display). In TRACKPILOT SETTINGSmenu, select TO TRACK by clicking on Track ControlMode button .Correction angle α is max. half the Course Limit.

b) Directly to next waypoint: Select Track ControlMode TO WAYPOINT. A Temporary Track to the pointis computed and displayed.

c) Directly to a different waypoint: Click on MAP ,TRACK SYSTEM, SELECT NEXT WPT button underSYSTEM TRACK, the waypoint, then SELECT. TheTemporary Track to the point is displayed.

d) Ship is situated before 1st waypoint: TemporaryTrack to the point is displayed.

Automated Sailing of System Track,Track Mode

g

a

b c

Temporary Tracks

α

WOPSystem TrackSystem Track

Waypoint

W

f

T

System Track can now be sailed manually or in auto-mated manner:

Starting the manoeuvre: When position of Curved Head-line corresponds to planned manoeuvre, press EXECUTEkey . Change-over to Next Course is then performedwith radius displayed up until then in NEXT Radiusfield (like steering with Next data). After end ofmanoeuvre, values defined in System Track for waypointthen situated ahead are automatically entered as Nextdata.

➥ Changing the Next data: Click on NEXT Coursefield or NEXT Radius field and change the Nextdata (Next data flash).Cancelling the change: Click on NEXT Course fieldor NEXT Radius field with MORE, then cancel Nextdata by clicking on CANCEL NEXT DATA. As a result,System Track data are entered again.With joystick, a course change can be performed atany time. Curved Headline and Next data appearagain when new course is reached.

Manual Sailing of System Track

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M

Checking the activation conditions: Course Limit must not havebeen reached (no OFF COURSE message in System Trackdisplay); in case a), this also applies to Track Limit.Turning the ship: In case a): onto correction course. In cases b) tod): onto Temporary Track.

Switching over to Track Mode: Click on mode display , thenclick on TRACK MODE or press TRACK MODE key . Ship is nowguided along correction course or Temporary Track, and then alongSystem Track.

Confirming the manoeuvre:On ships without DNV-W1 approval: 30 seconds before reachinga WOP, the WOP alarm TP WHEEL OVER POINT appears. Ifmanoeuvre is to be performed as planned, press EXECUTE key .Pressing after reaching WOP starts manoeuvre immediately.Without confirmation, manoeuvre is not performed.On ships with DNV-W1 approval: 30 seconds before reaching aWOP, the WOP alarm TP WPT EXECUTION appears. Confirmalarm with EXECUTE key. If manoeuvre is not to be performed asplanned, switch Track Mode off before reaching WOP.➥ On DNV-W1 ships, planned manoeuvre is performed even

without confirmation. Rudder Limit is possibly exceeded ifnecessary.

Performing an avoidance manoeuvre: With joystick, a manualcourse-change can be performed at any time. A switch-over toCourse Mode takes place automatically.

➥ Changing of parameters in Track Mode:Next Radius: Switch Pilot Data off by clicking on PD button .Change Next Radius with joystick. After manoeuvre, switch PilotData on again.All others except Next Course: Change is possible at any time,but Track Control Mode not in a curve, Sailing Mode only on aTemporary Track, and there only outside the curve.

Switch-off of Track Mode: Switch-over to Course Mode orHeading Mode (existing Set Course is taken over; for details seeOperating Instructions) or tap the joystick. Acknowledgement ofalarm TP END OF TRACK causes switch-over to Course Mode andtake-over of actual course as the set course.

V

IB

D

K

Switching-on System Track display: System Track must have beendefined. If necessary, close any menus overlaid on System Trackdisplay. If System Track display is covered by target data display: Clickon OTHER button , Track Data.

System Track Display

U

Number and name of System Track

Number and name of waypoint that was passed last (only in Track Control Mode TO TRACK)

Present waypoint

Present Saiing Mode

Present Track Control Mode

OFF COURSE: Course Limit is exceeded

Track deviation; R = ship is to right of track

Distance and bearing of present waypoint

Probable time of arrival at present waypoint if existing speed is maintained

Probable sailing time up to present waypointWhen near to present waypoint: sailing time to wheel-over point

When near to present waypoint: distance from wheel-over point

Direction of present leg

V

W

p. 2

p. 2

p. 2

OFF TRACK: Track Limit is exceeded

OTHER button

Up. 2

X

TRACKPILOT Data

Switches the unit to become TRACKPILOT master

Mode of TRACKPILOT

Switches Pilot Data on/off

Switches Curved Headline on/off

Set course and set radiusNext set course and set radius (Next data)

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TRACKPILOTSETTINGS Menusee page 3

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Order No.: 300004633k_tp_e.fm / 17.09.01

Revision — (2001-07)Item No.: ED 3031 G 102

General Info about OperatingThe operating procedure for the TRACKPILOT iscompletely integrated within the RADARPILOT ATLAS1000.For TRACKPILOT and RADARPILOT ATLAS 1000, thesame operating principles apply - see Brief OperatingInstructions "Radar, ARPA, EPA Functions".

Switching TRACKPILOT on: TRACKPILOT electronicsunit is switched on by switching the first radar on (andswitched off by switching the last radar off).

Selecting the operating unit: TRACKPILOT can beoperated on any radar indicator equipped with a TRACK-PILOT keyboard (situated to right of trackball), but onlyon one radar indicator at a time. So that TRACKPILOTcan be operated on a particular radar indicator, that indi-cator must be switched to become TRACKPILOT master:

Switching radar indicator to become TRACKPILOTmaster: In TRACKPILOT data, click on TRACKPILOTbutton (see page 2) and then on MASTER. Or: PressTRACKPILOT MASTER key for at least 3 seconds.➥ TRACKPILOT master can be recognised from fact

that button appears green and smalllamp above TRACKPILOT MASTER key is alight.

HG

TRACKPILOT

TRACKPILOT ATLAS 9401The TRACKPILOT ATLAS 9401 is a track controller forautomated and highly precise track-control of theship, and can optionally also perform the function of aconventional adaptive autopilot and an adaptive auto-pilot.

The track on which the ship is guided by the TRACK-PILOT can be a straight line (in Heading Mode andCourse Mode) pointing in the direction of the set course,or a Pre-planned Track (in Track Mode) in which thevoyage route is defined by geographic coordinates ofwaypoints.Course changes are basically sailed with defined radiiand are an integral part of a track.

Using TRACKPILOT as Autopilot

Display of present parameters: In TRACKPILOT SETTINGSmenu (see page 3), the set parameters are displayed. There,they can also be changed manually.

Loading state: Click on LOADING button , then click onbutton that corresponds to loading state.

Rudder Economy: Click on RUDDER ECONOMY field ,then set economical control behaviour by clicking on a valueaccording to table:

Rudder Limit: Click on RUDDER LIMIT field and entermaximum rudder angle that TRACKPILOT is to be able to set.

Course Limit: Click on COURSE LIMIT field and enter theCourse Limit.Course Limit is smallest "actual course / set course" differenceat which TP COURSE LIMIT alarm appears. Because theCourse Limit affects corrective steering in the case of devia-tions from the track, precise track-control requires a largeCourse Limit.

Track Limit: Click on TRACK LIMIT field and enter theTrack Limit.Track Limit is smallest "deviation of ship's position from track"value at which TP TRACK LIMIT alarm appears. Furthermore,a small Track Limit produces more precise track-control, and alarger Track Limit produces steadier track-control.

Drift Limit: Click on DRIFT LIMIT field and enter maximumdrift to be compensated by TRACKPILOT.

Rudder Economy Steering Weather12....34....6Higher

PrecisePrecise to tolerantTolerantVery tolerant

CalmNormalBadVery bad

Parameterising the TRACKPILOT

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b

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e

Selecting a suitable speed sensor: If possible, two-axis login Bottom Track mode, also position sensor with stable andcorrect speed values, or other log.On ships with BSH or DNV-W1 approval, special features mustbe observed when selecting the sensor - see OperatingInstructions.

Sailing at minimum speed: Depends on ship; standard valueis 3 kt.

Preparation

Activation: Activation is performed with the steering mode selectorswitch. As soon as a mode is displayed in field in the TRACKPILOTdata, TRACKPILOT is switched to connect it to steering gear, i.e.course control is performed with aid of TRACKPILOT.On activation, existing compass course is taken over as setcourse . The mode to which switching occurs is always HeadingMode.➥ Heading Mode: Steering without taking account of drift angle (like

conventional autopilot). Influence of wind or current must becorrected manually by means of appropriate course-settings.Course Mode: Steering taking account of drift angle (if the neces-sary sensor information is available - see Operating Instructions).

Switch-over between Heading/Course Mode: Click on modedisplay , then click on desired mode or press HDG MODE or CSEMODE key .

Switching off: With steering mode selector switch or an override faci-lity, switching back to manual steering can be performed at any time.

Activation/Deactivation, Heading Mode, Course Mode

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QP

Course (over ground or through water)

Headmarker

Drift angle

The set course in Course Mode

Past positions

The set course in Heading Mode

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Switching the Curved Headline display on/off: Click on CHLbutton or press CHL/OFF key . Switch-on is recommended.

Meaning of Curved Headline:a) If no Next data have been entered: Manoeuvre defined by SET

Course and SET Radius .b) If Next data and have been entered: Pre-planned manoeuvre

defined by Next data.

Curved Headline

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Changing the set course: Move joystick to PORTor STBD. Course change is performed immediately.

Changing the set radius: Move joystick to +RAD or –RAD.➥ Brief "tapping" of joystick produces smallest

possible changes.➥ Curved Headline is the track on which ship is

guided.

Steering with the JoystickA

Pilot Data must be switched off, PD button mustnot be green; if necessary, click on PD button.

Entering the Next data: Before intended manoeuvre,click on NEXT Course field (or press NEXT CSEkey ) and enter new set course. If necessary, alsoclick on NEXT Radius field (or press NEXT CSEkey) and enter a different set radius. Curved Headlineindicates planned manoeuvre and moves along toge-ther with ship.

Triggering a manoeuvre: When position of CurvedHeadline corresponds to planned manoeuvre, pressEXECUTE key . Course change is then performedwith radius displayed up until then in NEXT Radiusfield.

➥ Curved Headline is now the track on which ship isguided.

Correcting a triggered manoeuvre: Even afterEXECUTE, set course and set radius can be changedby means of joystick.➥ Not executing planned manoeuvre: Click on

NEXT Course field or NEXT Radius field withMORE, then cancel Next data by clicking onCANCEL NEXT DATA.

Steering with Next DataK

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Curved Headline (shown here immediately before start of manoeuvre) which results from Next Course and Next Radius and which becomes active track after pressing of EXECUTE

Examples of where Curved Headline was displayed in the past

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Opening the TRACKPILOT SETTINGS menu: Click on PILOT button or press PILOT MENU key , and click on TRACKPILOT

SETTINGS. If TRACKPILOT SETTINGS menu is covered: Click onOTHER button , TRACK SYSTEM.

TRACKPILOT SETTINGS Menu R

S F

k

Closes the menu

Storing of parameters,restarting of processor,recording of TRACKPILOT data:See Operating Instructions

Various TRACKPILOT parameters

Track Control Mode

WPT APPROACH alarm for additional early warning before reaching a WOP in Track Mode

Course correction for precise track-control in Track Mode

Sailing Mode

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OTHER button

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TRACKPILOT Keyboard

Switching radar indicator to become TRACKPILOT master

Opening TRACKPILOT SETTINGS menu

Switching Curved Headline on/off

Changing of set course and set radius; operating this causes switch-over from Track Mode to Course Mode

Switch-over of mode

Manual changing of Next data

Triggering the manoeuvre defined by Next dataD

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When TRACKPILOT is in activatedstate, a course change can beperformed at any time (i.e.regardless of mode, parameterisa-tion etc.) by moving the joystick toleft or right.

In Course and Heading Mode, there are two possibili-ties for changing the set course and set radius:

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Track Keeping Functions

Brief Operating Instructions

WARNING: Observe safety precautions - see Operating Instructions.

on RADARPILOT ATLAS 1000