Page 2 Continued from page 3 System Track can now be sailed manually or in auto- Automated Sailing of System Track,

ally or in auto- Automated Sailing of System Track,
Sailing along Pre-planned Tracks
Preparations, Parameterisation, Activation
Perform preparation, parameterisation and activation according to
"Using TRACKPILOT as Autopilot". In addition:
Selecting suitable position sensor: If possible, DGPS or GPS. On
ships with BSH or DNV-W1 approval, special features must be
observed 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"
Pre-planned Tracks
Pre-planned Tracks are defined by geographical waypoint coordi-
nates and should preferably be edited on a CHARTPILOT. Tracks
taken over from position sensors cannot be used by TRACKPILOT.
Selecting Pre-planned Track to be displayed: Click on MAP T ,
TRACK SYSTEM, LOAD, relevant catalog, tracks to be displayed,
then LOAD.
Generally switching display of track elements on/off: Click on
MAP, and under TRACK VISIBILITY switch the desired components
on/off by clicking.
Cancelling display of Pre-planned Tracks: Click on MAP, TRACK
SYSTEM, CLEAR, track(s) to be switched off, then CLEAR.
System Track
Checking the activation conditions: Course Limit must not have
mated manner:
Manual Sailing of System Track
Starting the manoeuvre: When position of Curved Head-
line corresponds to planned manoeuvre, press EXECUTE
key D . Change-over to Next Course is then performed
with radius displayed up until then in NEXT Radius
field L (like steering with Next data). After end of
manoeuvre, values defined in System Track for waypoint
then situated ahead are automatically entered as Next
data.
➥ Changing the Next data: Click on NEXT Course
field M or NEXT Radius field and change the Next
data (Next data flash).
Cancelling the change: Click on NEXT Course field
or NEXT Radius field with MORE, then cancel Next
data by clicking on CANCEL NEXT DATA. As a result,
System Track data are entered again.
With joystick, a course change can be performed at
any time. Curved Headline and Next data appear
again when new course is reached.
TRACKPILOT Data
Switches the unit to become TRACKPILOT master
Mode of TRACKPILOT
Track Mode
Automated sailing takes place in Track Mode. Before
switch-over to Track Mode, additional preparations must
be made:
Parameterisation of WPT APPROACHING alarm: In
TRACKPILOT SETTINGS menu, click on WPT
APPROACH field g and enter the time at which WPT
APPROACHING alarm is to appear in addition to WOP
alarm before a planned Wheel Over Point (WOP).
Action required if ship is not already on System
Track: Depending on how ship is to steer onto System
Track after switch-on of Track Mode:
Waypoint
System Track WOP
System Track
a α
b c
Temporary Tracks
a Ship is to steer onto System Track: Track Limit
must not be exceeded (no OFF TRACK message W
in System Track display). In TRACKPILOT SETTINGS
menu, select TO TRACK by clicking on Track Control
Mode button f .
Correction angle α is max. half the Course Limit.
b) Directly to next waypoint: Select Track Control
Mode TO WAYPOINT. A Temporary Track to the point
been reached (no OFF COURSE message V in System Track
display); in case a), this also applies to Track Limit.
Turning the ship: In case a): onto correction course. In cases b) to
d): onto Temporary Track.
Switching over to Track Mode: Click on mode display I , then
click on TRACK MODE or press TRACK MODE key B . Ship is now
guided along correction course or Temporary Track, and then along
System Track.
Confirming the manoeuvre:
On ships without DNV-W1 approval: 30 seconds before reaching
a WOP, the WOP alarm TP WHEEL OVER POINT appears. If
manoeuvre is to be performed as planned, press EXECUTE key D .
Pressing after reaching WOP starts manoeuvre immediately.
Without confirmation, manoeuvre is not performed.
On ships with DNV-W1 approval: 30 seconds before reaching a
WOP, the WOP alarm TP WPT EXECUTION appears. Confirm
alarm with EXECUTE key. If manoeuvre is not to be performed as
planned, switch Track Mode off before reaching WOP.
➥ On DNV-W1 ships, planned manoeuvre is performed even
without confirmation. Rudder Limit is possibly exceeded if
necessary.
Performing an avoidance manoeuvre: With joystick, a manual
course-change can be performed at any time. A switch-over to
Course Mode takes place automatically.
➥ Changing of parameters in Track Mode:
Next Radius: Switch Pilot Data off by clicking on PD button K .
Change Next Radius with joystick. After manoeuvre, switch Pilot
Data 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 a

Hier von DINA3 15 mm abtrennen

Every displayed Pre-planned Track can be sailed with the TRACK- p. 1 p. 2+3
PILOT, but must previously have been defined as the System Track H I is computed and displayed. Temporary Track, and there only outside the curve.
on a radar indicator (on the TRACKPILOT master if TRACKPILOT p. 3 c) Directly to a different waypoint: Click on MAP T ,
Switches Curved Switch-off of Track Mode: Switch-over to Course Mode or
has been activated). System Track is displayed in red. J Headline on/off TRACK SYSTEM, SELECT NEXT WPT button under
SYSTEM TRACK, the waypoint, then SELECT. The Heading Mode (existing Set Course is taken over; for details see
Defining the System Track: Click on MAP T , TRACK SYSTEM, Temporary Track to the point is displayed. Operating Instructions) or tap the joystick. Acknowledgement of
K Switches Pilot Data
the SET button under SYSTEM TRACK, the track, then SET. on/off d) Ship is situated before 1st waypoint: Temporary alarm TP END OF TRACK causes switch-over to Course Mode and
p. 2+3 take-over of actual course as the set course.
➥ System Track can be sailed by TRACKPILOT in predefined Track to the point is displayed.
P N M L
direction only. In case of doubt, check TRK display X in
System Track display. p. 3 p. 2+3
➥ If, in addition, a line now appears running from ship to a Next set course and
waypoint of System Track (or to edge of PPI if waypoint lies Set course and set radius set radius (Next data)
outside PPI), this is the Temporary Track (see "Automated System Track Display
Sailing of System Track, Track Mode"). p. 3
➥ Cancelling the definition of System Track: Click on MAP, Q Switching-on System Track display: System Track must have been
TRACK SYSTEM, and CANCEL button under SYSTEM TRACK. defined. If necessary, close any menus overlaid on System Track
display. If System Track display is covered by target data display: Click
Using the System Track data: For manual sailing of System Track, on OTHER button U , Track Data.
the set courses and set radii contained in System Track are used. In
addition, TRACKPILOT is automatically parameterised by means of Number and name of System Track
parameters (called Pilot Data) entered in System Track. Pre-
planned Tracks always contain parameters "Track Control Mode" Number and name of waypoint that was passed last (only
(see "Automated Sailing of System Track, Track Mode") and "Sailing OTHER in Track Control Mode TO TRACK)
Mode" (see below), and for the TRACKPILOT they can contain: button
Radius, Rudder Economy, Course Limit and Track Limit. All parame- Present waypoint
ters can be entered at any waypoint, and are applicable from there TRACKPILOT U Present Saiing Mode
onwards until value is changed. SETTINGS Menu p. 2
Switch-on of take-over of System Track data: Click on PD button see page 3 Present Track Control Mode
K (PD = Pilot Data); PD button must be green. R
➥ As a result, course to be sailed after next waypoint is displayed OFF COURSE: Course Limit
V is exceeded
as Next Course M , and the set radius to be used at next p. 2
waypoint is displayed as Next Radius L , together with corre-
W OFF TRACK: Track Limit
sponding Curved Headline. p. 2 is exceeded
➥ Pilot Data entered in System Track for present track-segment
now overwrite the existing set values. Track deviation; R = ship is
to right of track
Checking and (if necessary) correcting the parameters taken
over: Distance and bearing of present
- Rudder Economy, Course Limit and Track Limit - see page 1. waypoint
X
- Sailing Mode: Only if a Temporary Track is displayed: p. 2 Probable time of arrival at present waypoint
Specifying whether a waypoint more then 20 NM away is to be if existing speed is maintained
approached on great circle or on rhumb line: By clicking on
Sailing Mode button j , choose between RHUMB LINE and When near to present waypoint:
distance from wheel-over point
GREAT CIRCLE.
Direction of present leg
Setting the course correction for precise track-control in Track
Mode: In TRACKPILOT SETTINGS menu, set the field behind CSE
CORR h to AUTO. (For manual setting, see Operating Instruc- Probable sailing time up to present waypoint
T S When near to present waypoint: sailing time to wheel-over point
tions.)
p. 2 p. 3
 Page 1 Brief Operating Instructions
Track Keeping Functions
on RADARPILOT ATLAS 1000
WARNING: Observe safety precautions - see Operating Instructions.
TRACKPILOT ATLAS 9401
The TRACKPILOT ATLAS 9401 is a track controller for
automated and highly precise track-control of the
ship, and can optionally also perform the function of a
conventional 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 and
Course Mode) pointing in the direction of the set course,
or a Pre-planned Track (in Track Mode) in which the
voyage route is defined by geographic coordinates of
waypoints.
Course changes are basically sailed with defined radii
and are an integral part of a track.
General Info about Operating
The operating procedure for the TRACKPILOT is
completely integrated within the RADARPILOT ATLAS
Hier von DINA3 15 mm abtrennen
Using TRACKPILOT as Autopilot
Preparation
Selecting a suitable speed sensor: If possible, two-axis log
in Bottom Track mode, also position sensor with stable and
correct speed values, or other log.
On ships with BSH or DNV-W1 approval, special features must
be observed when selecting the sensor - see Operating
Instructions.
Sailing at minimum speed: Depends on ship; standard value
is 3 kt.
Parameterising the TRACKPILOT
Display of present parameters: In TRACKPILOT SETTINGS
menu (see page 3), the set parameters are displayed. There,
they can also be changed manually.
Loading state: Click on LOADING button Z , then click on
button that corresponds to loading state.
Continued from page 1
Activation/Deactivation, Heading Mode, Course Mode
Activation: Activation is performed with the steering mode selector
switch. As soon as a mode is displayed in field I in the TRACKPILOT
data, TRACKPILOT is switched to connect it to steering gear, i.e.
course control is performed with aid of TRACKPILOT.
On activation, existing compass course Q is taken over as set
course P . The mode to which switching occurs is always Heading
Mode.
➥ Heading Mode: Steering without taking account of drift angle (like
conventional autopilot). Influence of wind or current must be
corrected 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).
The set course in
The set course in
Course Mode
Heading Mode
Course (over ground or
through water)
Headmarker
Drift angle
In Course and Heading Mode, there are two possibili- Page 3
ties for changing the set course and set radius:
Steering with the Joystick
Changing the set course: Move joystick A to PORT
or 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 Next Data
Pilot Data must be switched off, PD button K must
not be green; if necessary, click on PD button.
Entering the Next data: Before intended manoeuvre,
click on NEXT Course field M (or press NEXT CSE
key C ) and enter new set course. If necessary, also
click on NEXT Radius field L (or press NEXT CSE
key) and enter a different set radius. Curved Headline
indicates planned manoeuvre and moves along toge-
ther with ship.

1000. Past positions

For TRACKPILOT and RADARPILOT ATLAS 1000, the
same operating principles apply - see Brief Operating
Instructions "Radar, ARPA, EPA Functions".
Switching TRACKPILOT on: TRACKPILOT electronics
unit is switched on by switching the first radar on (and
switched off by switching the last radar off).
Selecting the operating unit: TRACKPILOT can be
operated on any radar indicator equipped with a TRACK-
PILOT keyboard (situated to right of trackball), but only
on one radar indicator at a time. So that TRACKPILOT
can be operated on a particular radar indicator, that indi-
cator must be switched to become TRACKPILOT master:
Switching radar indicator to become TRACKPILOT
master: In TRACKPILOT data, click on TRACKPILOT
button H (see page 2) and then on MASTER. Or: Press
TRACKPILOT MASTER key G for at least 3 seconds.
➥ TRACKPILOT master can be recognised from fact
that TRACKPILOT button appears green and small
lamp above TRACKPILOT MASTER key is alight.
When TRACKPILOT is in activated
state, a course change can be
performed at any time (i.e.
regardless of mode, parameterisa-
tion etc.) by moving the joystick to
left or right.
Rudder Economy: Click on RUDDER ECONOMY field Y ,
then set economical control behaviour by clicking on a value
Switch-over between Heading/Course Mode: Click on mode
according to table:
display I , then click on desired mode or press HDG MODE or CSE
Rudder Economy Steering Weather MODE key B .
1 Precise Calm Switching off: With steering mode selector switch or an override faci-
2....3 Precise to tolerant Normal lity, switching back to manual steering can be performed at any time.
4....6 Tolerant Bad
Higher Very tolerant Very bad
Curved Headline
Rudder Limit: Click on RUDDER LIMIT field a and enter
Switching the Curved Headline display on/off: Click on CHL
maximum rudder angle that TRACKPILOT is to be able to set.
button J or press CHL/OFF key E . Switch-on is recommended.
Course Limit: Click on COURSE LIMIT field b and enter the
Meaning of Curved Headline:
Course Limit.
a) If no Next data have been entered: Manoeuvre defined by SET
Course Limit is smallest "actual course / set course" difference
Course P and SET Radius N .
at which TP COURSE LIMIT alarm appears. Because the
b) If Next data M and L have been entered: Pre-planned manoeuvre
Course Limit affects corrective steering in the case of devia-
defined by Next data.
tions from the track, precise track-control requires a large
Course Limit.
Curved Headline (shown here immediately before
Track Limit: Click on TRACK LIMIT field d and enter the
Track Limit. TRACKPILOT SETTINGS Menu R start of manoeuvre) which results from Next
Course and Next Radius and which becomes
Track Limit is smallest "deviation of ship's position from track" Opening the TRACKPILOT SETTINGS menu: Click on PILOT button active track after pressing of EXECUTE
value at which TP TRACK LIMIT alarm appears. Furthermore, S or press PILOT MENU key F , and click on TRACKPILOT
a small Track Limit produces more precise track-control, and a SETTINGS. If TRACKPILOT SETTINGS menu is covered: Click on
larger Track Limit produces steadier track-control. Examples of where Curved Headline was
OTHER button k , TRACK SYSTEM. displayed in the past
Drift Limit: Click on DRIFT LIMIT field e and enter maximum
drift to be compensated by TRACKPILOT. OTHER button
k p. 3 p. 1 Triggering a manoeuvre: When position of Curved
Y Headline corresponds to planned manoeuvre, press
Continued on page 3
Z Various TRACKPILOT EXECUTE key D . Course change is then performed
parameters with radius displayed up until then in NEXT Radius
a
b field.

d ➥ Curved Headline is now the track on which ship is

TRACKPILOT Keyboard e guided.
Track Control Mode
Changing of set course and set f p. 2 Correcting a triggered manoeuvre: Even after
Switching radar indicator p. 1
to become TRACKPILOT p. 3 radius; operating this causes WPT APPROACH alarm EXECUTE, set course and set radius can be changed
G A switch-over from Track Mode to g for additional early warning
master by means of joystick.
Course Mode p. 2 before reaching a WOP in
p. 3 Track Mode ➥ Not executing planned manoeuvre: Click on
p. 2+3 h NEXT Course field or NEXT Radius field with
Opening TRACKPILOT F
Switch-over of mode j p. 2 p. 2
SETTINGS menu B MORE, then cancel Next data by clicking on
Course correction for CANCEL NEXT DATA.
p. 3 Sailing Mode precise track-control in
p. 3 C Manual changing of Next data
Switching Curved E Track Mode
Headline on/off Storing of parameters, Continued on page 2
p. 2+3 Triggering the manoeuvre restarting of processor,
D defined by Next data recording of TRACKPILOT data: Closes the menu
See Operating Instructions

Item No.: ED 3031 G 102 Revision — (2001-07) Order No.: 300004633

k_tp_e.fm / 17.09.01