Kongsberg K-Pos DPM (OS)

Dynamic Positioning and

Position Mooring System
Operator Manual

Release 8.2

385576/E
September 2015 © Kongsberg Maritime AS
Document history
Document number: 385576
This version describes the operation of the K-Pos DPM at basis
Rev. A March 2014
software release 8.2.0.
This version describes the operation of the K-Pos DPM at basis
Rev. B April 2014
software release 8.2.0. Updated for Class ER.
This version describes the operation of the K-Pos DPM at basis
Rev. C June 2014
software release 8.2.1.
This version describes the operation of the K-Pos DPM at basis
Rev. D June 2015
software release 8.2.1. Updated missing references.
This version describes the operation of the K-Pos DPM at basis
Rev. E September 2015
software release 8.2.3.

The reader
This operator manual is intended as a reference manual for the system operator. This manual is based on
the assumption that the system operator is an experienced DP operator with 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: [email protected]

Kongsberg Maritime AS
www.kongsberg.com
 Operator Manual

Table of contents
Glossary..................................................................................................................12
K-POS DPM SYSTEM THEORY .......................................... 17
The K-Pos DPM system .........................................................................................17
Basic forces and motions........................................................................................18
K-Pos DPM system principles ...............................................................................19
The Extended Kalman Filter ........................................................................ 20
Mooring model ........................................................................................... 22
The Controller ............................................................................................ 24
Vessel motion damping in PM operation....................................................... 28
Thruster allocation ...................................................................................... 28
USER INTERFACE ............................................................ 29
Operator station ......................................................................................................29
Operator panel ........................................................................................................30
Push buttons ............................................................................................... 30
Input keypad............................................................................................... 32
Trackball.................................................................................................... 33
Joystick...................................................................................................... 33
Heading wheel............................................................................................ 33
Display layout.........................................................................................................35
Top bar....................................................................................................... 38
Dashboard layout........................................................................................ 41
Side bar...................................................................................................... 50
Working areas............................................................................................. 50
Dialog boxes .............................................................................................. 50
Display views .........................................................................................................55
Orientation of the OS and effect on display views ......................................... 55
Tooltip/hotspot cursor and change of cursor image ........................................ 55
Selecting display views and panes................................................................ 56
View control dialog boxes ........................................................................... 57
Zooming .................................................................................................... 58
Preselect dialog box .................................................................................... 58
SYSTEM SETTINGS .......................................................... 61
Changing user.........................................................................................................61
Printing the display picture.....................................................................................62
Printing system report ............................................................................................63
Adjusting the panel light ........................................................................................63
Dimming level............................................................................................ 63
Lamp test ................................................................................................... 64

385576/E 3
Kongsberg K-Pos DPM (OS)

Presentation Units dialog box.................................................................................65

Editing Presentation Units ........................................................................... 66
Vessel and sea current speed ........................................................................ 67
Wind, waves and sea current direction.......................................................... 67
Resetting the presentation............................................................................ 68
Set System Date/Time dialog box ..........................................................................68
Changing display colours .......................................................................................68
Changing the display palette on Operator Stations that are not set to have
an independent palette selection................................................................... 69
Changing the display palette on a single Operator Station .............................. 69
Alarm Limits dialog box ........................................................................................69
Position page .............................................................................................. 69
VRS page................................................................................................... 71
Gain dialog box ......................................................................................................72
Gain Level for High Precision and Relaxed controller mode .......................... 74
Quick model update................................................................................................75
Quick Model dialog box.............................................................................. 75
Rotation Center dialog box.....................................................................................76
JOYSTICK ....................................................................... 79
Joystick Settings dialog box ...................................................................................79
Rotation centre for joystick manoeuvring ..............................................................81
Joystick Calibrate dialog box ................................................................................83
Calibrating the joystick ............................................................................... 83
MESSAGE SYSTEM ........................................................... 85
System diagnostics .................................................................................................85
Operational checks .................................................................................................85
Audible and visual indications ..................................................................... 86
Message priority .....................................................................................................86
Presentation of messages........................................................................................87
Defining the time span for the Historic Event Page........................................ 90
Alarm states ............................................................................................................91
Acknowledging messages ......................................................................................92
Silence button............................................................................................. 93
Alarm lamps ...........................................................................................................93
Indications of errors related to the ALARMS button group ............................. 93
Messages on the printer ..........................................................................................94
Event Printer dialog box.............................................................................. 94
Message explanations — online help .....................................................................95
Operator pop-up messages .....................................................................................96
STARTING OPERATIONS ................................................. 98
System start-up/shut-down and OS stop/restart .....................................................98

4 385576/E
 Operator Manual

Stop/Restart dialog box ............................................................................... 98

Command transfer ..................................................................................................99
Taking command ...................................................................................... 100
Giving command ...................................................................................... 100
Requesting command ................................................................................ 101
Command Control dialog box ..............................................................................101
DP-OS page ............................................................................................. 102
Overview page ......................................................................................... 102
Give page................................................................................................. 104
Command Groups..................................................................................... 104
Controls and indicators.............................................................................. 105
Connect dialog box...............................................................................................107
CONTROLLER PROCESS STATIONS ................................ 108
Resetting controller process stations ....................................................................108
Resetting the controller PS in a single-computer system .............................. 108
Resetting one controller PS in a dual or triple redundant system................... 108
Resetting all controller PSs in a dual or triple redundant system ................... 109
Redundant systems ............................................................................................... 110
Error objects............................................................................................. 110
Dual redundant system .............................................................................. 110
Triple redundant system .............................................................................111
Redundant Stations dialog box................................................................... 112
SENSORS ...................................................................... 116
Gyrocompasses..................................................................................................... 116
Sensors dialog box — Gyro page ............................................................... 116
Gyro status lamp....................................................................................... 118
Displayed heading information .................................................................. 118
Rejection of heading measurements ........................................................... 118
Faulty gyrocompasses ............................................................................... 119
Heading dropout ....................................................................................... 119
Gyro Deviation dialog box ........................................................................ 120
Wind sensors.........................................................................................................121
Sensors dialog box — Wind page............................................................... 121
Wind status lamp ...................................................................................... 123
Faulty wind sensors .................................................................................. 123
Rejection of faulty wind data ..................................................................... 124
Operating without wind sensor input .......................................................... 125
Vertical reference sensors (VRS) .........................................................................125
Sensors dialog box — VRS page ............................................................... 125
VRS status lamp ....................................................................................... 126
Displayed VRS information....................................................................... 127
Faulty VRS .............................................................................................. 127

385576/E 5
Kongsberg K-Pos DPM (OS)

Sensors dialog box — Speed page .......................................................................127

Sensors dialog box — Draught page ....................................................................130
Sensors dialog box — Sea Current page ..............................................................131
Sensors dialog box — Wave page ........................................................................132
Sensors dialog box — Depth page .......................................................................134
Sensors dialog box — Rate Of Turn page............................................................136
Mooring Sensors and Alarms dialog box .............................................................137
Tension Sensors page ................................................................................ 137
Length Sensors page ................................................................................. 140
Turret Sensor page .................................................................................... 142
Saving and restoring data .......................................................................... 144
POSITION INFORMATION ............................................. 146
Handling position information .............................................................................146
Position Presentation dialog box ..........................................................................147
Datum Details dialog box.....................................................................................150
Local N/E Properties dialog box ..........................................................................151
UTM Properties dialog box ..................................................................................152
Methods for enabling position-reference systems................................................153
Panel buttons ........................................................................................................154
Reference System Settings dialog box .................................................................154
Reference System dialog box ...............................................................................157
Enable page.............................................................................................. 157
Weight page ............................................................................................. 158
Validation page ......................................................................................... 159
Reference System Properties dialog box..............................................................160
Quality Filter Actions................................................................................ 162
Coordinate systems...............................................................................................163
Global and local position-reference systems ............................................... 163
System datum ........................................................................................... 164
The reference origin.................................................................................. 164
Tests on position measurements ...........................................................................165
Standard deviation of position measurements.............................................. 165
Freeze test ................................................................................................ 166
Variance test ............................................................................................. 166
Prediction test........................................................................................... 167
Divergence test ......................................................................................... 167
Median test............................................................................................... 168
Procedures for enabling position-reference systems ............................................170
Enabling the first position-reference system................................................ 170
Enabling other position-reference systems .................................................. 171
Changing the reference origin ..............................................................................172

6 385576/E
 Operator Manual

Position dropout ...................................................................................................172

MAIN MODES AND OPERATING PROCEDURES ............... 174
Standby mode .......................................................................................................174
Returning to Standby mode/manual levers .................................................. 175
Joystick mode .......................................................................................................175
From Standby mode to Joystick mode ........................................................ 176
Joystick control of position and heading ..................................................... 176
Position and heading information............................................................... 177
Joystick electrical failure ........................................................................... 177
Mixed joystick/auto modes........................................................................ 177
Joystick mode with automatic heading control ............................................ 177
Joystick mode with automatic position control in both surge and sway........... 178
Joystick mode with automatic stabilisation ................................................. 179
Auto Position mode ..............................................................................................181
From Joystick mode to Auto Position mode................................................ 181
Anchor Handling mode ........................................................................................182
Preparation ............................................................................................... 183
Entering the Anchor Handling mode .......................................................... 184
Thruster control ........................................................................................ 184
Deploying anchors .................................................................................... 185
Accepting set anchors ............................................................................... 185
Defining the forces due to risers................................................................. 186
Position Mooring mode ........................................................................................187
Preparation ............................................................................................... 187
Entering the Position Mooring mode .......................................................... 188
Mooring limits.......................................................................................... 188
Line break detection.................................................................................. 188
Thruster control ........................................................................................ 188
Modifying the mooring system .................................................................. 189
CHANGING THE POSITION SETPOINT ........................... 190
Stopping the movement during change of position..............................................190
Marking a new position setpoint on the Posplot view..........................................191
Position R/B dialog box (range/bearing)..............................................................192
Position Inc dialog box (incremental) ..................................................................193
Position dialog box ...............................................................................................193
Inc page ................................................................................................... 194
R/B page .................................................................................................. 195
Abs page .................................................................................................. 196
Speed page ............................................................................................... 196
Speed Setpoint dialog box ....................................................................................197
Acceleration/Deceleration Settings dialog box ....................................................198

385576/E 7
Kongsberg K-Pos DPM (OS)

CHANGING THE HEADING SETPOINT ............................ 201

Stopping the rotation during change of heading ..................................................202
Marking a new heading setpoint on the Posplot view..........................................202
Heading Wheel and its associated buttons ...........................................................203
Heading dialog box ..............................................................................................204
Heading page............................................................................................ 204
Rate Of Turn page..................................................................................... 206
Acceleration/deceleration factors in the yaw axis ................................................207
POSITION MOORING FUNCTIONS ................................. 209
Axis Control dialog box .......................................................................................209
Restoring Position Mooring mode after a shut-down .......................................... 211
Quick Set-up dialog box.......................................................................................213
Mooring System dialog box .................................................................................215
Defining the mooring pattern ..................................................................... 216
Defining the line segment data ................................................................... 218
Defining data for single risers .................................................................... 219
Defining data for riser systems................................................................... 221
Defining fairlead positions......................................................................... 222
Updating the mooring model ..................................................................... 223
Saving and restoring data .......................................................................... 224
Automatic update of the mooring model..............................................................225
Line length changes .................................................................................. 225
Change of reference origin ........................................................................ 226
Automatic updating not possible ................................................................ 226
Anchor Lines dialog box ......................................................................................227
Numeric page ........................................................................................... 227
Tension page ............................................................................................ 228
Length page.............................................................................................. 229
Line break detection .............................................................................................230
Acting on line break alarm ...................................................................................231
Line Break dialog box ..........................................................................................232
Tension optimisation and move-up ......................................................................233
Tension Optimisation Settings dialog box............................................................234
Tension Optimisation page ........................................................................ 234
Move-up Constraints page ......................................................................... 236
Tension Optimisation Results dialog box.............................................................238
Extreme-Motion Analysis Settings dialog box ....................................................240
Extreme-Motion Analysis Results dialog box......................................................240
THRUSTERS .................................................................. 243
Enabling thrusters.................................................................................................243
Thruster Enable dialog box........................................................................ 244

8 385576/E
 Operator Manual

Automatic Thruster Start dialog box ....................................................................245

Thruster Allocation dialog box.............................................................................246
Allocation Settings dialog box .............................................................................249
Rudder/Nozzle control .........................................................................................251
Power optimal allocation......................................................................................251
Power Optimal Allocation dialog box..................................................................252
Thruster biasing ....................................................................................................253
Thruster Biasing dialog box .................................................................................253
Manual selection of thruster biasing ........................................................... 254
Automatically changing bias available ....................................................... 255
Turn factor ............................................................................................... 260
Angle factor ............................................................................................. 261
Inwards .................................................................................................... 262
Thruster Combinator Control Settings dialog box ...............................................264
Thruster Run-in dialog box ..................................................................................265
Clutch Settings dialog box ...................................................................................266
POWER SYSTEM ............................................................ 268
Power monitoring .................................................................................................268
Power load monitoring and blackout prevention .................................................268
SYSTEM STATUS INFORMATION ................................... 271
Remote support.....................................................................................................271
Print Status dialog box .........................................................................................273
Export Log Files dialog box .................................................................................275
About dialog box ..................................................................................................275
SYSTEM STATUS MONITORING ..................................... 278
Introduction ..........................................................................................................278
System architecture ..............................................................................................278
Operator stations....................................................................................... 279
Process stations ........................................................................................ 279
IO system................................................................................................. 280
Monitoring functions................................................................................. 281
Equipment dialog box ..........................................................................................282
PS page .................................................................................................... 283
PS Redundancy page................................................................................. 284
OS/HS page.............................................................................................. 285
Event Printer page .................................................................................... 286
Net Status................................................................................................. 287
Print Image............................................................................................... 288
Station Explorer dialog box..................................................................................289
IO Manager dialog box.........................................................................................291
RBUS IO Image ...................................................................................................294

385576/E 9
Kongsberg K-Pos DPM (OS)

Overview level ......................................................................................... 294

Detailed level ........................................................................................... 296
IO Terminal Block dialog box..............................................................................298
Shortcut menu .......................................................................................... 301
Signal Conditioning elements .................................................................... 301
IO Point Browser dialog box................................................................................303
Properties — DpPs Serial port .............................................................................306
SerPort page ............................................................................................. 307
Disable status page ................................................................................... 308
Resetting a disabled serial line .............................................................................309
DP ONLINE CONSEQUENCE ANALYSIS .......................... 312
DP online consequence analysis...........................................................................312
Selecting the DP class ..........................................................................................313
Consequence analysis status messages.................................................................313
Consequence analysis alarm messages.................................................................314
MOORING CONSEQUENCE ANALYSIS ............................ 315
Mooring Consequence Analysis...........................................................................315
Acting on alarm ....................................................................................................316
Mooring Consequence Analysis Settings dialog box...........................................316
Failures page ............................................................................................ 317
Reaction after linebreak page..................................................................... 318
Position Limits page ................................................................................. 319
Tension Limits page .................................................................................. 320
Analyze now ............................................................................................ 320
Saving and restoring data .......................................................................... 321
Mooring Consequence Analysis Results dialog box ............................................322
DISPLAY VIEWS............................................................ 323
Catenary profile view ...........................................................................................323
Catenary Profile Plot view control.............................................................. 325
Diesel view ...........................................................................................................326
Joystick view ........................................................................................................328
LTW view .............................................................................................................332
Light Taut Wire Plot view control .............................................................. 336
Mooring consequence analysis view ....................................................................337
PM Consequence Plot view control............................................................ 339
Numeric view .......................................................................................................341
Posplot view .........................................................................................................344
Mooring pattern display (Posplot view) ...................................................... 350
Riser display (Posplot view) ...................................................................... 352
Posplot view — riser disconnect limit ........................................................ 353
Posplot view control ................................................................................. 355

10 385576/E
 Operator Manual

EBL dialog box ........................................................................................ 359

Panning function....................................................................................... 359
Power view ...........................................................................................................360
Power Plot view control ............................................................................ 365
Power consumption view .....................................................................................366
Reference system main view ................................................................................367
Refsys view control .................................................................................. 373
Reference system status view...............................................................................376
Rotation center view.............................................................................................378
Sensor view ..........................................................................................................378
Thruster forces view .............................................................................................382
Thruster main view...............................................................................................384
Thruster view — tunnel thruster ..........................................................................389
Thruster Sub Plot view controls ................................................................. 390
Thruster view — azimuth thruster .......................................................................392
Thruster Sub Plot view controls ................................................................. 393
Thruster view — propeller/rudder.......................................................................395
Thruster Sub Plot view controls ................................................................. 397
Thruster setpoint feedback view...........................................................................398
Trends view ..........................................................................................................400
Trend Plot view control ............................................................................. 403

385576/E 11
Kongsberg K-Pos DPM (OS)

Glossary

Abbreviations
ARP Alternative Rotation Point
AP Autopilot (a device for automatic heading control)
BIST Built-In Self Test
BITE Built-In Test Equipment
cPos Kongsberg Compact Dynamic Positioning
CCW Counter Clockwise
CG Centre of Gravity
COG Course Over Ground
CW Clockwise
DGPS Differential GPS
DP Dynamic Positioning
DPC DP Controller
DPM Dynamic Positioning and Position Mooring
DQI Differential Quality Indicator
EBL Electronic Bearing Line
GPS Global Positioning System
HDOP Horizontal Dilution Of Precision
HPR Hydroacoustic Position Reference
IAS Integrated Automation System
I/O Input/Output
IMO International Maritime Organisation
KM Kongsberg Maritime
K-Pos Kongsberg Dynamic Positioning system
LTW Light-weight Taut Wire
MOB MOBile transponder
OS Operator Station
OT Operator Terminal
PM Position Mooring
PMS Power Management System
PS Process Station
RIO Remote Input - Output
rms root mean square

12 385576/E
 Operator Manual

ROT Rate Of Turn

RPM Revolutions Per Minute
UPS Uninterruptible Power Supply
UTC Universal Time Coordinated
UTM Universal Transverse Mercator
VRS Vertical Reference Sensor
WGS World Geodetic System
WOP Wheel Over Point
WP WayPoint
WT Wing Terminal

385576/E 13
Kongsberg K-Pos DPM (OS)

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 360º.
Blackout A method of preventing a power failure due to overloading of the
prevention supply generators.
Cartesian A coordinate system where the axes are mutually-perpendicular
coordinate straight lines.
system
Command A group of functions that reflect the way the system will operate
group for a specific process area, for example, Propulsion and Propulsion
Simulation.
Controller A group of one or more controller process stations.
group
Course The horizontal direction in which a vessel is steered or is intended
to be steered, expressed as angular distance from north, usually
from 000º at north, clockwise through 360º. Differs from
Heading.
Crab angle The angle between the vessel heading and the track.
Cross-track The distance from the vessel's present position to the closest point
error on the track.
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.
Feedback Signals returned from the process (vessel) and used as input
signals to the Vessel Model.
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 earth's rotation and gravity.

14 385576/E
 Operator Manual

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 000º at the reference
direction clockwise through 360º. Differs from Course.
International Formally called IMCO, the IMO is the specialised agency of the
Maritime United Nations responsible for maritime safety and efficiency
Organisation 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.
Leg The straight line between two waypoints.
Log An instrument for measuring the speed or distance or both
travelled by a vessel.
Median value A number dividing the higher half of a sample or population from
the lower half, i.e. the middle number.
Navigation leg The leg of a voyage on which the vessel is currently travelling.
Process Station One Central Processing Unit (CPU) plus I/O 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 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 vessel's heading.
Relative wind The speed and relative direction from which the wind appears to
blow with reference to the moving vessel.
Route A planned course of travel, usually composed of more than one
navigation leg.
Standard The square root of the Variance.
Deviation
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 vessel's propulsion system, such as an azimuth thruster, tunnel
thruster, main propulsion or rudder.
Track The intended or desired horizontal direction of travel with respect
to the earth.

385576/E 15
Kongsberg K-Pos DPM (OS)

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.
Unavailable Describes a status indication or entry field that is shown but
appears dimmed. An unavailable entry field cannot be changed.
Variance A measure of the expected deviation from the mean. The square
root of the variance is the standard deviation.
Vessel Reference A mathematical model of the vessel which makes it possible to
Model simulate vessel movements and behaviour in the horizontal plane
(surge, sway and yaw).
Waypoint A defined position or reference point on a track.
Wheel-over The point where a vessel is commanded to change heading before
point a waypoint.
Yaw Vessel rotation about the vertical axis (change of heading).

16 385576/E
 K-Pos DPM system theory

K-Pos DPM system theory

This section contains the following topics:

The K-Pos DPM system ..................................................................................................17
Basic forces and motions .................................................................................................18
K-Pos DPM system principles .........................................................................................19

The K-Pos DPM system

Kongsberg K-Pos DPM system is a computerised system for automatic position and
heading control of a vessel and automatic monitoring, positioning and heading control
when the vessel is moored.
To control the vessel's heading, the K-Pos DPM system uses data from one or more
gyrocompasses, while at least one position-reference system (for example, DGPS or
hydroacoustics) enables the K-Pos DPM system to position the vessel.
Setpoints for heading and position are specified by the operator and are then processed
by the K-Pos DPM system to provide thrust control signals to the vessel's thruster and
main propeller systems. The K-Pos DPM 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 K-Pos DPM system also provides a manual joystick control which may be used for
manual control alone or for combined manual/auto control.
Without a position-reference system, the K-Pos DPM system can provide automatic
stabilization and control of the vessel heading using the gyrocompass as the heading
reference.
The DPM system includes control strategies that will reduce fuel consumption and
greenhouse gases.
The following functions are available for a moored vessel:
• Monitoring of the mooring system and the vessel's movements
• Line break detection and automatic compensation for lost mooring force using the
thrusters/propellers
• Calculation of the consequences of line breaks and power blackout

385576/E 17
Kongsberg K-Pos DPM (OS)

• Calculation of the required changes in anchor line length when optimising the
mooring system, or when moving the vessel within the mooring arrangement
• A simulator for planning operations before they are performed and for training
personnel

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 vessel's propulsion system and mooring lines.
The term “forces” in the following sections includes both forces and yawing moments,
unless otherwise stated. The vessel's 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 system 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 system calculates the forces that the thrusters must produce in order to control the
vessel's motion in three degrees of freedom - surge, sway and yaw - in the horizontal
plane.

Figure 1 Forces and motions

The vessel also moves in three vertical degrees of freedom: pitch, roll and heave.

18 385576/E
 K-Pos DPM system theory

Figure 2 Pitch, roll and heave

Pitch Roll Heave

(CD3292) (+ = bow up) (+ = starboard down) (+ = down)

The pitch and roll motions are not controlled by the K-Pos DPM 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 K-Pos DPM system does not control or require information about the heave motion,
but the motion can be measured and displayed.

K-Pos DPM system principles

A simplified block diagram of the K-Pos DPM system is shown in system principles
Figure 3, and described in the sections that follow.

Figure 3 K-Pos DPM system block diagram

385576/E 19
Kongsberg K-Pos DPM (OS)

The K-Pos DPM 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 vessel's 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.
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 vessel's heading and position are measured using the gyrocompasses and
position-reference systems, and are used as input data to the K-Pos DPM 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 4 applies to operations in DP modes. The Extended Kalman Filter will for
operations in PM include a Mooring Model (see Figure 5).

Figure 4 Simplified block diagram showing the extended Kalman Filter

20 385576/E
 K-Pos DPM system theory

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.
• 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 system's 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 Model's 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 K-Pos DPM 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.
The 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
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.
• 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.

385576/E 21
Kongsberg K-Pos DPM (OS)

Mooring model
The Extended Kalman Filter will, for operations in PM modes, include a Mooring Model.

Figure 5 Simplified block diagram showing the extended Kalman Filter and the
Mooring Model

Each anchor line must be equipped with sensors for measuring line tension and line
length. However, since it is difficult to achieve accurate and stable measurements from a
line tension sensor, the operational monitoring of the moored vessel is normally based on
calculated tensions. The Mooring Model calculates a line characteristics for each anchor
line which describes the mooring force as a function of line length and water depth, and
the calculated line tensions are used by the system. The catenary profile of the anchor
line, the touchdown point and the anchor coordinates are also calculated.

Line characteristics
The calculation of the line characteristics is based on the following information:
• Water depth
• Line length
• Initial line tension (pretension)
• Anchor line parameters (such as weight in water, elasticity, bottom friction)
The line characteristics, illustrated in Figure 6, shows how the tension in the anchor line
varies with the distance from the vessel to the anchor (for a fixed length of anchor line).
The distance to the anchor can be calculated from the vessel's position.

22 385576/E
 K-Pos DPM system theory

The tension in the anchor line is extracted from the line characteristics according to the
vessel position and the current line length.

Figure 6 Line characteristics

Tension

(CD3321) Distance from anchor

While deploying anchors, or in other cases where it is not possible to calculate a line
characteristics, you can instruct the system to use either the measured tension directly or
a manually entered tension value.

Line length
The requirements for anchor line length measurements are as follows:
• Under normal circumstances, the measured line length does not need to be exact, but
the measured change in length must be correct when the winch is running.
• The measured line length must not vary when the winch is stopped.
The line length measurements are filtered to obtain a stable line length to work with.
Changes in the filtered line length are used to adjust the line characteristics and hence the
calculated tension.
If a length sensor is not functional, a manually-input value can be used.

Line tension
If a line tension sensor is not functional, the sensor can be disabled and a value entered
manually, but the system will no longer be able to detect a line break in that anchor line.

385576/E 23
Kongsberg K-Pos DPM (OS)

The Controller
The controller calculates the resulting force to be exerted by the thrusters/propellers in
order for the vessel to remain on station.

DP control strategy
In station-keeping operations, the K-Pos DPM controller can be working in several of
the following modes, all with special characteristics:
• High Precision control
• Relaxed control
• Green control
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.
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 mainly applicable for calm weather conditions.
Green control uses a different control technology called non-linear Model Predictive
Control, which is optimised for precise area keeping with minimum power consumption.
Green control is applicable in all weather conditions.
The transition between K-Pos DPM 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 vessel's
velocity/heading rate, drive the excursion feedback. The differences are multiplied by
gain factors giving a force demand (restoring demand and damping demand) required
to bring the vessel back to its setpoint values while also slowing down its movements.
The main difference between High Precision control and Relaxed control is the
restoring characteristics of the two controller types:

24 385576/E
 K-Pos DPM system theory

Figure 7 High Precision and Relaxed control

Thrust

High precision

Relaxed

(CD3320) Position deviation

• Wind Feed-Forward
In order to counteract the wind forces as quickly as possible, the feed-forward concept
is used. This means that the K-Pos DPM 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.
• Residual Force 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
demand 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 8).

385576/E 25
Kongsberg K-Pos DPM (OS)

Figure 8 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 9.
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 predicted position and heading are found
step–by–step for the whole prediction horizon (1 to 2 minutes).
The non-linear Model Predictive Controller is an online optimisation function, finding
the best compromise between using thrust and predicted overstepping of operational
boundaries.

26 385576/E
 K-Pos DPM system theory

Figure 9 Green control structure

PM control strategy
During operations in PM modes, the K-Pos DPM Controller is working in a mode with
close relationship to the High Precision Control mode available for operations in DP
modes (see The Controller on page 24).
• Excursion Feedback
See High Precision and Relaxed control on page 24.
During operation, damping control is always implicitly selected whenever automatic
heading/position control is used. In Anchor Handling and Position Mooring modes it
is possible to use pure damping control.
• Mooring Feed-Forward
In order to move the moored vessel to its desired position, mooring feed-forward is
applied based on calculated mooring forces.
• Wind Feed-Forward
See High Precision and Relaxed control on page 24.
• Sea Current Feed-Forward
In order to counteract the sea current forces as quickly as possible, the feed-forward
concept is used. This means that the K-Pos DPM system will not allow the vessel
to drift away from the required position, but counteracts the sea current - induced
forces as soon as they are detected. This functionality requires interface to sea current
sensors. If sea current measurement isn't available the sea current - induced forces
will be included in the Residual Feedback.
• Residual Force Feedback (Error Force)

385576/E 27
Kongsberg K-Pos DPM (OS)

The excursion feedback, mooring feed-forward, wind feed-forward and sea current
feed-forward are not sufficient to bring the vessel back to the desired setpoints due
to residual forces (the sum of non-modelled forces together with any error in the
modelling). The system evaluates these forces over time, and calculates the force
demand required to counteract them.

Vessel motion damping in PM operation

Automatic position control and vessel motion damping are handled differently for DP
and PM operation. During DP operation, damping control is always implicitly selected
whenever automatic position control is used. However, in the Anchor Handling and
Position Mooring modes the damping function is controlled separately and can be
combined with both automatic and joystick position control.

Force demand for axes with damping control

When damping control is active, the controller orders a force demand which is
proportional to the deviation between the wanted and actual speed. This part of the force
demand therefore acts as an additional damping. The wanted speed is compared with
the estimated speed from the Vessel Model to obtain the deviation. If the vessel is to
maintain a stationary position, the wanted speed will be zero.

Thruster allocation
The controller of the K-Pos DPM system continuously calculates the actual force
requirements in the alongships and athwartships directions (the force demand), and the
required rotational moment (the turning moment demand).
The Thruster Allocation distributes these demands 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.
If it is not possible to maintain both the turning moment and the force demand due
to insufficient available thrust, priority is normally set to obtain the turning moment
demand (heading).
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 allocation is the primary barrier for preventing blackouts and requires the
same information as that required for Power Load Monitoring and Blackout Prevention.

28 385576/E
 User interface

User interface

This section contains the following topics:

Operator station................................................................................................................29
Operator panel..................................................................................................................30
Display layout ..................................................................................................................35
Display views...................................................................................................................55

Operator station
The K-Pos DPM operator station
includes a high-resolution colour flat
screen for monitoring and operation
of the system, and an operator panel
with push buttons, lamps and joystick
controls.
The power switch and adjustment
controls for the screen are placed on
the right hand side of the screen. The
use of the power switch and adjustment
controls is described in the Hardware
Module Description for the screen.
Some systems are delivered with a
secondary screen which includes the
same display layout and information,
but the operator is allowed to select
panes also on the dashboard.

385576/E 29
Kongsberg K-Pos DPM (OS)

Operator panel
The operator panel provides:
• Dedicated buttons (most of these have status lamps)
• Keypad
• Trackball
• 3-axis joystick
• Heading wheel and buttons

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 white line along the lower edge.

30 385576/E
 User interface

Figure 10 Examples of buttons: double press (TAKE button for taking command) and
single press (ACK button for acknowledging messages)

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.
In the DP operating modes, three additional buttons allow you to select individual axes
for automatic control. These buttons are referred to as the SURGE, SWAY and YAW
buttons throughout this manual. In the PM operating modes (Anchor Handling and
Position Mooring), these buttons provide a short-cut to the Axis Control dialog box (see
Axis Control dialog box on page 209). The status lamps for these buttons indicate which
axes are currently selected for automatic position/heading control.
Figure 11 shows the button arrangement for an OS where the operator looks in the
alongships direction whilst looking at the screen.

Figure 11 Surge, sway and yaw buttons on an OS that is orientated in the alongships
direction

Figure 12 shows the button arrangement for an OS where the operator looks in the
athwartships direction whilst looking at the screen.

Figure 12 Sway, surge and yaw buttons on an OS that is orientated in the athwartships
direction

Controls
The CONTROLS button group contains buttons for accessing system functions and
dialog boxes.

Views
The VIEWS button group contains buttons for selecting the view to be displayed in the
main working area of the screen.

385576/E 31
Kongsberg K-Pos DPM (OS)

Thrusters
The THRUSTERS button group contains buttons for enabling thrusters.

Sensors
The SENSORS button group contains buttons for enabling position-reference systems
and for initiating dialog boxes related to other system sensors.

Command
The COMMAND button group contains buttons for transferring command to one Operator
Station or operator terminal from another.

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 Emergency or Alarm message that
caused it.

For more information about messages and the ALARMS button group, see Message
system on page 85.

Input keypad
The INPUT keypad provides keys that are used to enter values or text into dialog boxes.
This button toggles between numeric and alphanumeric mode.
Numeric mode is the default. Press the button for one second to
toggle. A short beep will confirm the change. The lamp is lit
green when the panel is in alphanumeric mode (letters) and not
lit when in numeric mode (numbers).
When the panel is in numeric mode and any of the numeric keys
are pressed, the corresponding number is entered.
When the panel is in alphanumeric mode and any of the numeric
keys from 2 through 9 is pressed once, the first letter on that key is
entered. Press the key twice to enter the second letter, three times
to enter the third letter and four times to enter the fourth letter.
In alphanumeric mode this button toggles between non-capital
and capital letters. Non-capital letters is the default. Press the
button for one second to toggle.
Pressing this button deletes one character to the left (backspace).

32 385576/E
 User interface

This is the ENTER key. Pressing this key applies the value or text
you have written to the system (i.e. corresponds with clicking
the OK button on a dialog box).

PAGE UP Same functions as on a standard keyboard.

PAGE DOWN
HOME
ESC

Trackball
The TRACKBALL is used to position the cursor on the screen.
The tree outer buttons are used as the buttons on a computer
mouse:
• 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.
The four inner buttons are used as the arrow buttons on a computer keyboard.
Note
Be careful when using the outer buttons so that you don’t press the inner Up button at
the same time.

Joystick
In 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 comprises one heading wheel and seven buttons. Three of these
buttons are located in front. The other four form a circle close to the heading wheel.

385576/E 33
Kongsberg K-Pos DPM (OS)

The functions that are available depend on the present mode.

HEADING (DECREASE/ACTIVATE/INCREASE)
To perform a change of heading using the heading wheel, one of these 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.
HEADING WHEEL
This is used for setting a new heading.
RATE OF TURN
TURN RADIUS
For adjusting the Rate Of Turn (ROT) or Turn Radius.
DISTANCE TO TURN
For adjusting the Distance To Turn.

34 385576/E
 User interface

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 in the following figure.
In addition to these, dialog boxes are displayed whenever operator interaction is required.

In some deliveries other display sizes are used. The principles for dividing the display
into top bar, dashboard and working areas, as well as the principles of operation are the
same as for the display with aspect ratio 16:9. Example of display layout for ratio 16:9.

385576/E 35
Kongsberg K-Pos DPM (OS)

Example of display layout for ratio 16:10. The difference from the standard layout is that
the side bar is not visible. The functions usually available on the side bar are accessible
through the View menu.

36 385576/E
 User interface

Example of display layout for ratio 4:3. The difference from the standard layout is that
there are only six panes on the right-hand side working area in stead of nine, and that
the side bar is not visible. The functions usually available on the side bar are accessible
through the View menu.

385576/E 37
Kongsberg K-Pos DPM (OS)

Top bar
The information on the top bar, presented by controls
and indicators, is grouped in different parts showing the
following:
• product name
• date and time
• operator station and user name
• drop-down menu for detailed system information
• operation mode
• controller PS group
• information about unacknowledged alarms
• menu buttons for accessing dialog boxes

38 385576/E
 User interface

The system status provides information about the Operator station and the user, in
addition to the product name and current date and time.

When the system is in Simulation mode, the text SIMULATING replaces the name of
the user: . The text changes also when the remote support is
running.

Clicking the extension button provides detailed system information such as delivery
name, system software version, etc.

You can close the information box by clicking the collapse button .
The indicator shows current operation mode.
When the Operator station is in command the command group button,
e.g. ‘Main: DP’ is green. Pressing this button activates the Command
Control dialog box. If the thrusters are not ready but the operator
station is in command, the background colour of the button is yellow
.

The alarm area shows the most recent emergency, alarm or warning message that has not
yet been acknowledged.

385576/E 39
Kongsberg K-Pos DPM (OS)

The icon shows the priority of the alarm:

• red — highest priority Alarm and Emergency
• yellow — second priority Warning
Clicking the icon acknowledges the alarm and it disappears from the
top bar but can still be seen in the Event list view.
Represents the time and date when the alarm was generated.

Represents the tag name of the OS alarm.

The icon is a short-cut to more information about the alarm. Clicking

the icon activates the online help for system events. (See Message
explanations — online help on page 95.)
The extension button shows the number of unacknowledged alarms.
Clicking the icon expands the list of alarms because only two alarms
are visible on the top bar at any time.

The colour of the extension button is the colour of the unacknowledged

alarm with highest priority, e.g.:

or:

The menu buttons provide command menus allowing access to the respective dialog
boxes. Which menus are available depends on the configuration of the delivered system.

Because some commands are relevant to specific modes, these are not available until the
relevant mode is selected:

40 385576/E
 User interface

Dashboard layout
The dashboard area shows important performance information to allow immediate
assessment of the situation. On the operator station in command, the content of this area
cannot be altered by the operator, but changes automatically according to the selected
main mode. On the operator station not in command, you can change the panes that are
shown, but as soon as the operator station takes command, the layout of the dashboard
goes back to default.
Several parts of the dashboard area are click-sensitive. At the same time as the cursor
image changes when it is moved over a click-sensitive object, a tooltip is displayed for a
few seconds. This text explains the use of the click-sensitive object.

Vessel speed pane

The pane gives the vessel’s speed. It also contains
an arrowhead (and a numerical reading) indicating
the vessel’s course.

385576/E 41
Kongsberg K-Pos DPM (OS)

The vessel's speed is given in the top right-hand corner of the pane.
SOG/STW: The indicator next to the reading for speed tells you whether
speed over ground (SOG) or speed through water (STW) is shown.
The name of the sensor measuring the speed is usually shown. If the
vessel speed is input manually this is indicated by the text Manual on pink
background, or if it is calculated by the system it is indicated by the text
Model on pink background.
This area is click-sensitive. The ordinary cursor changes to a pointing hand
when positioned over this area. Clicking the left trackball button shows
the setpoint values in orange colour.

The blue arrowhead indicates the course over ground together with the
value in degrees.

Forward/reverse speed: The value of the speed forwards or revers is shown

in the centre of the fixed ship symbol, where it appears beneath the arrow
indicating forwards (green) or reverse (pink).
This area is click-sensitive. The ordinary cursor changes to a pointing hand
when positioned over this area. Clicking the left trackball button opens the
Speed Setpoint dialog box.

Transverse speed: Transverse speeds astern and at the bow are also shown,
green arrow to starboard, pink arrow to port.

42 385576/E
 User interface

Joystick pane
The pane displays joystick-related information during Joystick
mode.
The joystick setpoint is indicated by the orange line and is
shown as two percentage values (ahead or astern for surge and
port or starboard for sway). The obtained response (feedback)
is indicated by the blue bar.
The tilt of the joystick is indicated by the filled grey circle and
dashed coordinate lines that are positioned relative to the centre
of the cross formation (zero tilt).
Note
The joystick setpoint relative to the joystick tilt depends on the
joystick thrust and the active joystick precision settings.

This area is click-sensitive. The ordinary cursor changes to a

pointing hand when positioned over this area. Clicking the
left trackball button opens the Joystick view in the right-hand
working area.

In Mixed Joystick/Auto modes, the bars for the surge or sway

axis in automatic control are replaced by a position deviation
bar graph.
The joystick setpoint and response for the axis in joystick
control is indicated as described for the Joystick mode.
The direction of the joystick tilt in the axis under joystick
control is indicated by the position of the filled grey circle.

385576/E 43
Kongsberg K-Pos DPM (OS)

Position deviation in the axis under automatic control is

indicated by a single bidirectional bar which represents the
deviation from the position setpoint. The colour of the bar
changes in relation to the position warning and alarm limits:
• Yellow — Warning limit exceeded
• Red — Alarm limit exceeded

Position deviation pane

In Auto Position mode, Joystick mode with
automatic position control in both surge and
sway, Anchor Handling and Position Mooring
modes:
The position deviation is shown both graphically
and numerically. An arrow symbol shows
whether the estimated position is moving
towards (green colour, decreasing deviation) or
away from (pink colour, increasing deviation)
the position setpoint.

This area is click-sensitive. The ordinary cursor changes to a pointing hand when
positioned over this area. Clicking the left trackball button opens the Alarm Limits
dialog box.
The position deviation is indicated by a filled circle whose radius represents the deviation
from the position setpoint. The colour of the circle changes in relation to the position
warning and alarm limits (if active):
• Grey — Within the limits
• Yellow — Warning limit exceeded
• Red — Alarm limit exceeded

44 385576/E
 User interface

385576/E 45
Kongsberg K-Pos DPM (OS)

Heading pane

This shows numerical and graphical information relevant for manual and automatic
heading control functions. The information changes automatically according to the
selected main mode.
The title area also indicates the mode in which the heading
is controlled.

Auto control axis and Auto damping axis

These are graphic indications of the axes that are under
automatic control or damping control.
The descriptions of the surge and sway axes apply to a system
with the vessel diagram displayed “bow up” (see Orientation
of the OS and effect on display views on page 55).

The surge axis is under automatic or damping control.

The sway axis is under automatic or damping control.

The yaw axis is under automatic or damping control.

When automatic heading control is selected, the heading

deviation is displayed.
Heading deviation is indicated by a bidirectional bar that
represents the deviation from the heading setpoint. The colour
of the bar changes in relation to the heading warning and alarm
limits:
• Yellow — Warning limit exceeded

46 385576/E
 User interface

• Red — Alarm limit exceeded

When the system is under joystick heading control in Joystick

mode, the turning force setpoint and the resulting vessel
response are shown by a bar and a numeric value.
The rotation of the joystick is indicated by a dark-grey triangle.
The turning force setpoint is indicated by the orange line and a
light-grey triangle.
The obtained turning moment is indicated by numeric value (in
percent port or starboard). With full thrust selected, the range
is 100% port to 100% starboard whereas with reduced thrust
selected, the range is typically, 50% port to 50% starboard.

The vessel heading (either as estimated by the Vessel Model,

or from the gyrocompass in use) is shown graphically against a
rotating compass rose and as a numeric value.
The heading setpoint is shown graphically on the compass rose
as an orange triangle. The current heading is a blue triangle.
When the system is in Joystick mode (with or without automatic
heading control selected) or Auto Position mode, the displayed
vessel heading is as estimated by the Vessel Model. This is
indicated by the text Model being shown under the numeric
value.
This area is click-sensitive. The ordinary cursor changes to a
pointing hand when positioned over this area. Clicking the left
trackball button shows the setpoint values in orange colour.

Shows the selected control strategy for station-keeping

operations, and the gain level (applicable for High Precision
and Relaxed modes).

385576/E 47
Kongsberg K-Pos DPM (OS)

This area is click-sensitive. The ordinary cursor changes to a

pointing hand when positioned over this area. Clicking the left
trackball button opens the Gain dialog box.

The vessel's Rate Of Turn (ROT) is shown numerically in

degrees per minute (as in this example) to port or starboard.
This area is click-sensitive. The ordinary cursor changes to a
pointing hand when positioned over this area. Clicking the left
trackball button shows the setpoint values in orange colour.

Shows the status of the gyro compasses: enabled and in use (in
this example gyro 1), enabled, but not in use (in this example
gyro 2 and 3) and not enabled (in this example gyro 4 and 5).
This area is click-sensitive. The ordinary cursor changes to a
pointing hand when positioned over this area. Clicking the left
trackball button opens the Sensors dialog box.

Rotation center position pane

The coordinates show the position of the vessel’s
rotation centre. 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 different areas are click-sensitive:

• clicking on the coordinates shows the position setpoint in orange text,
• clicking on the vessel symbol opens the Rotation Center dialog box,
• clicking on the name of the reference origin opens the Reference System Settings
dialog box,
• clicking on the area indicating the DP class opens the DP Class dialog box.

48 385576/E
 User interface

During position drop-out the background changes

to pink to indicate the error situation.

Power consumption pane

There is a separate bar graph displayed for each
connect-switchboard (1, 2, 3, etc.). This means
that the number of displayed bar graphs will
be automatically adjusted to reflect the vessel's
connect-switchboard configuration whenever it
is changed due to bus-tie breakers being opened
and closed.
The height of each bar graph is scaled
to represent the generator capacity of the
corresponding connect-switchboard. In the
example, connect-switchboard 1 has a larger
generator capacity than connect-switchboard 2.
Each bar graph has a blue bar and two predefined power consumption limits (one for
warning and one for alarm) that are shown as dashed horizontal lines. A yellow frame
around the bar graph indicates that the lower (warning) limit (typically 60%) is exceeded.
A red frame around the bar graph indicates that the upper (alarm) limit (typically 80%) is
exceeded.
This area is click-sensitive. The ordinary cursor changes to a pointing hand when
positioned over this area. Clicking the left trackball button displays the Power view in
the right-hand side working area.

385576/E 49
Kongsberg K-Pos DPM (OS)

Side bar
The side bar contains buttons for quick access to functions
concerning the display:
• changing the light and colours on the display (palettes)
• selecting special display views and display orientation
• defining and selecting combinations of display views and
panes in the two working areas
A check mark on the palette button shows which
option is selected.
N UP is North UP. All views in the working area
that show the vessel’s heading will be displayed in a
fixed orientation (north-up), while the heading of the
vessel symbol is shown as relative.
H REL is Heading RELative. All views in the
working area that show the vessel’s heading will be
displayed relative to the vessel heading, while the
heading of the vessel symbol is fixed.

Note
The compass rose on the Heading pane will always
work as a compass and is not affected by this button.

Working areas
The working areas show operator-selectable display views.
The area on the left-hand side displays detailed views. The operator can select which
main views will be displayed.
The area on the right-hand side is divided into panes which display different information.
The operator can select what information will be displayed. In addition detailed views
can be displayed replacing the nine panes with one view.
A predefined combination of display views and panes can be stored and selected by
one button click.

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 top bar.
Dialog boxes appear in the working area and you can move them as required.

50 385576/E
 User interface

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 the Apply or OK button:
• If you click the OK button, 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 the Cancel button, no changes are made and the dialog box is removed
from the display.
• If you click the Apply button, the changes that you have made are applied and the
dialog box remains open.
When you are not allowed to make changes to the data on a dialog box, both the OK
and Apply buttons will be unavailable (dimmed). This can occur, for example, when the
Operator Station is not in command or the system is not in an appropriate mode.

Some dialog boxes have several pages which you access by clicking on the page tab.
For this type of dialog box, both the Apply and OK buttons apply the changes that you
have made on all pages of the dialog box.
Click the Cancel button 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:

385576/E 51
Kongsberg K-Pos DPM (OS)

Text box
This is a rectangular box in which you can type a numeric value. If the box
already contains a numerical value, you can select the 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 increase or decrease 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.
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 the Enter a New Numeric Value dialog box:
1 Select Tools→Numeric Entry Dialog.
• The Numeric Entry Keypad Dialog Use dialog box is displayed.

2 Select the Enable Numeric Entry Keypad Dialog check box and click the OK button.
• The Enter a New Numeric Value dialog box is enabled.
To test the Enter a New Numeric Value dialog box:
1 In the Numeric Entry Keypad Dialog Use dialog box, ensure that Enable Numeric
Entry Keypad Dialog is selected.
2 Place the cursor in the Enter a numeric value text box and click the left trackball
button.
• The Enter a New Numeric Value dialog box is displayed.

52 385576/E
 User interface

3 Enter a new numeric value in the Enter a numeric value: text box using the numeric
keys on the Enter a New Numeric Value dialog box and then click the OK button (on
the Enter a New Numeric Value dialog box).
4 Click the OK button on the Numeric Entry Keypad Dialog Use dialog box.
• The Enter a New Numeric Value dialog box is tested and ready for use.

Enter a New Numeric Value dialog box

In the Numeric Entry Keypad Dialog Use dialog box, select the Enable Numeric Entry
Keypad Dialog check box and click the OK button. Click in the Enter a numeric value
text box.

385576/E 53
Kongsberg K-Pos DPM (OS)

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 on the text box.

Moves the cursor one digit to the left.

Moves the cursor to the far right on the text box.

Moves the cursor one digit to the right.

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, a heading value
must be between 0 and 360 degrees). If you enter an illegal value, and then click the OK
or Apply button, an Illegal value dialog box is displayed.

54 385576/E
 User interface

Click the OK button on this dialog box. The illegal value will remain highlighted in
the text box until it is corrected.
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 the OK or Apply button, 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.

Display views
Display views present the operator with information about 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.
• Change of position setpoint.

385576/E 55
Kongsberg K-Pos DPM (OS)

• 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 tooltip is displayed for
a few seconds. This text explains the use of the
click-sensitive object.

Selecting display views and panes

Panes can be displayed only on the right-hand side working area.
To select a pane to be displayed:
1 Place the cursor on the upper left corner of any of the panes.
A drop-down menu with a list of available panes is displayed.

2 Click on a name to select the pane.

Detail views can be displayed on the left-hand side working area.
To select a detail view to be displayed:
1 Press the appropriate button in the VIEWS button group on the operator panel.
or
2 Place the cursor on the upper left corner of the working area.
A drop-down menu with a list of available views is displayed.

56 385576/E
 User interface

Detail views can also be displayed on the right-hand side working area from a
click-sensitive pane. When the cursor within a pane changes into a pointing finger
and the tooltip 'Detail view' appears, you can click and replace the nine panes with
a corresponding display view. To return to the panes, click the cross icon in the upper
right corner.

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.
2 Select View Control on this shortcut 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.

385576/E 57
Kongsberg K-Pos DPM (OS)

Zooming
To zoom a view that is displayed in the working areas, click Zoom In on the shortcut
menu. The view is enlarged by approximately 60%, centered 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. A variant of the following shortcut menu is displayed:

Clicking Zoom In zooms the view again, centred on the cursor position when this menu
was displayed.
Clicking Zoom Reset returns the view to its original scale.
Clicking Center Here pans the view so that it is centred on the cursor position when
this menu was displayed.
Clicking Center Reset returns the centre of the view to its original position.

Preselect dialog box

You can preselect sets of views to be displayed in the two parts of the working area and
link them to buttons on the side bar. When you then click one of these buttons, the
preselected set of views is displayed. Any settings defined in the respective view using
the view control dialog boxes will be saved and viewed together with the predefined
configuration of views and panes.
The Preselect dialog box allows you to inspect recorded view-selections and record
new view-selections.
To display this dialog box, select Preselected→Settings from the Side bar.

58 385576/E
 User interface

Note
For systems without a Side bar use the menu View →Preselect and View →Use Preselect.

Inspect recorded view-selections:

You can inspect the set of display views currently linked to a number on the menu
by clicking the associated button. The display view titles are then shown in the
layout on the dialog box.
Record NEW view-selection:
While the Preselect dialog box is displayed, select the required views in the display
areas, and then click the appropriate numbered button on the dialog box. When
you click the Close button, these views are linked to the respective button.
These numbered buttons can also be preconfigured to be either operator
programmable or not. All numbered buttons which are not operator programmable
appear dimmed on the Preselect dialog box. The views displayed when a
corresponding number on the side bar is clicked, are all preconfigured.
You can also give names to the sets of views using the Configure names button on this
dialog box.

385576/E 59
Kongsberg K-Pos DPM (OS)

In order to type a name, click the Keyboard button:

60 385576/E
 System settings

System settings

This section contains the following topics:

Changing user ..................................................................................................................61
Printing the display picture ..............................................................................................62
Printing system report ......................................................................................................63
Adjusting the panel light..................................................................................................63
Presentation Units dialog box ..........................................................................................65
Set System Date/Time dialog box....................................................................................68
Changing display colours.................................................................................................68
Alarm Limits dialog box..................................................................................................69
Gain dialog box................................................................................................................72
Quick model update .........................................................................................................75
Rotation Center dialog box ..............................................................................................76

Changing user
There are three types of users defined for the K-Pos DPM system:
• Operator
When the K-Pos DPM system is started, the user is set to Operator. This is the normal
user of the K-Pos DPM 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
– Calibrate the joystick
• System
This user is reserved for installation and service work performed by trained personnel
from Kongsberg Maritime.
The Change User dialog box allows you to change the user.
To display this dialog box, select System→ (Access control) Change User.

385576/E 61
Kongsberg K-Pos DPM (OS)

Select the required user in the New user

list box and click the Change user button.
The “Chief” user also requires to enter a
correct Password (supplied by Kongsberg
Maritime).

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.
The standard Microsoft Windows Print Setup dialog box is used to define which printer
is to be used.
To display this dialog box, select System→ (Printer settings) Hardcopy printer.

You can use this dialog box to select the printer and to define the printer set-up.

62 385576/E
 System settings

Printing system report

It is possible to produce a status page where vital data from major hardware units in the
system are listed. Only units that are up and running will be listed.
To display the report, select Tools→System Report.
The system report will appear in an internet browser window.

Figure 13 System Report (example)

Adjusting the panel light

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.

385576/E 63
Kongsberg K-Pos DPM (OS)

To change the dimming level:

1 Select View→ (Panel) Light Configuration.
• The Panel Light Configuration dialog box is displayed.

2 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.
3 Click the OK button.
The asterisk (*) shows which display palette is currently in use.
You can perform a lamp test by clicking the Lamp Test button.

Lamp test
You can test the panel status lamps, alarm lamps and the audible signal at any time.
To perform the lamp test:
1 Select View →(Panel) Lamp Test, or click the Lamp Test button on the Panel Lamp
Configuration dialog box.
• The Panel Lamp Test dialog box is displayed.

2 Click the Start Lamp Test button.

• The message The Lamp Test has started is displayed (on the dialog box).
• All the panel button status lamps should be lit.
• All the lamps in the ALARMS button group should be lit.
• The audible signal should sound.

64 385576/E
 System settings

• The text on the Start Lamp Test button changes to End Lamp Test.
3 Press SILENCE to stop the audible signal sounding.
4 Press, in turn, each button that has a status lamp.
• Each status lamp should extinguish when its associated button is pressed.
5 To stop the test, click the End Lamp Test button.
6 Click the Close button to remove the Panel Lamp Test dialog box.

Presentation Units dialog box

You can select which set of units to use for the display and entry of values. If configured
for your system, you can also specify the presentation units other than those available
in the list.
To display the dialog box, select: View→(Presentation) Units.

Note
Only User Definable display presentation sets can be edited.

Whether the Presentation 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 Presentation 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 presentation unit 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.

385576/E 65
Kongsberg K-Pos DPM (OS)

Editing Presentation Units

To edit the presentation units:
1 Click the Details button on the Presentation Units dialog box.
• The extended version of the Presentation Units dialog box is displayed.

2 Using the scroll bar to the right, find the presentation unit 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.
3 Click in the Display Format column for the selected presentation unit type.
• A list box containing all the display formats for this type is displayed.
• The presently selected display format is indicated with white text on blue
background.

4 Select the wanted display format from the options shown in the list box by clicking
it.
• The list box is closed.
5 Repeat steps 2 to 4 if you want to edit the display format for another presentation
unit type.
6 Click the OK button.
• The display formats are applied.

66 385576/E
 System settings

Vessel and sea current speed

This is applicable for the presentation set of units User Definable 1 and 2.
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).
For sea current speed there are also two display formats for meter/second, either
meter/second (1 decimal point accuracy) or meter/second (accurate) (2 decimal points
accuracy).
The rest of the speed units have only one display format.

Wind, waves and sea current direction

This is applicable for the presentation set of units User Definable 1 and 2.
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.

385576/E 67
Kongsberg K-Pos DPM (OS)

Resetting the presentation

To reset the presentation settings to the factory (original) settings:
1 Select View →( Presentation) Reset.
• The Reset presentation dialog box is displayed.

2 Click the OK button if you want to reset all the presentation settings to factory
(original) settings, otherwise click the Cancel button.

Set System Date/Time dialog box

Note
Setting the system date and time can only be performed by the “Chief” user. See
Changing user on page 61.

The Set System Date/Time dialog box allows you to change the date and time of the
system clock.
To display this dialog box, select System→(Date/Time) Set Date/Time.

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 arrows to select
time and date values.

Changing display colours

Three 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.

68 385576/E
 System settings

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 in command:
1 Ensure that independent palette selection is not selected at the Operator Station
that is in command:
Select View→(Palette) Independent palette to deselect it.
2 Select View→(Palette) Day, Dusk or Night to choose the required palette.
• The palette selection is applied to the Operator Stations that are not set to have an
independent palette selection.
Note
You can also use the buttons on the side bar.

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.
Select View→(Palette) Independent palette to select it.
2 Select View→(Palette) Day, Dusk or Night to choose the required palette.
• The palette selection is applied to the Operator Station.
Note
You can also use the buttons on the side bar.

Alarm Limits dialog box

Position page
To display the dialog box, select Alarms →Position and Heading.

385576/E 69
Kongsberg K-Pos DPM (OS)

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 box for Position and Heading. 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 Active check box for Warning, the
corresponding alarm limit is also activated.
Note
Warning limits can never be set larger than the corresponding Alarm limits.

Position
Warning and alarm limits can be set for position deviation. When the vessel's
actual position differs from the position setpoint by more than the warning limit, a
warning message is displayed. When the vessel's actual position differs from
the position setpoint by more than the alarm limit, an audible signal sounds and
an alarm message is displayed.
You can activate or change these limits at any time. However:
• In all modes except Position Mooring, the position limits are used only when
both the surge and sway axes are under automatic position control. In Position
Mooring mode, the position limits are used even when the surge and sway
axes are not under automatic control.
• In all modes except Position Mooring, the position limits are inhibited during
changes in the wanted position and are used only when the system is in
PRESENT position (indicated in the status bar). In Position Mooring mode, the
position limits are used even when the system is not in PRESENT position.
• On entering the Position Mooring mode, the position limits are activated
automatically.
When active, the position limits are displayed as black circles — solid for alarm
and dashed for warning, in the Position Deviation pane. When inactive, the position
limits are shown as gray circles.

70 385576/E
 System settings

Heading
Warning and alarm limits can be set for heading deviation. When the vessel's
actual heading differs from the heading setpoint by more than the warning limit,
a warning message is displayed. When the vessel's actual heading differs from
the heading setpoint by more than the alarm limit, an audible signal sounds and
an alarm message is displayed.
You can activate or change these limits at any time. However:
• In all modes except Position Mooring, the heading limits are used only when
the yaw axis is under automatic control. In Position Mooring mode, the heading
limits are used even when the yaw axis is not under automatic control.
• In all modes except Position Mooring, the heading limits are inhibited during
changes in the wanted heading and are used only when the system is in
PRESENT or SYSSEL heading (indicated in the status bar). In Position Mooring
mode, the heading limits are used even when the system is not in PRESENT or
SYSSEL heading.
• On entering the Position Mooring mode, the heading limits are activated
automatically.
When active, the heading limits are shown as black lines — solid for alarm and
dashed for warning, on the Posplot view (see Posplot view on page 344). When
inactive, the heading limits are shown as gray lines.

VRS page
The VRS page allows you to set alarm limits for pitch, roll and heave motion.
To display the dialog box, select Alarms →VRS.

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.

385576/E 71
Kongsberg K-Pos DPM (OS)

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.

Gain dialog box

To display the dialog box, select Settings→(Control) Gain.
Alternatively, press the CONTROL SETUP button.
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.

Controller Mode
The option buttons allow you to select from High Precision, Relaxed and Green
controller modes.
The In Use check 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 K-Pos DPM system installed on
your vessel. Gain level and customised gain settings (if available) apply for this
controller mode.

72 385576/E
 System settings

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.
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 the 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).
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).

Green
This controller mode is available in Auto Position system mode.
Select the Outer Radius and Inner Radius by clicking the arrows or typing 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 define the working area and the operational
area, respectively. 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 and heading become “Present”.
If system selected heading is chosen, the Green controller mode will not be in use.

Gain Level (High Precision/Relaxed)

Gain Level is applicable for High Precision and Relaxed controller modes.
High/Medium/Low
Select the required controller gain level using the High/Medium/Low option
buttons. If available, the gain factors in use for each of the three gain levels are

385576/E 73
Kongsberg K-Pos DPM (OS)

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 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.
Speed Constraints (Green)
Speed Constraints are used in Green controller mode to limit the vessel speed. You
can select Speed Constraints for the Surge and/or Sway axes. Speed constraints
should be used while operating within a large area.

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 High
Precision and Relaxed control on page 24).
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.

74 385576/E
 System settings

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
K-Pos DPM system principles on page 19 for a description of the Vessel Model.) These
unknown forces are presented for the operator as residual, either as current or force.
Under normal sea conditions, the major components of the residual 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 residual 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 residual 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 residual 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.

Quick Model dialog box

To display the dialog box, select Settings→(General) Quick Model.

385576/E 75
Kongsberg K-Pos DPM (OS)

Enable
Enable or disable the Quick Model Update function.
Duration
The duration of the function, after which it will be automatically switched off.
Time left
The timer starts when you select Enable and then click the OK or Apply button. The
Time left field shows the time remaining before the function will be automatically
disabled.
Error gain modification factors
A gain modification factor can be specified for each axis. The factor is specified
as a percentage of the normal reaction to deviation in that axis caused by residual
forces. A larger factor results in a larger reaction and thereby a shorter integration
time for the residual forces.

Rotation Center dialog box

The Rotation Center dialog box allows you to specify the required rotation centre. Up
to 20 rotation centres can be predefined for the vessel in fixed positions relative to the
midships position on the vessel. The coordinates of the required rotation centre can
also be entered manually. The rotation centre can be located anywhere, even outside
the vessel itself.
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.
If thrusters are disabled so that the selected rotation centre no longer can be applied, the
rotation centre in use will automatically be changed.
The point about which the vessel is commanded to rotate in the yaw axis is usually
defined as either the midships position on the vessel or the turret centre (for a
turret-moored vessel). During special operations, an alternative rotation centre may be
required.
Midships is the default rotation center and is used when the following message is shown:

During Joystick mode you can change the rotation centre between fore, midships and
aft, i.e. the rotation centre is selected and in use. You can also select any of the other
predefined rotation centres, but they will only be selected and become in use when
the position is under automatic control — in Auto mode or mixed Joystick mode with
automatic surge and sway.
During Auto mode or Joystick mode with automatic surge/sway you can change the
rotation centre between all predefined or manually entered rotation centres.

76 385576/E
 System settings

When automatic position control is active, the rotation centre can only be changed when
the position and heading modes are PRESENT.
To display the dialog box, select Settings→(Control) Rotation Center.

Select Rotation Center

The available rotation centres are displayed in the Select Rotation Center field.
Select a rotation centre by clicking the appropriate option button. When a
predefined rotation centre is selected, its coordinates are displayed in the Ahead
and STBD boxes.
If Other is selected, the drop-down list box, from which you can select among
predefined rotation centres, becomes available, and the dialog box is enlarged
to show a Preview display. The intersection of the horizontal and vertical lines
on the Preview on the Rotation Center dialog box marks the midships position
on the vessel.

385576/E 77
Kongsberg K-Pos DPM (OS)

When a rotation centre 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 relative to the midships position.
If User Defined is selected in the drop-down list box, the coordinates of the required
rotation centre can be entered directly in the Ahead/Astern and STBD/PORT boxes.
In Use
The In Use boxes show the coordinates of the currently active rotation centre in the
Ahead/Astern and STBD/PORT axes.
Preview
An orange circle on the Preview display shows the position of the currently-active
rotation centre (In Use). A blue circle shows the position of the proposed rotation
centre (Selected). When the selected rotation centre becomes in use (the Apply
button is clicked), the two circles have the same position:

78 385576/E
 Joystick

Joystick

This section contains the following topics:

Joystick Settings dialog box ............................................................................................79
Rotation centre for joystick manoeuvring........................................................................81
Joystick Calibrate dialog box...........................................................................................83

Joystick Settings dialog box

The Joystick Settings dialog box allows you to adjust the following settings:
• Joystick thrust
• Joystick precision
• Environmental compensation
• Current update
To display the dialog box, select Settings→(Modes) Joystick 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
vessel's response to movement of the joystick compared to the Reduced option.

385576/E 79
Kongsberg K-Pos DPM (OS)

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 JOY. FULL
THRUST button. The status for the joystick thrust setting will be dynamically
updated on the Joystick Settings dialog box to reflect this change.
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
14 displays thrust as a function of joystick deflection in the cases of Full and
Reduced thrust, with High speed, General or Low speed precision.

Figure 14 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

80 385576/E
 Joystick

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.
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.
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 residual forces) and
perform automatic compensation for these forces.
Current Upd.
Current Update is enabled by default. You must clear the required Surge/Sway/Yaw
check boxes if you do not want the system to compensate for the calculated
residual forces for axes under joystick control.
Compensating for residual forces when under joystick control normally increases
the system performance when entering automatic control. However, there can be
situations where the calculated residual forces are 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.

Rotation centre for joystick manoeuvring

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 Midships
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.

385576/E 81
Kongsberg K-Pos DPM (OS)

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 Midships as the rotation centre. By selecting the
fore part of the vessel as the rotation centre, you can easily use
the joystick both to rotate the vessel counter-clockwise about
the bow and to move the vessel to starboard as illustrated here.
Only rotation centres 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 centre.
In Joystick mode you can specify a rotation centre for use in automatic mode, but the
selection will not be effective until an automatic mode is selected.
If thrusters are disabled so that the selected rotation centre no longer can be applied, the
rotation centre in use will automatically be changed.
In mixed Joystick mode the system will, if possible, use the Fore, Midships or Aft
rotation centre, but the position setpoint will be at the operator-specified rotation centre.
The position controller may then force the vessel to rotate around the operator-specified
rotation centre. We will clarify this with an example.
Assume that the vessel is under automatic
control in all three axes with an
operator-specified rotation centre different
from Fore, Midships 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
Midships, 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 this figure.

82 385576/E
 Joystick

Joystick Calibrate dialog box

Note
Calibrating the joystick can only be performed by the “Chief” user (see Changing user
on page 61), 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 disk.
The Joystick Calibrate dialog box contains a description of how to calibrate the joystick.
To display this dialog box, select Tools→Calibrate joystick.

Calibrating the joystick

To calibrate the joystick:
1 Ensure that the system is in Standby mode.
2 Select Tools→Calibrate Joystick.
• The Joystick Calibrate dialog box is displayed.
• A figure indicating the joystick axes is displayed on the dialog box.
3 Set the joystick in ZERO position and click the In Zero Position button.
• A red mark appears on the zero position on the figure.

385576/E 83
Kongsberg K-Pos DPM (OS)

4 Move the joystick for MIN/MAX in the three axes to register joystick swing.
• Black lines appear on the figure to indicate joystick swing in all three axes.
5 To change the joystick deadband, click the Deadband button.
• The Deadband dialog box is displayed.

6 Enter the required deadband in all three axes by typing values or by clicking the
up/down arrows and then click the OK button.
7 Click the OK button on the Joystick Calibrate dialog box to complete the calibration.
• A dialog box, stating that the new calibration values will be saved, is displayed.
8 Click the OK button.
• The joystick is calibrated.

84 385576/E
 Message system

Message system

This section contains the following topics:

System diagnostics...........................................................................................................85
Operational checks...........................................................................................................85
Message priority...............................................................................................................86
Presentation of messages .................................................................................................87
Alarm states .....................................................................................................................91
Acknowledging messages................................................................................................92
Alarm lamps.....................................................................................................................93
Messages on the printer ...................................................................................................94
Message explanations — online help ..............................................................................95
Operator pop-up messages...............................................................................................96

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 units.
• Supervision of the controller computer 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.

Operational checks
The following checks are continuously carried out during system operation:

385576/E 85
Kongsberg K-Pos DPM (OS)

• Detection of possible degraded performance of the K-Pos DPM system (e.g. thruster
not ready, insufficient thrust, demand reduced by blackout prevention, heading out of
limits, 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.
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 according to the message priority. 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. Unacknowledged messages have a
flashing marker in the display areas.

Message priority
There are four categories of messages, depending on their severity:
• Emergency (audible signal and flashing light)
• Alarms (audible signal and flashing light)
• Warnings (flashing light)
• Information
Emergency, alarm and warning messages must be acknowledged by the operator.
• 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.

86 385576/E
 Message system

• 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 Emergency, Alarm and Warning
messages must be acknowledged before they are removed from the top bar and the
Dynamic Alarm Page. They will remain displayed with the state Normal in the Dynamic
Event and Historic Event Pages.
Explanations can be obtained for any of the messages generated by the controller process
stations, see Message explanations — online help on page 95.

Presentation of messages
System messages are colour coded in the following ways:
• Emergency messages are displayed on red 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: on the top bar and on the Event
List view. 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 Alarm presentation on the top bar always shows the most recent Emergency,
Alarm or Warning message that has not yet been acknowledged.

385576/E 87
Kongsberg K-Pos DPM (OS)

Figure 15 Alarm presentation on the top bar

• The Event List view contains a list of all the current system messages. By pressing
the ALARM VIEW button, you can display the Event List view.

Figure 16 Example Event List view

(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 92
for more information).
A vertical bar (|) is displayed in the place of the asterisk for an unacknowledged
message that is in a command group over which the operator station does not
have control.
Time
Time and date when the message was first reported.
Origin
Identifies the originator (source) of the message:
• DP-OS# – Operator station
• DpMain – Controller PS group
• Equipment – 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 The message was reported by all three process stations and is still
active.
C The message was reported only by process station C and is still
active.
-B 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).

88 385576/E
 Message system

Tag
Identifies the source of process events and system events.
Priority
Message priority: Emergency, Alarm, Warning or Info (Information).
State
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
Alarm states on page 91).
• High — Indicates that the alarm condition is present.
• Normal — Indicates that the alarm condition is no longer present.
Text
Message text.
Additional information
Up to three blocks of additional data may be included in the message. The meaning
of this additional data varies for each message. See Message explanations —
online help on page 95.
(Event pages)
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 analyse 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.

385576/E 89
Kongsberg K-Pos DPM (OS)

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 or on the Dynamic
Event Page.

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 this dialog box, click the button in the tool bar of the Event List view
(Historic Event Page).

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 fields for Most recent time to the present time.
You can specify a date and time by using the calendar, and entering the required
time in the Hour, Min: and Sec: text boxes.

90 385576/E
 Message system

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.

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 view. 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 view.
For alarms on analog terminals, however, the Active state is further refined by means of
alarm limits. Figure 17 shows the relation between the alarm limits and the validity of
alarms states.

Figure 17 Alarm states

High process values

HighScale
HighScale Limit
HighHigh Active
HighHigh Limit
High
Alarm limits

High Limit
Normal/Void Inactive
Low Limit
Low
LowLow Limit
LowLow Active
LowScale Limit
LowScale

Low process values

Explanation of the arrow symbol
The alarm state is valid from and including this limit.

CD3248 The alarm state is valid t o, but not including this limit.

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 exceeds the High/Low limits.
Any change in the alarm state is indicated in the Status cell for that message in the
Event List view.

385576/E 91
Kongsberg K-Pos DPM (OS)

Acknowledging messages
You can acknowledge either all visible messages or individual messages selected on the
Event List view (see Figure 16 on page 88).
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 view, you can remove these “gaps” by
selecting Refresh on the Event List shortcut menu (see Figure 18), by clicking the refresh
button on the toolbar, or by closing and reopening the Event List view.
You can acknowledge messages in the following ways:
• Press the ACK button.
• Click on the alarm icon on the top bar.
• Click the button in the tool bar of the Event List view.
• Place the cursor in the Event List view, click the right trackball button to display the
following shortcut menu, and then select Ack All.

Figure 18 Event List shortcut menu

To acknowledge all visible current messages in the Event List view:

1 Press the ALARM VIEW panel button.
• The Dynamic Alarm Page of the Event List view is displayed.
2 Click the right trackball button to display the shortcut menu, and then click Select All.
• The font of the message texts changes to bold.
3 Press the ACK button or click Ack on the shortcut menu.
• All visible messages are acknowledged.
To acknowledge a selection of messages:
1 Press the ALARM VIEW button.
• The Event List view is displayed.
2 Select a group of consecutive messages by dragging the cursor over the asterisks
in the left column.
• The font of the message texts changes to bold.
3 Press the ACK button or select Ack on the shortcut menu as described above.
• The messages are acknowledged.

92 385576/E
 Message system

Silence button
You can press the SILENCE button 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.
For example, 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.

Alarm lamps
There are three alarm lamps:
• POWER
This lamp is lit green as long as the power supply to the operator panel is OK.
• FAULT
This lamp is lit red when the contact between the operator panel and the Operator
Station computer is lost, else it is off.
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 in a message dialog box.

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.

Indications of errors related to the ALARMS button group

Errors that are related to the ALARMS button group (and subsequently the indication of
system events) are indicated in the following ways:

385576/E 93
Kongsberg K-Pos DPM (OS)

• If the ALARMS button group stops functioning so that the lamps and audible signal do
not work, a dialog box with the message Operator panel error — No audible and visual
Alarms Indicators is displayed. The dialog box is alternately displayed (for three
seconds) and hidden (for seven seconds). The dialog box will not be shown during the
first minute after the K-Pos DPM system has been started.
• If the ALARMS button group loses its power, the lamps in the ALARMS group become
unlit, and a buzzer starts to sound.
• If the ALARMS button group has power, but does not get contact with the OS
computer within four minutes after the K-Pos DPM system has been started, a buzzer
will start to sound and the FAULT and ALARM lamps will become lit.
• If the ALARMS button group loses contact with the OS computer, a buzzer will start
to sound and the FAULT and ALARM lamps will become lit.

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 Event List view (see
Presentation of messages on page 87), 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 box

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 dialog box, select System→(Printer Settings) Event Printer.

Printer name
The name of the event printer.

94 385576/E
 Message system

Printer type
The type of the event printer.
Unprinted events
The number of unprinted messages in the event printer buffer.
Refresh
Click this button to update the information shown in the dialog box.
Flush
Click this button to print all of the unprinted events on the event printer.
Purge
Click this button to remove some or all of the unprinted events on the event printer.

Message explanations — online help

Using the Help system, explanations can be obtained for any of the messages generated
by the controller process stations. Explanations of Command, Equipment and Internal
messages are not available.
The Help system can be opened in the following ways:

• When a message is not acknowledged and is shown on the top bar — click the
icon.
• Whenever a message is displayed in the Event List view, 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 System 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 Event List view. In this case the
explanation can still be obtained via the menu →System →Messages and select it from the
Contents list or using the Search facility.
An example of displayed explanation:

385576/E 95
Kongsberg K-Pos DPM (OS)

Note
The Corrective actions in the message explanations provides only general advice. You
must evaluate the required action according to the current operational situation.

Operator pop-up messages

As and when applicable, operator pop-up messages are superimposed across the centre
of the display.
These messages are displayed in situations like:
• a button is pressed when the operator station is not in command of the system,
• 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 pop-up messages, each indicated by an icon:

96 385576/E
 Message system

Illegal operation

Attention

Information

A typical example of each type of operator pop-up message:

385576/E 97
Kongsberg K-Pos DPM (OS)

Starting operations

This section contains the following topics:

System start-up/shut-down and OS stop/restart...............................................................98
Command transfer............................................................................................................99
Command Control dialog box........................................................................................101
Connect dialog box ........................................................................................................107

System start-up/shut-down and OS

stop/restart
The K-Pos DPM controller cabinet and Operator Stations are usually left with the power
on and with the system in Standby mode.
It is recommend to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new DP
operation. A sequential restart of all the units with an interval is recommended.
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 System 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 at 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 do not
change).

98 385576/E
 Starting operations

• The Operator Station does not respond to operator input.

Any of these options should be performed on one Operator Station at a time to facilitate
operation and monitoring of the K-Pos DPM 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 K-Pos DPM system. They are
implemented to facilitate service and installation work performed by trained
personnel from Kongsberg Maritime.

To display the dialog box, select System→Stop/Restart.

Select Option
Shutdown
Stop the OS software, shut down the Windows session and turne off the computer.
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.

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 Connect
dialog box on page 107. For example, the Main controller PS group (which in turn
controls the vessel's propulsion system), can be controlled from a K-Pos DPM Operator
Station, an 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.

385576/E 99
Kongsberg K-Pos DPM (OS)

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 Main:DP is
displayed on the top 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 DP-OS1 and DP-OS2 are connected to the
Main controller PS group, DP-OS1 currently has command of this group, and command
is to be transferred to DP-OS2.

Taking command
Note
This procedure can be used only if allowed by the system command configuration.
As an alternative, the TAKE button may be configured to start a request command,
see Requesting command on page 101.

1 DP-OS1 is in command.
• The TAKE button status lamp on DP-OS1 is lit.
• No button status lamps in the COMMAND group are lit on DP-OS2.
2 To take command at DP-OS2, press the TAKE button on DP-OS2 twice within
four seconds.
3 DP-OS2 is now in command.
• The TAKE button status lamp on DP-OS2 is lit.
• No button status lamps in the COMMAND group are lit on DP-OS1.

Giving command
1 DP-OS1 is in command.
• The TAKE button status lamp on DP-OS1 is lit.
• No button status lamps in the COMMAND group are lit on DP-OS2.
2 Press the GIVE button on DP-OS1.
• The TAKE button status lamps on all Operator Stations that are connected to
this controller PS group flash.
• An audible signal sounds at all Operator Stations which are included in the
controller PS group.
3 If preferred, press the SILENCE button to stop the audible signal from sounding.

100 385576/E
 Starting operations

4 To accept command at DP-OS2, press the TAKE button on DP-OS2 twice within
four seconds.
5 DP-OS2 is now in command.
• The TAKE button status lamp on DP-OS2 is lit.
• No button status lamps in the COMMAND group are lit on DP-OS1.
• The audible signal is silenced.
If the offered command transfer is not accepted within one minute, then DP-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 the TAKE
button on DP-OS1.

Requesting command
Note
The procedure can only be used if allowed by the system configuration.

1 On the requesting OS press the TAKE button. The GIVE buttons on both requesting
OS and OS in command start to flash and the horn on the OS in command sounds.
2 On the OS in command press the GIVE button. The command is transferred.
Note
If you press TAKE on the OS in command, the request will be cancelled.
If no action is taken within 60 seconds, the request will be automatically cancelled.

Command Control dialog box

Note
As a general rule it is recommended to use the operator panel buttons to take or give
command control.

The Command Control dialog box shows the current command control status and allows
you take or give control of the K-Pos DPM system.
This dialog box has three pages, one page with the name of the Operator Station (in this
example DP-OS1), Overview, and Give. The DP-OS1 page is referred to as “the DP-OS
page” and 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.

385576/E 101
Kongsberg K-Pos DPM (OS)

The Command Control dialog box is designed to correspond to the equivalent dialog box
in the K-Chief system where it is more frequently used. This has been done to improve
the user interface, especially on vessels with integrated automation systems on board.
To display this dialog box, press the STATUS button on the panel or the command group
button, e.g. Main: DP, on the top bar.

DP-OS page

Command Group
All command groups are listed in this column. Only DP and DP(Sim) are of interest
for the K-Pos DPM system.
Status
Using the text In Command, this column displays the command groups over which
this Operator Station has control.
Modified
Displays the time the command control state of the command groups was last
changed by this Operator Station.
Privileges
Displays the Operator Station's privileges for each command group. Takeable is
the only one of interest for the K-Pos DPM 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
To display the Overview page, click the Overview page tab.

102 385576/E
 Starting operations

Command Group
All Command groups are listed in this column.
In Command
Displays the Operator Station that is in command.
Modified
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 DP-OS page as it shows the time the command control state
was last changed by the Operator Station that you are at.
Command Locations
Displays the Operator Stations that can take command of each command group.
The asterisks (*) means that the Operator Station can take command without
acceptance. This is usually the case for Operator Stations in K-Pos DPM systems.

385576/E 103
Kongsberg K-Pos DPM (OS)

Give page

To OS Group:
Displays the Operator Station(s) to which command can be transferred.
Give Command of:
Clicking a DP-OS in the To OS Group list, causes a list of all the command groups
over which the Operator Station you are at (here DP-OS1) currently has command,
to be displayed in this field.

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.
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 K-Pos DPM purposes, DP and DP(Sim) are the relevant Command groups, and “Take
Command”, “Request Command” and “Give Command” are the relevant command
transfer actions.
DP
The Operator Station that controls this Command group, controls the vessel's
propulsion system.

104 385576/E
 Starting operations

DP(Sim)
A simulation session can be performed on the Operator Station that controls this
Command group.
For K-Pos DPM operations only the DP and DP(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 Operator Station is in control of the command group.
• Green, open folder — This Operator Station (here DP-OS1) is in control of the
command group.

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 Fields
Buttons

For K-Pos DPM 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 DP-OS1 as an example.
Lamps
TAKE
• Lit on DP-OS1 when DP-OS1 is in command.
• Not lit on DP-OS1 when another OS is in command.
• Flashes until DP-OS1 accepts when DP-OS1 is offered command, or during the
timeout period of one minute.
• Flashes while DP-OS1 is giving command to another Operator Station, until the
other Operator Station accepts, or during the timeout period of one minute.
GIVE
• Flashes while DP-OS1 is giving command to another Operator Station, until the
other Operator Station 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

385576/E 105
Kongsberg K-Pos DPM (OS)

The TAKE button is unavailable when DP-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 DP-OS1 or
Overview page, depending on which was last used.
• Take
Appears above the TAKE button on the DP-OS page when an uncontrolled
command group or a command group currently under command of another
Operator Station is selected. Clicking the TAKE button transfers the command
to DP-OS1.
• 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 transfers command to DP-OS1.
GIVE button and text field
The messages that may appear in the text field are as follows:
• Give...
Default on the DP-OS and Overview pages. Clicking the GIVE button displays
the Give page.
• Give selected...
Appears above the GIVE button on the DP-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 K-Pos DPM 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.

106 385576/E
 Starting operations

Connect dialog box

A “controller PS group” is a group of one or more K-Pos DPM 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 100.
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.
The Connect dialog box allows you to connect to a controller PS group.
To display this dialog box, select System→Connect.

Select the required controller PS group.

385576/E 107
Kongsberg K-Pos DPM (OS)

Controller process stations

This section contains the following topics:

Resetting controller process stations..............................................................................108
Redundant systems ........................................................................................................ 110

Resetting controller process stations

You can reset a selected controller process station (PS) for example in the event of a
software problem. To retrieve the default settings, all controller process stations must
be reset.
It is recommend to restart the controller process stations and the operator stations at
regular intervals, for example every 6 months. It is also considered a good practice to
restart the controller process stations and the operator stations before starting a new DP
operation. A sequential restart of all the units with an interval is recommended.

Resetting the controller PS in a single-computer system

Before resetting the controller PS in a single-computer system, you must ensure that the
K-Pos DPM system does not have control of the vessel’s propulsion system.
To reset the controller PS, follow the procedure described in Resetting all controller
PSs 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 using the Reset
Controller PS dialog box, you should ensure that another controller PS is operational and
is selected as the master computer (see Redundant systems on page 110).
To display this dialog box, select System→Reset Controller PS.

108 385576/E
 Controller process stations

To reset a controller PS, select the Controller

PS to be reset and then click the OK or Apply
button.

Resetting all controller PSs in a dual or triple redundant

system
If the vessel is not under control by the K-Pos DPM system, you can reset all K-Pos
DPM controller PSs simultaneously. During DP/PM operation the K-Pos DPM controller
PSs 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 K-Pos DPM controller PSs is
therefore to reset all of them. To retrieve the default settings, all K-Pos DPM controller
PSs must be reset.
1 Ensure that the K-Pos DPM system does not have control of the vessel’s propulsion
system.
2 Ensure that the K-Pos DPM system is in Standby mode.
3 Ensure that no thrusters are enabled.
4 Reset all K-Pos DPM controller PSs simultaneously using the Reset Controller PS
dialog box (see Resetting one controller PS in a dual or triple redundant system
on page 108).
5 Click the OK button to confirm.
• Until at least one K-Pos DPM controller PS is running, a dialog box containing
the following message is displayed on all Operator Stations:
No network response from the DP Controller PS
• When at least one K-Pos DPM controller PS is running, a message box is
displayed on all Operator Stations:
The DP Controller PS is now responding
The K-Pos DPM system is in Standby mode with default settings.
The following message is displayed in the Event List view 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).
6 Select the master controller PS (see Redundant systems below).

385576/E 109
Kongsberg K-Pos DPM (OS)

Redundant systems
In dual redundant systems, the controller cabinet contains two controller process stations
(PSs) that operate with a master/slave relationship.
In triple redundant systems, the controller cabinet contains three controller PSs. The
concept of majority voting is used to detect and isolate faults in the sensors and in the
K-Pos DPM system itself.

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 PSs 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 — A PS without errors
• Common error — A PS with only common errors
• Degraded — A PS with separate errors
• Incapable — An incapable, but running PS

Dual redundant system

The PSs in a dual redundant system operate in parallel, each receiving the same input
from the operator, sensors, position-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 PSs, you can update the Offline PS with data from the Master
PS. See Redundant Stations dialog box on page 112.
Both control computers are continuously checked for both hardware and software
failures. If a failure is detected, a warning or alarm is given.
Some advantages of redundancy are:
• No single-point failure
The system is designed to avoid total system failure if single failure occurs.
• Failure detection
The system will detect a failure, allowing corrective actions to be taken.

110 385576/E
 Controller process stations

• Fault isolation
If one system component fails, the other components will not be affected.

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 given, e.g.:
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.

Triple redundant system

In triple redundant systems, each PS uses the same data from the operator, 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. Once the voting has taken place, the failed (incorrect) computer will,
if possible, correct itself automatically, based on the values of the other computers.
If the failed computer cannot correct itself, the operator is informed and the faulty
computer should be replaced. Meanwhile, the two other computers continue working
and perform dual-redundancy procedures in the same way as a dual system (see Dual
redundant system on page 110). The system will automatically reconfigure itself to a
triple-redundant system as soon as the failed computer is replaced.
In triple redundant systems, all three PSs perform voting, but only one of the PSs, 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-over is only possible to
a PS which is of equal or better capability than the current Master.
If the present Master PS should fail, another PS will immediately take over the Master
responsibility.
Advantages of triple redundancy are:
• Voting of sensor input signals
The voting is performed between tightly synchronised computers to:
– Detect sensor errors such as compass drift and sensor breakdown.
– Ensure that all three computers use the same data as a basis for calculation of
command signals.
• Software Implemented Fault Tolerance (SIFT)
The Triple Modular Redundancy (TMR) detects an error in the processing elements
and corrects the error by employing voting algorithms. The system represents a
Software Implemented Fault Tolerance (SIFT) concept.
• Voting on command (output) signals
– DP-31: The thruster commands from the three control computers are compared by
the “master” computer and the median command is selected to be the final output.

385576/E 111
Kongsberg K-Pos DPM (OS)

– DP-32: The voting of the thruster commands is performed in the thruster control
field station.
• No single-point failure (see Dual redundant system on page 110)
• Failure detection (see Dual redundant system on page 110)
• Fault isolation (see Dual redundant system on page 110)

Redundant Stations dialog box

To display the dialog box, select System→Redundant Stations.

Figure 19 Example for a dual system

112 385576/E
 Controller process stations

Figure 20 Example for a triple system

PS Groups
Select the target controller PS group for all commands and operational statuses of
the dialog box from this list.
Redundancy Status
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
In a dual (or degraded triple) system the current online PS is indicated in the
appropriate check box.
In a fully operational triple redundant system all three PSs are online, indicated
in the appropriate check box.
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 PSs in the controller PS group.
• Degraded
Errors that are restricted to one of the PSs in the group.

385576/E 113
Kongsberg K-Pos DPM (OS)

• 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 PSs, 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, Dual
and Triple are the ones that are relevant for K-Pos purposes.
PS fault tolerance
This is the number of PSs 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 PSs 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.
If a failure is detected in PS A or B in a dual system (or in two of the three PSs 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 offline 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.

114 385576/E
 Controller process stations

If you right-click in the Error Objects area, the following shortcut menu is
displayed:

In Error
The PS(s) on which the failure is detected.
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 failures.
(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 and Error when
changing permanent settings).
Do not list error objects ...
When the check box is not selected all error object will be listed in the Description
column. Select this check box if you want to reduce the list and show only error
objects in the state of “Overruled” or “In Error”.
PS Operation...
Not relevant during normal operation.
Refresh
Clicking this button updates the content of the dialog box with the current
operational status.

385576/E 115
Kongsberg K-Pos DPM (OS)

Sensors

This section contains the following topics:

Gyrocompasses .............................................................................................................. 116
Wind sensors ..................................................................................................................121
Vertical reference sensors (VRS) ...................................................................................125
Sensors dialog box — Speed page.................................................................................127
Sensors dialog box — Draught page .............................................................................130
Sensors dialog box — Sea Current page........................................................................131
Sensors dialog box — Wave page .................................................................................132
Sensors dialog box — Depth page.................................................................................134
Sensors dialog box — Rate Of Turn page .....................................................................136
Mooring Sensors and Alarms dialog box.......................................................................137

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 and controlled using the Sensors dialog box - Gyro page.
You can examine the measured values from the gyrocompasses in more detail on the
Sensor view.

Sensors dialog box — Gyro page

To display the dialog box, select Sensors→Gyro, or press the GYRO button.

116 385576/E
 Sensors

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.
Enable
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.
Preference
These option buttons allows you to specify which gyrocompass is preferred for
use by the system.
In Use
The gyrocompass that is currently used by the system to calculate the vessel's
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.
Gyro Heading
The measured heading from the gyrocompass.
Added Correction
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
surveyor's gyrocompass. The text box is unavailable and appears dimmed when
the corresponding gyrocompass is enabled.

385576/E 117
Kongsberg K-Pos DPM (OS)

Note
To ensure consistent data for all users of a gyrocompass, it is recommended to
adjust the gyrocompass itself.

Used Heading
The measured heading from the gyrocompass with added correction.
Note
The Gyro Deviation Calculation (see Gyro Deviation dialog box on page 120) uses
the Used Heading values as input for the calculations.

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.

Displayed heading information

You can examine the measured values from the gyrocompasses in more detail on the
Sensors view.

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 vessel's 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.

118 385576/E
 Sensors

• 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.
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
Do the following:
1 Check the values from the gyrocompasses on the Sensors view and use an
alternative compass to find which gyrocompass is faulty.
2 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.

385576/E 119
Kongsberg K-Pos DPM (OS)

For a moored vessel in Anchor Handling or Position Mooring mode, automatic heading
control, automatic position control, vessel motion damping and the results of the PM
Online Consequence Analysis will all be unreliable, and Line Break Detection will be
lost.
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.

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.
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.

To display the dialog box, select Sensors→Gyro Deviation.

120 385576/E
 Sensors

Gyro Deviation Calculation

The Gyro Deviation Calculation uses the Used Heading values (see Sensors dialog
box - Gyro page) as input for the calculations.
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.
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 Sensor view on page 378) and in the Trends view (see Trends
view on page 400) 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 Std.Dev is significantly smaller, you should correct the
error on the gyro.
Based on
This displays the GPSs the calculation is based on.

Wind sensors
At least one wind sensor should be enabled at all times to provide the system with wind
speed and direction information.
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.

Sensors dialog box — Wind page

Wind sensors are enabled and controlled using the Sensors dialog box - Wind page.
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 K-Pos DPM system.

385576/E 121
Kongsberg K-Pos DPM (OS)

To display the dialog box, select Sensors→Wind, or press the WIND button.

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.
Enable
Each wind sensor has an associated Enable check box. Selecting this check box
enables the signals from the wind sensor.
Preference
Use these option buttons to select the operator-preferred wind sensor to be used
by the system.
In Use
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).
Relative Speed
The displayed wind speed is the measured wind speed relative to the vessel, not
corrected for vessel motion.
Relative Dir.
The displayed wind direction is the measured direction relative to the vessel
heading, not corrected for vessel motion.

122 385576/E
 Sensors

Spectrum
Allows you to specify the wind spectrum to be used in connection with the Extreme
Motion and Tension Prediction function (see Extreme-Motion Analysis Settings
dialog box on page 240).
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 the Apply button. 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.
True Speed, True Dir
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 and
True Dir fields display the same values as Relative Speed and Relative Dir.
• In any mode other than Standby with one or more wind sensor enabled, the
True Speed and True Dir fields display the true wind speed and direction values
(filtered values).
• In any mode with no wind sensors enabled, the True Speed and True Dir fields
contain the manually-entered values for the true wind speed and direction.

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.

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
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.

385576/E 123
Kongsberg K-Pos DPM (OS)

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
Do 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.
2 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).
• 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.

124 385576/E
 Sensors

Note
The wind sensor(s) will be rejected if speed is increasing with more than 10 m/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.

Vertical reference sensors (VRS)

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 vessel's roll and pitch motions. If the VRS is
equipped with a heave sensor, the heave information is used for monitoring purposes
only.
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.
Vertical reference sensors are enabled and controlled using the Sensors dialog box -
VRS page.
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).

Sensors dialog box — VRS page

Vertical reference sensors are enabled and controlled using the Sensors dialog box -
VRS page.
To display the dialog box, select Sensors→VRS, or press the VRS button.

385576/E 125
Kongsberg K-Pos DPM (OS)

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.
Enable
Each VRS has an associated Enable check box. Selecting this check box enables
the signals from the VRS.
Preference
These option buttons allow you to specify which VRS is preferred for use by the
system.
In Use
The VRS that is currently used by the system is indicated in the In Use check box.
Pitch
The measured pitch from the VRS.
Roll
The measured roll from the VRS.
Heave
The measured heave from the VRS.

VRS status lamp

The VRS button 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.

126 385576/E
 Sensors

Displayed VRS information

You can examine the measured values from the VRS in more detail on the Sensors views.

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 only indicate 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
Do 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.

Sensors dialog box — Speed page

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 enable available speed sensors or enter a manual alongships
vessel speed value using the Sensors dialog box - Speed page.
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, an initial Manual value reflects the real situation.
To display the dialog box, select Sensors→Speed.

385576/E 127
Kongsberg K-Pos DPM (OS)

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 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 SOG or STW depending on the type of
speed output:
• SOG — Speed over ground
• STW — Speed through water

128 385576/E
 Sensors

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 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.

Manual Speed
Enable
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.

385576/E 129
Kongsberg K-Pos DPM (OS)

Sensors dialog box — Draught page

For optimum positioning performance, the system must have accurate information
regarding the vessel's draught at all times. The vessel draught can either be specified by
the operator or measured by a draught sensor.
The source of draught information is selected and controlled using the Sensors dialog
box - Draught page.
If the information from the draught sensors is correct and reliable, then this should be
used in preference to manually-entered or fixed values.
To display the dialog box, select Sensors→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.
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. The
sensor currently used by the system is indicated in the In Use check box. If Sensor
is selected but no sensors are enabled, the Manual value is used by the system.
Operational
When Operational is selected, the predefined operational draught value is used
by the system.

130 385576/E
 Sensors

Transit
When Transit is selected, the predefined transit draught value is used by the system.
Manual
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.
Used Draught
Shows the draught value that is currently used by the system. This field is for
information only.

Sensors dialog box — Sea Current page

If current sensors are available, and their measurements are accurate and reliable, you
can use them to provide information about the speed and direction of the sea current.
Alternatively, you can enter speed and direction values manually.
Normally, input from all available current 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 current force acting on the vessel.
You can specify which current sensor is preferred for use by the system. If no errors are
detected in the current sensor measurements, the system will always use the preferred
sensor.
The source of sea current information is selected and controlled using the Sensors dialog
box - Sea Current page.
To display the dialog box, select Sensors→Current.

385576/E 131
Kongsberg K-Pos DPM (OS)

Sensor
Enable
Selecting this check box enables the signals from the sensor for use by the system.
If no sensors are enabled, the Manual values are used.
Preference
When more than one current sensor is available and enabled, this option button
allows you to specify which current sensor is preferred for use by the system. If
less than two current sensors are available, this option button is not displayed.
In Use
The sensor that is currently used by the system is indicated in the In Use check box.
This check box is for information only.
Speed
Displays the speed of the sea current as measured by the sensor and not corrected
for vessel motion.
Rel. Dir.
Displays the direction of the sea current as measured by the sensor, relative to the
vessel heading and not corrected for vessel motion.
Manual
In Use
If no sensors are enabled, the Manual values are used and this check box is selected
(for information only).
Speed
You can enter a manual value for the speed of the sea current. When no sensors are
enabled, this value will be used by the system.
True Dir.
You can enter a manual value for the true direction of the sea current. When no
sensors are enabled, this value will be used by the system.

Sensors dialog box — Wave page

If wave sensors are available, and their measurements are accurate and reliable, you
can use them to provide information about the wave period, direction and height.
Alternatively, you can enter values manually.
Normally, input from all the available wave 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 wave force acting on the vessel.
You can specify which wave sensor is preferred for use by the system. If no errors are
detected in the wave sensor measurements, the system will always use the preferred
sensor.

132 385576/E
 Sensors

The source of wave information is selected and controlled using the Sensors dialog box
- Wave page.
To display the dialog box, select Sensors→Wave.

Sensor
Enable
Selecting this check box enables the signals from the sensor for use by the system.
If no sensors are enabled, the Manual values are used.
Preference
These option buttons allow you to specify which wave sensor is preferred for
use by the system.
In Use
The sensor that is currently used by the system is indicated in the In Use check box.
Height
Displays the height of the waves as measured by the sensor.

385576/E 133
Kongsberg K-Pos DPM (OS)

Rel. Dir.
Displays the direction of the waves, as measured by the sensor, relative to the
vessel heading.
Period
Displays the wave period as measured by the sensor.
Manual
In Use
If no sensors are enabled, the Manual values are used and this check box is selected
(for information only).
Height
You can enter a manual value for the estimated significant wave height. When no
sensors are enabled, or if the wave height is not measured by the sensors, this
value will be used by the system.
True Dir.
You can enter a manual value for the true direction of the waves. When no sensors
are enabled, or if the wave direction is not measured by the sensors, this value will
be used by the system.
Period
You can enter a value for the zero up-crossing wave period. When no sensors
are enabled, or if the wave period is not measured by the sensors, this value will
be used by the system.
Spectrum
Type
Allows you to specify the wave spectrum to be used in connection with the
Mooring Consequence Analysis function (see Mooring Consequence Analysis
Settings dialog box on page 316) and the Extreme Motion and Tension Prediction
function (see Extreme-Motion Analysis Settings dialog box on page 240).
Peak
Only relevant for the Jonswap wave spectrum.

Sensors dialog box — Depth page

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.
The source of water-depth information is selected and controlled using the Sensors dialog
box - Depth page.
You can examine the measured values from the depth sensors in more detail on the
Sensors view.

134 385576/E
 Sensors

To display the dialog box, select Sensors→Depth.

Sensor
Shows the measured water depth.
Sensor Offset
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.
Manual Input
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.
Do Not Use
When Do Not Use is selected, the sensor is not used for water-depth measurements.
Use Sensor
When Use Sensor is selected, the measurement from the sensor is used by the
system for display purposes.
Use Manual Input
When Use Manual Input is selected, the water-depth value entered under Manual
Input is used by the system for display purposes.

385576/E 135
Kongsberg K-Pos DPM (OS)

In Use
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.
Used Depth
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).

Sensors dialog box — Rate Of Turn page

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 vessel's 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 K-Pos DPM system.
ROT sensors are enabled and controlled using the Sensors dialog box - Rate Of Turn page.
To display the dialog box, select Sensors→Rate Of Turn.

OK
The OK status for each sensor is shown in the matching OK check box. This
check box is for information only.
Enable
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.

136 385576/E
 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.
Rate Of Turn
Shows the measured Rate Of Turn.

Mooring Sensors and Alarms dialog box

The Mooring Sensors and Alarms dialog box is used to enable and disable line tension,
line length and turret sensors, to enter manual values, and to set warning and alarm limits.
Line tension and length should normally be measured by the sensors at the winch. In the
case of a sensor error, you can disable the sensor and enter a value manually.
Sets of sensor and alarm settings can be saved in any of the operational modes.
To display this dialog box, select Mooring→(General) Sensors and Alarms.

Tension Sensors page

The Tension Sensors page allows you to enable and disable, enter manual values, and
set warning and alarm limits for the line tension sensors.

385576/E 137
Kongsberg K-Pos DPM (OS)

ALL
The ALL field is used to simplify the set-up for the tension sensors.
Enter the required values in the ALL area, and click Copy to copy this information
to all the anchor lines. The Enable check boxes in the ALL area are initially
unavailable and are not copied unless you explicitly select them.
Enable
Enables (when selected) the tension sensor for each anchor line for input of
measured values. If the tension sensor is disabled, the Manual Value is used.
When a line tension sensor is disabled, no line break detection will be available for
the corresponding anchor line.
Measured Value
For each anchor line, if the line tension sensor is enabled, the current measured line
tension is shown. If the measured line tension is not accepted by the system, an
asterisk is displayed to the right of the value. If the line tension sensor is disabled,
the Manual Value is shown and an “m” is displayed to the right of the value. If
the measurements are not accepted by the system, an asterisk (*) is displayed to
the right of the value.
Calculated Value
If a line characteristic has been calculated, the calculated line tension is shown.
Manual Value
If the tension sensor is not enabled, the value entered here is used by the system
when calculating line characteristics.

Warning and alarm limits

The system monitors the tension in the anchor lines. Minimum and maximum warning
and alarm limits can be specified for the line tension in each line. If these limits are
exceeded, warnings or alarms are issued.
If a line tension sensor is enabled, the filtered measured tension value is monitored. If
a sensor is not enabled, the system monitors the tension values calculated from the
line characteristic.
When limit values are defined, they can be enabled or disabled for each anchor line as
required. When the system enters the Position Mooring mode, the limits for all selected
anchors are enabled automatically.
Enable
Enables (when selected) the warning and alarm limits for line tension.
Alarm Low
If the line tension in this anchor line drops below this value, an alarm will be
given (if enabled).
Warning Low
If the line tension in this anchor line drops below this value, a warning will be
given (if enabled). The Warning Low limit is effectively disabled by setting it to
the same value as the Alarm Low limit.

138 385576/E
 Sensors

Warning High
If the line tension in this anchor line exceeds this value, a warning will be given (if
enabled). The Warning High limit is effectively disabled by setting it to the same
value as the Alarm High limit.
Alarm High
If the line tension in this anchor line exceeds this value, an alarm will be given
(if enabled).

Line tension measurement errors

To ensure that line tension measurements are not used by the system in the event of a
sensor or I/O failure, the following limits for accepting measurements are predefined for
your system:
• Upper measurement limit
• Lower measurement limit
If a measured line tension is not accepted, a warning message is issued and an asterisk
is displayed to the right of the Measured Value on the Mooring Sensors and Alarms and
Anchor Lines dialog boxes. If this occurs:
• It will not be possible to calculate line characteristics.
• If line characteristics are already calculated, the Line Break Detection function will
not be able to detect a line break in this anchor line.
In addition, you can compare the measured and calculated line tensions using the Anchor
Lines dialog box. If there is a significant difference between these values, it can be
for the following reasons:
• There is a measurement error from the line tension sensor.
In this case the system can still be used because it will continue to use the calculated
tension. In addition, the line tension sensor can be disabled and an appropriate tension
value can be entered manually.
When a line tension sensor is disabled:
– The Line Break Detection function cannot detect a line break in that line
– The system monitors the calculated tension with respect to the defined alarm and
warning limits
When the sensor is repaired, enable the sensor again.
• The position-reference system is providing wrong information, resulting in
incorrect line tensions being calculated from the line characteristics. Check the
position-reference system.
• There is a line break or dragging anchor that has not been detected by the Line Break
Detection function. Monitor the situation carefully to determine whether this is the
case.
– If an undetected line break has occurred, manually set the line break status of the
affected anchor line (see Line break is not detected on page 231).

385576/E 139
Kongsberg K-Pos DPM (OS)

– If an anchor line has dragged, use the Mooring System dialog box to update the
Mooring Model (see Updating the mooring model on page 223) so that a new
line characteristic is calculated.

Length Sensors page

The Length Sensors page allows you to enable and disable, enter manual values, and set
warning and alarm limits for the line length sensors.

ALL
The ALL field is used to simplify the set-up for the length sensors.
Enter the required values in the ALL area, and click Copy to copy this information
to all the anchor lines. The Enable check boxes in the ALL area are initially
unavailable and are not copied unless you explicitly select them.
Enable
Enables (when selected) the length sensor for each anchor line for input of
measured values. If the length sensor is disabled, the Manual Value is used.
Measured Value
For each anchor line, if the line length sensor is enabled, the current measured line
length is shown (plus the Offset Value). If the measured line length is not accepted
by the system, an asterisk is displayed to the right of the value. If the line length
sensor is disabled, the Manual Value is shown and an “m” is displayed to the right
of the value. If the measurements are not accepted by the system, an asterisk (*)
is displayed to the right of the value.

140 385576/E
 Sensors

Offset Value
Allows you to specify a measurement offset; for example, the length of a line
segment that is connected outside the vessel and whose length is therefore not
measured. When the line length sensor is enabled, this offset is added to the
measured value. When the sensor is not enabled, the offset value is not used.
Manual Value
If the length sensor is not enabled, the value entered here for line length is used
by the system.

Warning and alarm limits

The system monitors the length of the anchor lines. Minimum and maximum warning
and alarm limits can be specified for the length of each anchor line. If these limits are
exceeded, warnings or alarms are issued.
Sensors for measuring the line length must be enabled in order for the system to monitor
the line lengths.
When limit values are defined, they can be enabled or disabled for each anchor line as
required. When the system enters the Position Mooring mode, the limits for all selected
anchors are enabled automatically.
Enable
Enables (when selected) the warning and alarm limits for line length.
Alarm Low
If the length of this anchor line drops below this value, an alarm will be given
(if enabled).
Warning Low
If the length of this anchor line drops below this value, a warning will be given (if
enabled). The Warning Low limit is effectively disabled by setting it to the same
value as the Alarm Low limit.
Warning High
If the length of this anchor line exceeds this value, a warning will be given (if
enabled). The Warning High limit is effectively disabled by setting it to the same
value as the Alarm High limit.
Alarm High
If the length of this anchor line exceeds this value, an alarm will be given (if
enabled).

Line length measurement errors

To ensure that line length measurements are not used by the system in the event of a
sensor or I/O failure, the following limits for accepting measurements are predefined for
your system:
• Upper measurement limit
• Lower measurement limit
• Difference limit for consecutive measurements

385576/E 141
Kongsberg K-Pos DPM (OS)

If a measured line length is not accepted, the measurements are frozen at the last
accepted value, a warning message is issued, and an asterisk is displayed to the right of
the Measured Value on the Mooring Sensors and Alarms and Anchor Lines dialog boxes.
If a warning persists that the difference limit is exceeded, even though the length
measurement is known to be correct, you can disable and then re-enable the sensor to
accept the present measurement.
If an anchor line length sensor is not functional, the system can still be used because the
sensor can be disabled and an appropriate value can be entered manually. However, a
line length should be entered manually only if the measured length is incorrect or if the
measurement does not change or changes erratically when the winch is run.
When the sensor is repaired, enable the sensor again.
If a sensor is faulty and you have to run the winch, it is far better to fix the sensor first. If
this is not possible, try to run the winch in small increments and enter the corresponding
length change for each increment manually.
Note
If automatic position control is in use, be careful when manually entering significant
changes in line length as this may cause sudden unwanted changes in thruster force.

Turret Sensor page

The Turret Sensor page allows you to enable and disable the turret sensor, and enter
manual values for the turret angle.

142 385576/E
 Sensors

Angle
The turret angle used by the system can be either measured by a sensor or entered
manually.
WARNING
For a turret moored vessel with a free turret, ensure that the turret
angle used by the system is within ±5° of the actual turret angle at
all times. Take particular care when changing the vessel's heading.

If a turret angle sensor is enabled, check that the measured angle is reasonable by
examining the turret orientation on the Posplot view with reduced range (see Posplot
view on page 344). When turret sensor measurements are not used, the manual turret
angle must be adjusted in increments as the vessel's heading changes.
Enable
Enables (when selected) the turret lock sensor for input of measured values. If the
sensor is disabled, the Manual value is used.
Measured
If the sensor is enabled, the measured turret angle is shown. If the sensor is enabled
but acceptable measurements are not available, an asterisk is displayed to the right
of the value. If the sensor is disabled, the Manual value is shown and an “m”
is displayed to the right of the value.
Calculated Free
The angle relative to the vessel that the turret would assume according to the
defined mooring pattern and with a free turret.

385576/E 143
Kongsberg K-Pos DPM (OS)

Manual
If the turret angle sensor is not enabled, the value entered here for the turret angle
is used by the system.
Lock
The turret lock status may be measured by a sensor. This is for information only
and is not used by the K-Pos DPM system.
Enable
The turret lock sensor can be enabled or disabled for input of measured values.
Measured
If the turret lock sensor is enabled, the measured turret lock status is shown (either
LOCKED or FREE).
Manual
If the turret angle sensor is not enabled, you can select between LOCKED or FREE
turret lock status to be used by the system.

Saving and restoring data

Using the Save As and Read buttons on the dialog box, you can save and restore sets of
data for later use.
Save As
Click this button to display the Save Settings dialog box. This dialog box is used
for saving the currently-defined set-up data as a data set with a specified name.

You can either create a new data set by clicking the New button and entering a
new name using the simulated keyboard, or over-writing an existing data set by
selecting a name from the list.
To delete an existing data set, first select the name of the data set and then click
the Delete button.
Read
Click this button to display the Read Settings dialog box which is used for selecting
the data set to be read.

144 385576/E
 Sensors

385576/E 145
Kongsberg K-Pos DPM (OS)

Position information

This section contains the following topics:

Handling position information.......................................................................................146
Position Presentation dialog box....................................................................................147
Datum Details dialog box ..............................................................................................150
Local N/E Properties dialog box....................................................................................151
UTM Properties dialog box ...........................................................................................152
Methods for enabling position-reference systems .........................................................153
Panel buttons..................................................................................................................154
Reference System Settings dialog box...........................................................................154
Reference System dialog box.........................................................................................157
Reference System Properties dialog box .......................................................................160
Coordinate systems ........................................................................................................163
Tests on position measurements.....................................................................................165
Procedures for enabling position-reference systems......................................................170
Changing the reference origin........................................................................................172
Position dropout .............................................................................................................172

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 21):
• 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 147.
• 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 160. The following characteristics can be specified:
– Input datum.
– Offset of antenna or sensor head from the vessel's Midships position.
– 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.

146 385576/E
 Position information

Figure 21 Dialog boxes for handling position information

Position Presentation dialog box

The Position Presentation dialog box allows you to select the display format for positions.
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.
To display this dialog box, select View→(Presentation) Position.

385576/E 147
Kongsberg K-Pos DPM (OS)

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 150.
Co-ordinate system
Select the coordinate system to be used for displaying position information.
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 151).

148 385576/E
 Position information

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 152). 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.
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.

385576/E 149
Kongsberg K-Pos DPM (OS)

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. 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.
If US State Plane is selected, the State Plane Zone drop-down list allows you to
select the relevant state plane zone to be used.

SPCS 27 and SPCS 83 are defined for NAD 27 and NAD 83 respectively. The
proper datum should therefore also be set, i.e. select NAD 27 as datum when using
SPCS 27 and select NAD 83 when using SPCS 83.
Length Unit
The length unit to be used is specified by the Length Unit option.
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.

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.
To display the dialog box, select Details button on the Position Presentation dialog box.

150 385576/E
 Position information

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 160).
Translation
The required translation from WGS84 to the selected datum.
Rotation
The required rotation from WGS84 to the selected datum.
Scale
The required scaling from WGS84 to the selected datum.
Semimajor Axis
The semi major axis of the earth ellipsoid for the selected datum.
Flattening
The inverse flattening of the earth ellipsoid for the selected datum.

Local N/E Properties dialog box

The Co-ordinate system - Local N/E option button on the Position Presentation dialog
box must be selected.
To display the dialog box, click the Local N/E Properties button.

385576/E 151
Kongsberg K-Pos DPM (OS)

Use Reference System Origin

Allows you to select between a system selected or operator-specified position
of origin.
When this check box is selected, the position data of the reference origin is
subtracted from the position information received by the system.
An operator-specified position of origin cannot differ from the actual position by
more than 20000m. 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.
Datum and Position of Origin are unavailable when the check box is selected.
Leave the check box cleared if you want to use an operator-specified position
of origin.
Datum
Select the required datum for position of origin (on this dialog box only).
Position of Origin
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.

UTM Properties dialog box

The Co-ordinate system - UTM option button on the Position Presentation dialog box
must be selected.
To display the dialog box, select the UTM Properties button.

152 385576/E
 Position information

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.
False Northing
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.
Zone options
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°.

Methods for enabling position-reference

systems
The K-Pos DPM system provides the following methods for enabling and disabling
position-reference systems:

385576/E 153
Kongsberg K-Pos DPM (OS)

• 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 Reference
System Settings dialog box on page 154 and Reference System dialog box on page 157.

Panel buttons
The SENSORS button group contains buttons which enable or disable each of the
available position-reference 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)

Reference System Settings dialog box

To display the dialog box, select Sensors→(Reference Systems) Settings.

154 385576/E
 Position information

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.
Weight
You can change the position-reference system’s 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.
Example showing typical relative weights when using 2 GPSs and 1 LBL with
similar accuracy levels:
GPS-1 GPS-2 HPR
Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
The relative weights used are shown on the Reference system main view.
Acceptance Limits
The acceptance limit for the Prediction Test 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. 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

385576/E 155
Kongsberg K-Pos DPM (OS)

setting is that the 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.
Median Test
The settings of the Median Test (see Median test on page 168) 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 position-reference systems and/or
individual position sources are currently enabled and accepted. The Monitor,
Enable and Disable option buttons are used for selecting position-reference systems
and individual position sources to monitor, enable and disable, respectively.

156 385576/E
 Position information

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.
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 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. This is important for operations such as following a mobile target.

Reference System dialog box

The Reference System dialog box has the following three tabbed pages:
• Enable — used for selecting position-reference systems to enable and monitor
• Weight — used for changing the position-reference systems' relative weight
• Validation — used for selecting the acceptance limits for the Prediction test and
switching the Median test on/off
To display the dialog box, select Sensors→(Reference Systems) Reference System.

Enable page

385576/E 157
Kongsberg K-Pos DPM (OS)

Accepted
The check boxes show which position-reference systems are currently accepted.
Monitor
Check boxes for selecting position-reference systems to monitor.
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.
Enable
Check boxes to enable (checked) or disable (unchecked) each of the available
position-reference 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.

Weight page

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.

158 385576/E
 Position information

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:
GPS-1 GPS-2 HPR
Normal 0.33 0.33 0.33
Reduced GPS 0.10 0.10 0.80
The relative weights used are shown on the Reference system main view.

Validation page

Acceptance Limits
The acceptance limit for the Prediction Test (see Prediction test on page 167) 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. 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.

385576/E 159
Kongsberg K-Pos DPM (OS)

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 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.
Median Test
The settings of the Median Test (see Median test on page 168) 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.

Reference System Properties dialog box

The Reference System Properties dialog box allows you to change the characteristics,
update period and accuracy of a position-reference system.

160 385576/E
 Position information

However, the characteristics of the position-reference system can only be defined when
it is not enabled for use or monitoring, whereas the update period and accuracy can
be specified while in operation.
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 all reference systems, you can specify the offset from the antenna or sensor head
on the vessel to the vessel's Midships position, so that the position information can be
adjusted for this offset.
To display the dialog box, select Sensors→(Reference Systems) Properties.

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 prompting you want to save the changes.
Datum
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 Position Presentation dialog box
on page 147 and Datum Details dialog box on page 150, respectively) to define
the required transformation parameters.
CG Offset
Allows you to specify the offset (Ahead, STBD and Down) from the antenna or
sensor head on the vessel to the vessel's centre of gravity (Midships). The received
position information is then adjusted for this offset.
Note
Some position-reference systems have internal adjustments to CG. For these systems, the
received position information should not be adjusted by the K-Pos DPM system.

385576/E 161
Kongsberg K-Pos DPM (OS)

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 timeout 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.
Error ellipse
The system calculates a variance of the measurements for each position-reference
system. Based on these calculations, the system places different weighting on
their measurements according to each system’s individual quality and gives
more emphasis on the position-reference systems that are providing the best
measurements. The higher the system’s variance, the lower its weighting factor.
In addition, an error ellipse may be used while calculating the accuracy of the
measurements — check box selected.
For some reference systems this error ellipse can be too large and pessimistic,
resulting in lower weighting of the reference system than necessary. De-select
the check box to switch off the function for including the error ellipse in the
calculations.
To change the selection of the function, the reference system should be de-selected
(the respective button on the panel unlit).
Depending on the type of position-reference system and its internal settings, this
function can be permanently set to on or off and not available for the operator to
select it.
Details
Clicking this button opens an extension of the Reference System Properties dialog
box (see Position Presentation dialog box on page 147). 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.

Quality Filter Actions

With a satellite navigation system selected, and the Details button in the Reference system
Properties dialog box clicked to show the quality filter, a number of filter parameters can
be specified specifically for the selected system. For each filter parameter, a Quality Filter
Action, which can be either None, Warning (data used, warning given) or Alarm (data
rejected, alarm given), can be specified.

162 385576/E
 Position information

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.
MIN number of satellites (≥3)
Allows you to type 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).
MAX HDOP (1.0-10.0)
Allows you to type a maximum value for the HDOP (Horizontal Dilution Of
Precision) in the text box and to select filter action. The HDOP represents the
quality of the derived position and clock bias estimates. This number is based
on the geometry of the satellite constellation. The more spread out the satellite
positions are, the lower the HDOP becomes. Low number results in less errors in
position and clock bias.
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.

Coordinate systems
Global and local position-reference systems
Position information from position-reference systems may be received by the K-Pos
DPM 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).

385576/E 163
Kongsberg K-Pos DPM (OS)

• 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 UTM Properties dialog box on page 152). 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 WGS84. (To select the datum to be used for display of
position information, see Position Presentation dialog box on page 147.)
• Position information in UTM format is converted to geographic coordinates.

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.
This coordinate system remains as the reference origin until all position-reference
systems are de-selected and a new position-reference system is selected as the reference
origin.
Selecting a particular position-reference system as the reference origin does not mean
that the K-Pos DPM system treats it as being better or more reliable than any other
position-reference 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 Reference system main view.

164 385576/E
 Position information

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 System Origin in Reference System Settings dialog box on page 154).

Tests on position measurements

The K-Pos DPM system performs a series of tests on each position-reference 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 Variance test monitors the measurement variance and compares the variance value
with a calculated limit.
• A Prediction test detects sudden jumps or large systematic 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 Divergence test gives a warning of systematic 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 system's
measurements are not used.
The characteristics of the active position-reference systems are shown on the Reference
system main view (see Reference system main view on page 367).

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 Reference system main view (see Reference system
main view on page 367).

385576/E 165
Kongsberg K-Pos DPM (OS)

Freeze test
If a position-reference system has an internal error causing the same measurements to be
continuously sent to the Vessel Model, the system could, if no precautions were taken,
mistake the data for good and stable measurements.
The freeze test rejects repeated measurements. The K-Pos DPM 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 view:
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/Artemis) due to the resolution in the data from these position-reference systems.

Variance test
The K-Pos DPM 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
system's variance, the lower its weighting factor.
The following Warning Message is displayed in the Event List view 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 K-Pos DPM 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 view when a
position-reference system is rejected due to too high variance:
Reference high variance
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.

166 385576/E
 Position information

Prediction test
The prediction test detects sudden jumps in the measured position, and immediately
rejects those that lie outside the limits, see Figure 22 on page 167. The test will
also reject data that drift away from the Vessel Model's predictions. The limit for the
Prediction test is a function of the actual measurement accuracy (calculated variance).

Figure 22 Prediction test

POSITION N/E

Rejected measurement

Rejection limit

Model prediction

Measurement

Rejection limit

TIME
(CD3293)

If the Prediction test limits are exceeded, the following warning message is displayed
in the Event List view:
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 Reference system main
view.
Irrespective of the accuracy of a position-reference system, the prediction error limit is
usually not set to less than 4m. 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.
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 view:

385576/E 167
Kongsberg K-Pos DPM (OS)

Reference high offset

When this warning message is displayed, you should examine which position-reference
system is drifting using the Reference system main view (see Reference system main
view on page 367). 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 DP 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.

Figure 23 Median test

POSITION Measurement
NORTH from system A

Reject limit
around total
median line
North
Median
line

Measurement
from system B
Measurement
from system C

POSITION
(CD2971) EAST

When the Median test is active, a blue circle with radius equal to the Median Test Limit
and with centre at the median value of all positions given by the position-reference
systems, is displayed on the Reference system main view. The Median Test Limit is
taken as 80 % of the Minimum Prediction Error Limit.
The operator may choose to reject an inaccurate position-reference system, or only to
have a warning displayed.
The following warning message is displayed in the Event List view when a
position-reference system is rejected:
Reference median rejected

168 385576/E
 Position information

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 24.

Figure 24 Disabling a drifting position-reference system causes the Median position

to change

Position reference systems A and C are outside the median test limits. C is rejected.

385576/E 169
Kongsberg K-Pos DPM (OS)

C has been disabled by the operator and therefore does not take part in the test. This
causes Median position to change. Position-reference system A is now outside the
median test limit. A is rejected.

Procedures for enabling position-reference

systems
The reference point of the first position-reference system selected and accepted for use
with the system, becomes the reference origin. Position information from any other
reference systems is then calibrated according to this system.

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 Ensure that the required gyrocompasses are enabled.
2 Ensure that the required position-reference system is active and available.
3 Enable the position-reference system.
• An initial calibration of the position-reference system is performed.

170 385576/E
 Position information

• The status lamp for the selected position-reference system will flash during the
calibration process.
4 Check that the status lamp of the selected position-reference system button becomes
steadily lit to indicate that acceptable position measurements are being received.
5 Check that the following information message is displayed in the Event List view:
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.

Enabling other position-reference systems

The other position-reference systems that are enabled can be in a monitoring state. This
is indicated on the Reference system main view, here you will see the status for these
systems as Mon Online in the Reference system main 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 in
the Reference system dialog box, for the system you want to use.
• The position measurements from the selected position-reference 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).
2 Check that the status lamps of the selected position-reference systems become
steadily lit, or that the status shows Online in the Reference system main 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 view for each system:
Calibration OK <system><vessel pos. north><vessel pos. east>
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
view:
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 Properties
dialog box. See Reference System Properties dialog box on page 160 for how
to change the value. The system will continue trying to calibrate the system
until it is disabled.
Continuous measurements of the vessel's position are essential for dynamic positioning.
Several different position-reference systems are normally used.

385576/E 171
Kongsberg K-Pos DPM (OS)

Changing the reference origin

Caution
For a moored vessel, changing the reference origin will affect the Mooring
Model. See Automatic update of the mooring model on page 225.

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 Disable all position-reference systems.
• If SURGE and/or SWAY is enabled the following alarm message is displayed:
No reference system enabled
• On the Reference system main view, note that the status changes to Offline with a
red circle for all disabled position-reference systems.
2 Enable the position-reference system that is to provide the reference origin.
3 Allow the Vessel Model to stabilise.
4 Enable additional position-reference systems if required.

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:
All reference systems rejected
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 will be flashing
as the system tries to recalibrate.

172 385576/E
 Position information

Note
In the DP operating modes, position dropout will occur if all position-reference input is
lost when the vessel is under automatic position control.
In the Anchor Handling and Position Mooring modes, position dropout will occur even
when the vessel is not under automatic position control.

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
normally have no immediate effect on the vessel's movement, 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.
• For a moored vessel, automatic position control, vessel motion damping and the
results of the PM Online Consequence Analysis will all be unreliable, and Line Break
Detection will be lost. See also Automatic update of the mooring model on page 225.
• If appropriate, redefine the mooring pattern. See Automatic update of the mooring
model on page 225.
The recommended action in Position dropout (if operational circumstances allow) is:
1 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.
2 When at least one reliable position-reference system is successfully calibrated,
return to the required operational mode.

385576/E 173
Kongsberg K-Pos DPM (OS)

Main modes and operating

procedures

This section contains the following topics:

Standby mode ................................................................................................................174
Joystick mode ................................................................................................................175
Auto Position mode .......................................................................................................181
Anchor Handling mode..................................................................................................182
Position Mooring mode .................................................................................................187

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. It is the default mode
when the system is first switched on. In Standby mode you can prepare the system
for operation.
From this mode, you can take the system to Joystick mode (see Joystick mode on
page 175).
Note
When in Standby mode, ignore any displayed position information.

In this mode you may also:

• Calibrate the joystick (see Calibrating the joystick on page 83).
• Enable the required gyrocompasses (see Gyrocompasses on page 116).
• Enable the required wind sensors (see Wind sensors on page 121).
• Enable the required VRSs (see Vertical reference sensors (VRS) on page 125).
• Enable the required speed sensors (see Sensors dialog box — Speed page on page 127).
• Enable the required current sensors (see Sensors dialog box — Sea Current page
on page 131).
• Enable the required wave sensors (see Sensors dialog box — Wave page on page 132).

174 385576/E
 Main modes and operating procedures

• Enable the required draught sensors (see Sensors dialog box — Draught page on
page 130).
• Enable the required thrusters, propellers and rudders (see Enabling thrusters on
page 243).

Returning to Standby mode/manual levers

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

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 rotates the vessel (the yaw axis).
Refer also to the following sections:
• Joystick Settings dialog box on page 79
• Thruster Allocation dialog box on page 246
• Rotation centre for joystick manoeuvring on page 81

385576/E 175
Kongsberg K-Pos DPM (OS)

From Standby mode to Joystick mode

Note
Before using the joystick, it must be correctly calibrated. See Calibrating the joystick on
page 83.

To take the system from Standby mode to Joystick mode:

1 Ensure that the joystick is in the zero position in all three axes, and that it is
functioning correctly (see Joystick view on page 328).
2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116). See also Position and heading information on page 177.
3 Ensure that the required wind sensors are enabled (see Wind sensors on page 121).
4 Ensure that the required VRSs are enabled (see Vertical reference sensors (VRS)
on page 125).
5 Ensure that the required draught sensors are enabled (see Sensors dialog box —
Draught page on page 130).
6 Ensure that the required thrusters, propellers and rudders are enabled (see Enabling
thrusters on page 243).
7 If the vessel has a switch or button to select between manual and K-Pos DPM
thruster control (usually located on the main thruster control panel), set this
switch/button to K-Pos DPM.
8 Press the JOYSTICK button twice.
• The JOYSTICK button status lamp starts to flash and then becomes steadily
lit when the mode is entered.
9 Enable the required position-reference systems (see Methods for enabling
position-reference systems on page 153). See also Position and heading information
on page 177.

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 Joystick view on page 328) provides useful information in the
Joystick mode.

176 385576/E
 Main modes and operating procedures

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>

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:
• Press the YAW button for automatic heading control with joystick control of the surge
and sway axes (see Joystick mode with automatic heading control on page 177).
• Press the SURGE and SWAY buttons for automatic position control with joystick
heading control (see Joystick mode with automatic position control in both surge
and sway on page 178).
• Press the YAW and SURGE buttons for automatic heading control, automatic
stabilisation in the surge axis, and joystick control of the sway axis (see Joystick mode
with automatic stabilisation on page 179).
• Press the YAW and SWAY buttons for automatic heading control, automatic
stabilisation in the sway axis, and joystick control of the surge axis (see Joystick mode
with automatic stabilisation on page 179).
If you select all three axes for automatic control, the system automatically enters the
Auto Position mode (see Auto Position mode on page 181).

Joystick mode with automatic heading control

In Joystick mode with a gyrocompass enabled, you can select automatic heading control.
When automatic heading control is selected, the system automatically provides the
thruster control necessary to maintain this heading.

385576/E 177
Kongsberg K-Pos DPM (OS)

Refer also to the following sections:

• Gain dialog box on page 72
• Changing the heading setpoint on page 201
• Alarm Limits dialog box on page 69
• Rate Of Turn page on page 206

Selecting automatic heading control

To select automatic heading control while in Joystick mode:
1 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit.
2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116).
3 Press the YAW button twice within four seconds.
• The YAW button status lamp starts to flash.
• The vessel rotation (Rate Of Turn) starts to slow down in a controlled manner at
a rate that depends on the selected controller gain.
• When the Rate Of Turn is reduced to less than a predefined limit, automatic
heading control is enabled and the YAW and PRESENT HEADING button status
lamps become steadily lit. The current vessel heading becomes the heading
setpoint, and the system automatically keeps the vessel on this heading.
• The deviation between the estimated heading and the heading setpoint is shown
on the Heading pane (see Dashboard layout on page 41).

Returning to joystick heading control

To return to joystick heading control:
1 Press the JOYSTICK button twice within four seconds.
• The YAW and PRESENT HEADING button status lamps become unlit.
2 Control the vessel's 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 position-reference
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 in Joystick mode
with automatic stabilisation on page 179.)
Unless there is a specific operational requirement for joystick yaw control, it is better to
use either the Auto Position mode or the Anchor Handling mode when changing position
in order to allow the system to maintain a constant heading during the manoeuvre.

178 385576/E
 Main modes and operating procedures

Refer also to the following sections:

• Gain dialog box on page 72
• Changing the position setpoint on page 190
• Alarm Limits dialog box on page 69

Selecting automatic position control

To select automatic position control while in Joystick mode:
1 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit.
2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116).
3 Ensure that at least one position-reference system is active and enabled (see Methods
for enabling position-reference systems on page 153).
4 Press the SURGE and the SWAY buttons twice within four seconds.
• The SURGE and SWAY button status lamps start to flash.
• The vessel starts to slow down (loose speed) in the surge and sway axes in a
controlled manner at a rate that depends on the selected controller gain.
• When the vessel speed (in both the surge and sway axes) is reduced to less than
predefined limits, automatic position control is enabled and the SURGE, SWAY
and PRESENT POSITION button status lamps become steadily 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 Position deviation pane (see Dashboard layout on page 41).

Returning to joystick position control

To return to joystick position control:
1 Press the JOYSTICK button twice within four seconds.
• The PRESENT POSITION, SURGE and SWAY button status lamps become unlit.
2 Control the vessel's position manually using the joystick.

Joystick mode with automatic stabilisation

In Joystick mode, with an active gyrocompass and with an active position-reference
system, you can select automatic stabilisation. This means that either:
• The yaw and surge axes are under automatic control while the sway axis remains
under joystick control.
or
• The yaw and sway axes are under automatic control while the surge axis remains
under joystick control.

385576/E 179
Kongsberg K-Pos DPM (OS)

Refer also to the following sections:

• Gain dialog box on page 72
• Changing the heading setpoint on page 201
• Alarm Limits dialog box on page 69
• Speed Setpoint dialog box on page 197
• Rate Of Turn page on page 206

Selecting automatic stabilisation

To select automatic stabilisation while in Joystick mode:
1 Check that none of the status lamps for the SURGE, SWAY or YAW buttons are lit.
2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116).
3 Ensure that at least one position-reference system is active and enabled (see Methods
for enabling position-reference systems on page 153).
4 Press the YAW button twice within four seconds.
• The YAW button status lamp starts to flash.
• The vessel rotation (Rate Of Turn) starts to slow down in a controlled manner at
a rate that depends on the selected controller gain.
• When the Rate Of Turn is reduced to less than a predefined limit, automatic
heading control is enabled and the YAW and PRESENT HEADING button status
lamps become steadily lit. The current vessel heading becomes the heading
setpoint, and the system automatically keeps the vessel on this heading.
• The deviation between the estimated heading and the heading setpoint is shown
on the Heading pane (see Dashboard layout on page 41).
5 Press either the SURGE or SWAY button twice within four seconds.
• The respective SURGE or SWAY button status lamp starts to flash.
• The vessel starts to slow down (loose speed) in the surge or sway axis in a
controlled manner at a rate that depends on the selected controller gain.
• When the vessel speed (in the surge or sway axis) is reduced to less than a
predefined limit, automatic position control in the selected axis is enabled and
the SURGE or SWAY button status lamp becomes steadily 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.
• The deviation between the estimated position and the position setpoint is shown
on the Position deviation pane (see Dashboard layout on page 41).
6 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 Press the JOYSTICK button twice within four seconds.
2 Control the vessel's heading and position manually using the joystick.

180 385576/E
 Main modes and operating procedures

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:
• Gain dialog box on page 72
• Thruster Allocation dialog box on page 246
• Changing the position setpoint on page 190
• Changing the heading setpoint on page 201
• Alarm Limits dialog box on page 69
• Rotation Center dialog box on page 76
• Quick model update on page 75
• DP online consequence analysis on page 312

From Joystick mode to Auto Position mode

To take the system from Joystick mode to Auto Position mode:
1 Ensure that none of the status lamps above the YAW, SURGE and SWAY buttons
are lit.
2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116).
3 Ensure that at least one position-reference system is active and enabled (see Methods
for enabling position-reference systems on page 153).
4 Ensure that either High Precision or Relaxed (if configured) is set as the selected
Controller Mode in the Gain dialog box.
5 Hold the vessel as stationary as possible using the joystick.
6 Press the AUTO POSITION button twice within four seconds.
• The AUTO POSITION button status indicator starts to flash and then becomes
steadily lit when the mode is entered.
• The YAW, SURGE and SWAY button status lamps start to flash.
• The vessel rotation (Rate Of Turn) starts to slow down in a controlled manner at
a rate that depends on the selected controller gain.
• The vessel starts to slow down (loose speed) in the surge and sway axis in a
controlled manner at a rate that depends on the selected controller gain.
• When the Rate Of Turn is reduced to less than a predefined limit, automatic
heading control is enabled and the YAW and PRESENT HEADING button status
lamps become steadily lit. The current vessel heading becomes the heading
setpoint, and the system automatically keeps the vessel on this heading.
• The deviation between the estimated heading and the heading setpoint is shown
in the Heading area of the display.

385576/E 181
Kongsberg K-Pos DPM (OS)

• The vessel starts to slow down (loose speed) in the surge and sway axes in a
controlled manner at a rate that depends on the selected controller gain.
• When the vessel speed (in both the surge and sway axes) is reduced to less than
predefined limits, automatic position control is enabled and the SURGE, SWAY
and PRESENT POSITION button status lamps become steadily 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 Position area on the display.
If Green controller mode is desired, continue as follows:
7 Allow the vessel to stabilise in Auto Position mode for about 15 minutes to attain
optimal performance in the Green controller mode.
8 Select Green controller mode with the required area set in the Gain dialog box (see
Gain dialog box on page 72) 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.
Note
No change in position or heading should be attempted during the first five minutes after
entering 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.

Anchor Handling mode

The Anchor Handling mode allows position mooring with any anchor pattern and with
up to 20 anchor lines.
In this mode you can define or modify the mooring pattern to be used by the vessel.
For each anchor line, you must specify:
• The line direction and the water depth at the anchor
• The number of line segments and possibly buoyancy elements and clump weights
for each line
• The line parameters, such as the weight per meter, elasticity and bottom friction
for each line segment, and the floating force of each buoyancy element and clump
weight (if applicable)
You can also define the forces acting on the vessel due to single flexible risers and
riser systems. For single risers, the forces are based on the riser seabed position, the
riser connection point on the vessel, and a distance/force table. For riser systems, the
forces are based on the deviation of the connection point of the riser system from the
equilibrium position.
Various mooring patterns can be predefined and stored on disk.

182 385576/E
 Main modes and operating procedures

The Anchor Handling mode enables deployment of anchors while either manually or
automatically maintaining the required vessel position and heading. As each anchor is
deployed, the mooring force from the anchor line can be taken into account.
The following functions are available in Anchor Handling mode:
• Manual and automatic thruster control to maintain the required position and heading
(see Axis Control dialog box on page 209)
• Automatic control of the thrusters/propellers to damp vessel oscillations (see Axis
Control dialog box on page 209)
• Monitoring of the lengths and tensions of each anchor line, and of the vessel's
position and movement, with or without thruster control (see Anchor Lines dialog
box on page 227)
• Tension optimisation (see Tension optimisation and move-up on page 233)
– Calculation of the changes in line length that would be required to optimise the
mooring system or to move the vessel within the mooring system
• Mooring consequence analysis (see Mooring Consequence Analysis on page 315)
– Calculation of the consequences of a line break or loss of thrusters
Refer also to the following sections:
• Alarm Limits dialog box on page 69
• Joystick Settings dialog box on page 79
• Changing the position setpoint on page 190
• Changing the heading setpoint on page 201

Preparation
Before the system can take into account the forces from any anchor lines, either during
deployment or after the anchors are set, you must enter the Anchor Handling mode and
define the anchor line characteristics and the mooring pattern.
Each anchor is described by:
• The characteristics of the anchor line segments, buoyancy elements and clump
weights (if applicable)
• Line direction
• Water depth at the anchor
• Line tension
• Line length
You must also define the restoring forces due to single flexible risers or riser systems.
It is extremely important that you define the mooring system as accurately as possible.
This definition forms the basis of all estimations and calculations made later by the
system.

385576/E 183
Kongsberg K-Pos DPM (OS)

Entering the Anchor Handling mode

The following procedure should be used to enter the Anchor Handling mode in
preparation for deploying anchors.
Note
You can enter Anchor handling mode from Auto Position mode and then you can start
from step 6.

1 Ensure that the system is under joystick control in Joystick mode.

2 Ensure that the required gyrocompasses are enabled (see Gyrocompasses on
page 116).
3 Ensure that the required VRSs are enabled (see Vertical reference sensors (VRS)
on page 125).
4 Ensure that at least one position-reference system is active and enabled (see Methods
for enabling position-reference systems on page 153).
5 Ensure that any other necessary sensors, such as wind, wave, current and draught,
are enabled and operational (see Sensors on page 116).
6 Press the ANCHOR HANDLING button twice.
• The system enters the Anchor Handling mode and the ANCHOR HANDLING
button status lamp is lit.
• The system is automatically placed under full automatic position and heading
control with damping selected in all axes. The status lamps for the SURGE,
SWAY and YAW buttons are lit.
• The setpoints for heading and position are set to the present estimated vessel
heading and position.
• Any thrusters that are enabled will be used. However, it is not mandatory for
thrusters to be available.
7 You can select any other mode of thruster control as required (see Thruster control
below).
Note
Wait at least 15 minutes after entering the Anchor Handling mode before activating
anchor parameters.

Thruster control
Thruster control is available in the Anchor Handling mode:
• For vessel positioning during anchor handling
• To maintain a wanted position and heading
• To reduce the tension in particular anchor lines
• To stabilize the vessel position within the mooring system

184 385576/E
 Main modes and operating procedures

The following thruster control functions are described in Axis Control dialog box on
page 209:
• Joystick or automatic control of any or all of the surge, sway and yaw axes
• Automatic vessel motion damping
• Environmental compensation
• Propeller bias
• Joystick lock

Deploying anchors
During deployment of anchors (before the anchors are set), the mooring forces that are
used by the system are the measured line tensions. You can define and activate anchors
individually as each anchor is deployed.
Use the following procedure when deploying anchors:
1 Using the Mooring Sensors and Alarms dialog box:
a Enable the line tension sensors for each line that is to be deployed (see Tension
Sensors page on page 137).
b Enable the line length sensors for each line that is to be deployed (see Length
Sensors page on page 140).
c For a turret-moored vessel, enable the turret angle sensor (see Turret Sensor
page on page 142).
2 Using the Mooring System dialog box:
a Define the segment data for each anchor line that is to be deployed (see
Defining the line segment data on page 218).
b Define the bearings of the lines that are to be deployed and set their Select
modes to MEAS/MAN.
c Enter the depth of water at the vessel. Ignore the depth of water at the anchor at
this stage. For all anchor lines that are not in use, set the Select mode to NO (see
Defining the mooring pattern on page 216).
d Click the OK or Apply button to update the Mooring Model (see Updating the
mooring model on page 223).
3 Check the anchor line information shown on the Posplot view (see Mooring pattern
display (Posplot view) on page 350) and the Anchor Lines dialog box (see Anchor
Lines dialog box on page 227).
4 For a turret-moored vessel, check that the turret orientation is reasonable by
reducing the range of the Posplot view.

Accepting set anchors

When each deployed anchor has been set, the following procedure should be used to
allow the system to calculate line characteristics for these lines:

385576/E 185
Kongsberg K-Pos DPM (OS)

Note
Ensure that the vessel movement is stable (for example, by using the damping functions)
before calculating line characteristics.
The vessel should be approximately at the required position and heading before
calculating line characteristics.

1 Using the Mooring System dialog box:

a For each anchor line that has been deployed and set, change the Select mode to
CALCULATED, enter the depth of water at the anchor and, if necessary, correct
the entered bearing (see Defining the mooring pattern on page 216).
b Click the OK or Apply button to update the Mooring Model (see Defining the
mooring pattern on page 216).
2 Check the anchor line information shown on the Posplot view (see Mooring pattern
display (Posplot view) on page 350) and the Anchor Lines dialog box (see Anchor
Lines dialog box on page 227).
3 For a turret-moored vessel, check that the turret orientation is reasonable by
reducing the range of the Posplot view.
When line characteristics have been calculated:
• The Mooring Consequence Analysis function is available (see Mooring Consequence
Analysis on page 315).
• The Tension Optimisation function is available (see Tension optimisation and
move-up on page 233).
• The Extreme Motion and Tension Prediction function is available (see Extreme-Motion
Analysis Settings dialog box on page 240).
• Mooring sensors and alarm limits can be set. (see Mooring Sensors and Alarms
dialog box on page 137.
If more anchors are to be deployed, see Deploying anchors on page 185.

Defining the forces due to risers

Use the following procedure to include in the mooring calculations the forces acting on
the vessel due to single flexible risers and riser systems.
1 Using the Mooring System dialog box:
a For each single riser, define the forces acting on the vessel by specifying
the riser seabed position, the riser connection point on the vessel, and a
distance/force table (see Defining data for single risers on page 219).
b For each riser system, define the forces acting on the vessel by specifying the
connection point of the riser system, the equilibrium position of the vessel, and
a restoring force matrix (see Defining data for riser systems on page 221).
c Select the Used check box for each riser that is in use.
d Click the OK or Apply button to update the Mooring Model (see Updating the
mooring model on page 223).

186 385576/E
 Main modes and operating procedures

2 Check the riser information shown on the Posplot view (see Riser display (Posplot
view) on page 352) and the Anchor Lines dialog box (see Anchor Lines dialog box
on page 227).

Position Mooring mode

The Position Mooring mode is the normal mode for a moored vessel in an equilibrium
situation. This mode satisfies the requirements of DNV PosMoor ATA and LRS PM(T2)
and (T3).
The system monitors the vessel's mooring pattern and the lengths and tensions of each
anchor line.
In addition to the functions that are available in Anchor Handling mode, the Line Break
Detection function (see Line break detection on page 230) becomes available in Position
Mooring mode. This function detects line breaks and automatically compensates for the
lost mooring force by means of the thrusters.
Unlike the Anchor Handling mode, it is not possible to modify the definition of the
mooring pattern in any way in Position Mooring mode.
To enter the Position Mooring mode, at least four anchors must have been defined and
selected in the Anchor Handling mode, one in each "corner" of the vessel. In addition,
line characteristics must have been calculated for all selected anchor lines.
Refer also to the following sections:
• Gain dialog box on page 72
• Joystick Settings dialog box on page 79
• Changing the position setpoint on page 190
• Changing the heading setpoint on page 201
• Thruster Allocation dialog box on page 246

Preparation
The minimum requirement for entering the Position Mooring
mode is an equilibrium mooring situation. At least four anchors
must have been defined and activated, one in each "corner" of the
vessel. This means that there must be at least four anchor lines
for which the fairlead position and the bearing of the anchor line
lie in the same quadrant and of these lines at least one anchor line
must lie in each quadrant. In addition, line characteristics must
have been calculated for all selected anchor lines.
Position Mooring mode should normally not be entered until the
vessel is fully moored.

385576/E 187
Kongsberg K-Pos DPM (OS)

Entering the Position Mooring mode

Use the following procedure to enter the Position Mooring mode:
1 Ensure that the system is in Anchor Handling mode.
2 Ensure that the mooring pattern satisfies the minimum requirement described in
Preparation on page 187.
3 Ensure that there are no lines that are selected with MEAS/MAN line tension (all
selected lines must be set for CALCULATED line tension) (see Defining the mooring
pattern on page 216).
4 Press the POSITION MOORING button twice.
• The system enters the Position Mooring mode and the POSITION MOORING
button status lamp is lit.
If any of the pre-conditions for entering the Position Mooring mode are not met, a
message will be displayed in the status line, and the system will remain in the Anchor
Handling mode.

Mooring limits
When the system enters the Position Mooring mode, the following warning and alarm
limits for all selected anchors are enabled automatically:
• Position and heading limits (see Alarm Limits dialog box on page 69)
• Position, heading and line tension limits for the Mooring Consequence Analysis
function (see Mooring Consequence Analysis on page 315)
• Line tension and line length limits (see Mooring Sensors and Alarms dialog box
on page 137)

Line break detection

Within a few minutes of entering the Position Mooring mode, the Line Break Detection
function becomes available (see Line break detection on page 230).

Thruster control
The Position Mooring mode is the normal mode for a moored vessel in an equilibrium
situation. This means that assistance from thruster force is not normally required to
maintain the wanted position except to compensate for increasing environmental forces.
The Vessel Motion Damping function can be used to damp the vessel's oscillations
within the mooring system.
For a turret-moored vessel, automatic heading control can be used to maintain the
vessel's heading.
When the position of the rotation center has been set to be at the turret position (i.e. in a
position closer to the bow than the Midships rotation center), the aft thrusters will be
used more extensively than the bow thrusters.

188 385576/E
 Main modes and operating procedures

If required, the thrusters can be under entirely manual control or under automatic control
in any or all of the surge, sway and yaw axes.
The following thruster control functions are described in Axis Control dialog box on
page 209:
• Joystick or automatic control of any or all of the surge, sway and yaw axes
• Automatic vessel motion damping
• Environmental compensation
• Propeller bias
• Joystick lock
Caution
Ensure that the position and heading setpoints are appropriate at all times in
Position Mooring mode, even when automatic position and heading control
are not selected. When a line break is detected, full automatic position and
heading control is activated using all enabled thrusters to bring the vessel to
the position and heading setpoints.

Modifying the mooring system

In Position Mooring mode it is not possible to modify the definition of the mooring
system. To modify the anchor data you must first return to the Anchor Handling mode.
In Position Mooring mode you can enable and disable sensors and enter manual values if
necessary.

385576/E 189
Kongsberg K-Pos DPM (OS)

Changing the position

setpoint

This section contains the following topics:

Stopping the movement during change of position .......................................................190
Marking a new position setpoint on the Posplot view ...................................................191
Position R/B dialog box (range/bearing) .......................................................................192
Position Inc dialog box (incremental)............................................................................193
Position dialog box ........................................................................................................193
Speed Setpoint dialog box .............................................................................................197
Acceleration/Deceleration Settings dialog box..............................................................198
In all the DP operating modes, you can change the position setpoint only when the
surge and/or sway axes are under automatic position control. In the Anchor Handling
and Position Mooring modes, this restriction does not apply and you can change the
position setpoint at any time.
Caution
When the vessel is moored, you must ensure that the position setpoint is
appropriate for the mooring pattern at all times, whether or not automatic
position control is active.

Stopping the movement during change of

position
You can stop the movement of the vessel during change of position either by changing
the setpoint to the present position or, in some modes, by taking a pause (without
changing the setpoint).

Stopping by use of the Present Position button

To set the vessel's present position as the position setpoint, press the PRESENT
POSITION button twice within four seconds.
The PRESENT POSITION button status indicator starts to flash and then becomes
continuously lit when the vessel's present position is set as the position setpoint.

190 385576/E
 Changing the position setpoint

Stopping by use of the STOP button

To take a pause in the movement while changing the position:
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
2 The SURGE and SWAY button status lamps are flashing and the text 'SLOWDOWN'
is shown in the heading pane on the dashboard.
3 When the vessel comes to a stop the SURGE and SWAY button status lamps become
steadily lit and the text 'STOPPED' is shown in the heading pane on the dashboard.
Note
The position setpoint has not changed and the PRESENT POSITION button status
lamp is not lit.

4 Deselect the STOP button and the vessel will continue the movement to the defined
position setpoint.

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.

385576/E 191
Kongsberg K-Pos DPM (OS)

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.
3 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.
4 Either click the OK button to accept the new position setpoint, or click the Cancel
button to continue using the existing setpoint.

Position R/B dialog box (range/bearing)

The Position R/B dialog box is useful in operations that require frequent changes of
position setpoint.
To display this dialog box, select Positioning→Position range/bearing.

192 385576/E
 Changing the position setpoint

Range
Enter the range from the Present Setpoint to the New Setpoint in this text box.
True Bearing
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

Position Inc dialog box (incremental)

The Position Inc dialog box is useful in operations that require frequent changes of
position setpoint.

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 Ahead, Astern, PORT or 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
Shows the range from the Present Setpoint position to the New Setpoint position.
True Bearing
Shows the true bearing from the Present Setpoint position to the New Setpoint
position.

Position dialog box

The Position dialog box contains four tabbed pages (Inc, R/B, Absolute and Speed) that
allow you to specifying the required position setpoint in the following ways:
• Inc (Incremental) for defining the setpoint relative to the existing setpoint
• R/B for defining the setpoint using range and bearing

385576/E 193
Kongsberg K-Pos DPM (OS)

• Absolute for defining the setpoint using absolute coordinates

• Speed for specifying the speed at which the vessel should try to move during a change
of position
To display the dialog box, select Positioning→Position or press the CHANGE POSITION
button.

Inc page
The Inc (Incremental) page allows you to define the position setpoint relative to the
existing setpoint.
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/Starboard or North/South/East/West 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.

New Setpoint
Shows the coordinates that will be used for the new position setpoint when you
click the OK or Apply button.
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.

194 385576/E
 Changing the position setpoint

From Present Setpoint to New Setpoint

Shows the Range and True Bearing from the Present Setpoint position to the New
Setpoint position.

R/B page
The R/B page allows you to define the position setpoint using range and bearing.

New Setpoint
Shows the coordinates that will be used for the new position setpoint when you
click the OK or Apply button.
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 option button.
Bearing
Select either True or Relative bearing by clicking the matching option button.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint position to the New
Setpoint position. If Present Position is selected as a start position the text changes
to From Present Position to New Setpoint.

385576/E 195
Kongsberg K-Pos DPM (OS)

Abs page
The Abs page allows you to define the position setpoint using absolute coordinates.

New Setpoint
Shows the coordinates that will be used for the new position setpoint when you
click the OK or Apply button. 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.
From Present Setpoint to New Setpoint
Shows the Range and True Bearing from the Present Setpoint position to the New
Setpoint position.

Speed page
The Speed page allows you to specify the speed at which the vessel should try to move
during a change of position.
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.

196 385576/E
 Changing the position setpoint

New Setpoint
Either enter the required value in the New Setpoint spin box, or use the up and down
arrows to adjust the setpoint by the selected increment or decrement defined in the
Increase/Decrease speed step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change position.
If the speed setpoint has been set to 0.0 and the vessel's rotation centre has been set to
another position than Midships, it will not be possible to perform a change of heading.
This is because a heading change with a rotation center other than Midships implies a
change of position which requires a speed setpoint that is not zero.

Speed Setpoint dialog box

The Speed Setpoint dialog box is useful in operations that require frequent changes of
speed setpoint as it allows you to specify the speed at which the vessel should try to
move during a change of position.
As the vessel approaches the position setpoint, the speed setpoint is reduced to zero.
This speed applies only when the surge and/or sway axes are under automatic control.
To display this dialog box, select Settings→(Control) Speed.

385576/E 197
Kongsberg K-Pos DPM (OS)

Either enter the required value in the Speed Setpoint spin box, or use the up and down
arrows to adjust the setpoint by the selected increment or decrement defined in the
Increase/Decrease speed step spin box.
Note
If the speed setpoint is set to 0.0, the vessel will not change position.
If the speed setpoint has been set to 0.0 and the vessel's rotation center has been set to
another position than Midships, it will not be possible to perform a change of heading.
This is because a heading change with a rotation center other than Midships implies a
change of position which requires a speed setpoint that is not zero.

Acceleration/Deceleration Settings dialog

box
Acceleration and deceleration 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/deceleration factors apply.) Acceleration and deceleration factors in the yaw
axis can be specified for High Speed operation.
Using the Acceleration/Deceleration Settings dialog box you can:
• Specify the acceleration and deceleration factors for the vessel speed in surge and
sway axes at start and finish of a commanded change of position.
• Specify the acceleration and deceleration factors for the vessel's Rate Of Turn at
start and finish of a commanded rotation.
To display the dialog box, select Settings→(Control) Acceleration and then click the
required page tab.

198 385576/E
 Changing the position setpoint

The options available on the Low Speed and Relaxed Control pages are identical.
The acceleration/deceleration factors on the Low Speed page are those that are used when
neither Relaxed Control nor High Speed apply.
The acceleration/deceleration factors on the Relaxed Control page are those that are used
when Relaxed Controller mode is selected.
The acceleration/deceleration factors on the High Speed page are those that are used in
Auto Track (high speed) and Autopilot modes (refer to the separate Auto Track Mode
and AutoPilot Mode operator manuals).
Controller Reference
The acceleration and deceleration factors (Surge, Sway and Yaw) can be set
in the range 0.0 to 100%, and represent a percentage of maximum available
acceleration/deceleration. The selections on the Low Speed and Relaxed Control
pages are identical. On the High Speed page only acceleration/deceleration 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.
Decelaration Factor
As the vessel approaches the new position setpoint, the vessel speed is decreased
to zero using the selected deceleration factor in the surge and sway axes.

385576/E 199
Kongsberg K-Pos DPM (OS)

As the vessel approaches the new heading setpoint, the Rate Of Turn is decreased
to zero using the selected deceleration factor in the yaw axis.

200 385576/E
 Changing the heading setpoint

Changing the heading

setpoint

This section contains the following topics:

Stopping the rotation during change of heading ............................................................202
Marking a new heading setpoint on the Posplot view ...................................................202
Heading Wheel and its associated buttons.....................................................................203
Heading dialog box ........................................................................................................204
Acceleration/deceleration factors in the yaw axis .........................................................207
In all the DP operating modes, you can change the heading setpoint only when the yaw
axis is under automatic heading control. In the Anchor Handling and Position Mooring
modes, this restriction does not apply and you can change the heading setpoint at any
time.
Caution
When the vessel is moored, you must ensure that the heading setpoint is
appropriate for the mooring pattern at all times, whether or not automatic
position control is active.

Caution
For a turret-moored vessel with a free turret, the turret angle must change
as the vessel heading changes. You must ensure that the turret angle used
by the system is within ±5° of the actual turret angle at all times. If a turret
angle sensor is enabled, check that the measured angle is reasonable by
examining the turret orientation on the Posplot view with reduced range (see
Mooring pattern display (Posplot view) on page 350). When not using the
turret sensor measurements, you must adjust the manual turret angle in
increments as the heading changes (see Turret Sensor page on page 142).

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. Nor is it possible to perform
a change of heading when the vessel's rotation centre is set to a position other than
Midships and the position speed setpoint is zero.

385576/E 201
Kongsberg K-Pos DPM (OS)

Note
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.

Stopping the rotation during change of

heading
You can stop the rotation of the vessel during change of heading either by changing the
setpoint to the present heading or, in some modes, by taking a pause (without changing
the setpoint).

Stopping by use of the Present Heading button

To set the vessel's 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.

Stopping by use of the STOP button

To take a pause in the rotation while changing the heading:
1 Press the STOP button twice within four seconds. The vessel starts to slow down in
a controlled manner at a rate that depends on the selected controller gain.
2 The YAW button status lamp is flashing and the text 'SLOWDOWN' is shown in the
Heading pane on the dashboard.
3 When the vessel comes to a stop the YAW button status lamp becomes steadily lit
and the text 'STOPPED' is shown in the Heading pane on the dashboard.
Note
The heading setpoint has not changed and the PRESENT HEADING button status
lamp is not lit.

4 Deselect the STOP button and the vessel will continue the rotation to the defined
heading setpoint.

Marking a new heading setpoint on the

Posplot view
With the Posplot view displayed, you can change the heading setpoint using the trackball.

1 Click on the heading setpoint symbol in the Posplot view.

• The Heading dialog box is displayed.

202 385576/E
 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 heading
is updated dynamically on the Heading dialog box.
3 Click again to fix the setpoint symbol at the required heading.
• A temporary heading setpoint symbol is displayed.
• The New setpoint and the difference (Diff) from the Present Setpoint are displayed
on the Heading dialog box.
4 Either click the OK button to accept the new heading setpoint, or click the Cancel
button to continue with the existing setpoint.

Heading Wheel and its associated buttons

You can change the heading setpoint using the Heading
Wheel and its HEADING buttons (from left to right),
DECREASE, ACTIVATE and INCREASE (see Heading
wheel on page 33). To activate the Heading Wheel, one of
these three associated buttons must be pressed.

To change the heading setpoint:

385576/E 203
Kongsberg K-Pos DPM (OS)

Note
The system must have automatic heading control.

1 Press the DECREASE, ACTIVATE or INCREASE button once.

• The Heading Setpoint dialog box is displayed.

2 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.

Heading dialog box

The Heading dialog box contains two tabbed pages (Heading and Rate Of Turn) which
allow you to change the heading setpoint and specify the Rate Of Turn.
To display the dialog box, select Positioning →Heading, or press the CHANGE HEADING
button.

Heading page
The Heading page of Heading dialog box allows you to define the heading setpoint.
While entering data on the Heading page, before you click the OK or Apply button,
a temporary heading setpoint symbol is displayed on the Posplot view showing the
proposed heading setpoint.

204 385576/E
 Changing the 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.

Note
When changing the heading setpoint, the turn direction will depend on the new heading
setpoint. The shortest turn is always used.

New Setpoint
Shows the heading that will be used as the new heading setpoint when you click
the OK or Apply button. When Operator Selected is chosen under Strategy, you
can enter the Heading Setpoint by typing 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.
Strategy
System Selected
If you choose System Selected, the displayed system-selected heading is written
into the New Setpoint box. When you click the OK or Apply button, the system will
continue to determine what the heading setpoint should be.

385576/E 205
Kongsberg K-Pos DPM (OS)

This function is available when the environmental conditions are above a certain
limit. When system heading is selected, the alarm limits are turned off.

Operator Selected
If you choose Operator Selected, you can enter the Heading Setpoint using any
of the other methods described here.

Rate Of Turn page

The Rate Of Turn page allows you to define the speed at which the vessel should try to
rotate during a change of heading (the vessel's Rate Of Turn).
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 centre is at a position other than the vessel's Midships position,
the actual Rate Of Turn may be less than the speed specified. This is because the speed of
movement of the Midships position is limited in proportion to the required vessel speed
and the distance of the rotation centre from the Midships position.
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 is zero.

206 385576/E
 Changing the heading setpoint

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).
Note
The rate of turn can also be set from a dialog box opened from Settings→Rate of turn. The
content of this dialog box is the same as described above and the changes made in one of
them is immediately replicated in the other.

Acceleration/deceleration factors in the yaw

axis
Acceleration and deceleration factors in the yaw axis can be specified for Low Speed
and High Speed operations, and for operation in Relaxed Controller Mode using the
Acceleration/Deceleration Settings dialog box. (In Auto Position mode with High Precision
Controller Mode selected, the Low Speed acceleration/deceleration factors apply.)
To display the dialog box, select Settings→(Control) Acceleration and then click the
required page tab.

385576/E 207
Kongsberg K-Pos DPM (OS)

See Acceleration/Deceleration Settings dialog box on page 198 for more information
about this dialog box.

208 385576/E
 Position mooring functions

Position mooring functions

This section contains the following topics:

Axis Control dialog box.................................................................................................209
Restoring Position Mooring mode after a shut-down .................................................... 211
Quick Set-up dialog box ................................................................................................213
Mooring System dialog box...........................................................................................215
Automatic update of the mooring model .......................................................................225
Anchor Lines dialog box................................................................................................227
Line break detection.......................................................................................................230
Acting on line break alarm.............................................................................................231
Line Break dialog box....................................................................................................232
Tension optimisation and move-up................................................................................233
Tension Optimisation Settings dialog box .....................................................................234
Tension Optimisation Results dialog box ......................................................................238
Extreme-Motion Analysis Settings dialog box ..............................................................240
Extreme-Motion Analysis Results dialog box ...............................................................240

Axis Control dialog box

In the Anchor Handling and Position Mooring modes, the Axis Control dialog box
provides the following control functions:
• Automatic control or joystick position control in the surge, sway and yaw axes
• Vessel motion damping in the surge, sway and yaw axes
• Automatic compensation for environmental forces in the surge, sway and yaw axes
• Propeller bias in the surge axis
• Joystick lock
The Axis Control dialog box is accessible only in the Anchor Handling and Position
Mooring modes because automatic thruster control and vessel motion damping are
handled differently for DP and PM operation. During DP operation, damping of the
vessel's speed is always implicitly selected whenever automatic thruster control is used.
However, in the Anchor Handling and Position Mooring modes the damping function is
controlled separately, which allows a moored vessel to dampen its speed of movement
without using thruster force to maintain position.

385576/E 209
Kongsberg K-Pos DPM (OS)

Using damping without automatic positioning, a moored vessel can dampen its speed of
movement without using thruster force to maintain position.
To display this dialog box, select Settings→(Control) Axis Control, or press the SURGE,
SWAY or YAW button.

Position
Automatic or joystick position control can be selected in each of the surge, sway
and yaw axes. When the Position check box for Surge, Sway or Yaw is selected, the
corresponding axis is placed under automatic position control. When the Position
check box for Surge, Sway or Yaw is not selected, the corresponding axis is placed
under joystick control (see also Joystick - Locked).
When the surge, sway or yaw axis is placed under Position control, Damping
control for the corresponding axis is automatically selected.
When the surge, sway or yaw axis is under automatic control, the corresponding
panel button lamp is lit. The control status of the three axes is also indicated in the
heading pane on the dashboard.
Note
In the Anchor Handling and Position Mooring modes, the distinction between
joystick and automatic operation is based solely on which axes are selected for
automatic position control. There is no equivalent to the DP Auto Position mode.

When full automatic thruster control is used, the system automatically maintains
the moored vessel's heading and position setpoints without considering the vessel's
first-order wave-induced motion. The resulting thruster force is based only on
the vessel's position and heading offset and the environmental conditions. This
results in a slow change of thruster force, according to the gradual changes in
external forces.
Damping
The Damping function provides automatic thruster control to damp the vessel's
movement within the mooring system. This is achieved by keeping the vessel
speed to a minimum. You can select to damp the vessel's motion in any or all of
the Surge, Sway and Yaw axes by selecting the appropriate Damping check boxes.
When Damping control is deselected for an axis that also has Position control, the
Position control is automatically deselected.

210 385576/E
 Position mooring functions

The damping status of the three axes is indicated in the heading pane on the
dashboard.
Environmental compensation
Joystick control can be combined with environmental compensation in each of
the three axes. The system then automatically compensates for the wind and sea
current forces acting on the vessel by providing the thrusters with the necessary
extra thrust in the appropriate direction.
You can select environmental compensation in any or all of the Surge, Sway and
Yaw axes by selecting the appropriate Environmental Compensation check boxes.
If any of these axes were previously under automatic control, they are placed
under joystick control.
Environmental Compensation can also be controlled from the Joystick Settings
dialog box (see Joystick Settings dialog box on page 79).
Propeller bias
The thrusters or propellers can be biased with a specified force (in the surge
direction) by selecting the Propeller bias check box and entering the required force.
This feature can be useful for a turret-moored vessel to counteract the
weather-induced forces in the mooring system and should normally be used in
conjunction with vessel motion damping.
Propeller bias and automatic control in the surge axis are mutually exclusive.
Joystick
Locked
The joystick thrust demand can be locked according to the current position of the
joystick. When the joystick lock is on, the thrust demand for axes under joystick
control is no longer affected by the position of the joystick.
The Locked check box can be selected at any time, irrespective of whether the
axes are under automatic or joystick control, but its effect is only significant for
joystick control.
The status of the joystick is shown in the heading pane on the dashboard:

Note
The joystick lock is automatically enabled when the system enters Anchor Handling
mode from any operational mode other than Position Mooring.

Restoring Position Mooring mode after a

shut-down
The following procedure should be used to restore Position Mooring mode for a
fully-moored vessel when restarting the system after a shut-down:

385576/E 211
Kongsberg K-Pos DPM (OS)

1 Restart the K-Pos DPM system (see System start-up/shut-down and OS stop/restart
on page 98).
2 If necessary, connect to the Main controller group (see Connect dialog box on
page 107) and take command (see Command transfer on page 99).
3 Ensure that the required vessel rotation point is selected (see Rotation Center dialog
box on page 76).
4 Enable the required gyrocompasses (see Gyrocompasses on page 116).
5 Enable the required VRS (see Sensors dialog box — VRS page on page 125).
6 Enable any other necessary sensors, such as wind, wave, current and draught.
7 If your vessel has a switch on the bridge to select between manual and K-Pos DPM
thruster control, set this switch to K-Pos DPM.
8 Press the JOYSTICK button twice to take the system from Standby mode to Joystick
mode.
9 Enable the required position-reference systems (see Methods for enabling
position-reference systems on page 153).
10 Press the ANCHOR HANDLING button twice.
• The system enters the Anchor Handling mode and the ANCHOR HANDLING
button status lamp is lit.
• Even though there are no thrusters enabled, the system is automatically placed
under full automatic position and heading control with damping selected in all
axes. The status lamps for the SURGE, SWAY and YAW buttons are lit.
• The setpoints for heading and position are set to the present estimated vessel
heading and position.
11 You can enable thrusters and select any other mode of thruster control if required
(see Thrusters on page 243).
Note
Wait at least 15 minutes after entering the Anchor Handling mode and ensure that
the vessel movement is stable before calculating the line characteristics.

12 If all the required position mooring data is stored on disk, you can use the Quick
Set-up dialog box to restore the data (see Quick Set-up dialog box on page 213), and
then continue at step 15. If not, you must also perform steps 13 and 14.
13 Using the Mooring Sensors and Alarms dialog box:
a Enable the line tension sensors for all deployed anchor lines and define the
required warning and alarm limits (see Tension Sensors page on page 137).
b Enable the line length sensors for all deployed anchor lines and define the
required warning and alarm limits (see Length Sensors page on page 140).
c For a turret-moored vessel, enable the turret angle sensor (see Turret Sensor
page on page 142).
14 Using the Mooring System dialog box:
a Define the segment data for all deployed anchor lines (see Defining the line
segment data on page 218).

212 385576/E
 Position mooring functions

b Define the bearings and the depth of water at the anchor for all deployed anchor
lines and set their Select modes to CALCULATED. Enter the depth of water at
the vessel (see Defining the mooring pattern on page 216).
c For each single riser, define the forces acting on the vessel by specifying
the riser sea bed position, the riser connection point on the vessel, and a
distance/force table. Select the Used check box for each riser that is use (see
Defining data for single risers on page 219).
d For each riser system, define the forces acting on the vessel by specifying the
connection point of the riser system, the equilibrium position of the vessel, and
a restoring force matrix. Select the Used check box for each riser that is use
(see Defining data for riser systems on page 221).
e Click the OK or Apply button to update the Mooring Model (see Updating the
mooring model on page 223).
15 Check the anchor line and riser information shown on the Posplot view (see
Mooring pattern display (Posplot view) on page 350) and the Anchor Lines dialog
box (see Anchor Lines dialog box on page 227).
16 Define the required conditions for the PM Online Consequence Analysis function
(see Mooring Consequence Analysis on page 315).
17 For a turret-moored vessel, check that the turret orientation is reasonable by
reducing the range of the Posplot view.
18 Define the required position and heading limits (see Position page on page 69).
19 Press the PM button twice.
• The system enters the Position Mooring mode and the PM button status lamp
is lit.

Quick Set-up dialog box

To allow a quick restart after a shut-down (and for general convenience), sets of position
mooring data can be stored on disk.
Using the appropriate dialog box, you can save data sets for each of the following
functions:
• Mooring sensors and alarms
• Mooring system
• Consequence analysis
The First level set-up feature of the Quick Set-up dialog box allows saving groups of data
comprising one of each of these three data sets. By reading and using a saved group of
data sets you can restore the complete mooring system set-up, without having to enter all
the required data again using the individual dialog boxes.
The Second level set-up feature of the Quick Set-up dialog box allows reading and using
any of the individual data sets.
To display this dialog box, select Mooring→(General) PM quick set-up.

385576/E 213
Kongsberg K-Pos DPM (OS)

First level set-up

Read
Clicking this button displays the Read Settings dialog box. which allows reading a
stored group of data sets.

Click the name of the required group and then click the OK button. The names
of the second-level data sets that are defined in this group are written into the list
boxes in the Second level set-up group box.
Save As
Clicking this button displays the Save Settings dialog box which allows saving the
currently-displayed second-level data sets in a group with a specified name. Select
the required data sets in the Second level set-up and then click the Save As button.

214 385576/E
 Position mooring functions

You can either create a new group by clicking the New button and entering a new
name or over-write an existing group by selecting a name from the list.
To delete an existing group, first select the name of the group and then click the
Delete button.
Second level set-up
From the list boxes, select the required data sets for Mooring Sensors and Alarms,
Mooring System and Consequence Analysis.
The three Read and use check boxes allow selection of displayed data sets that
are to be read and used by the system.
• If you select Mooring Sensors and Alarms and/or Consequence Analysis data, this
data is read and used by the system when you click the OK or Apply button.
• If you select Mooring System, the mooring pattern is checked and if no errors are
found, the Mooring Model is updated when you click the OK or Apply button
(see Defining the mooring pattern on page 216).
Note
The Mooring Model can only be updated in the Anchor Handling mode.

Mooring System dialog box

The Mooring System dialog box allows you to view, define or modify the details of the
vessel's mooring system. The definition of the mooring system can only be modified in
Anchor Handling mode.
When you click the OK or Apply button on the Mooring System dialog box, the Mooring
Model is updated.
The Mooring System dialog box allows you to:
• Define the mooring pattern and anchor coordinates
• Define the line segment data
• Define the forces acting on the vessel due to single risers
• Define the forces acting on the vessel due to riser systems

385576/E 215
Kongsberg K-Pos DPM (OS)

• Define the anchor fairlead positions

• Save and restore details of the mooring system
• Update the Mooring Model
To display the dialog box, select Mooring→(Genral) Mooring System.

Defining the mooring pattern

The Pattern page of the Mooring System dialog box allows you to view, define or modify
the mooring pattern data.

ALL
The ALL group box is used to simplify the set-up for the mooring pattern.
Perform the required selections and enter the required values, and click the Copy
button to copy this information to all the anchor lines.
Select
Determines whether or not each anchor is selected in the mooring system. If the
anchor is selected, this specifies whether the line tension used by the system is
calculated from the line characteristic, measured by the tension sensor or entered
manually.
To enable or disable the line tension sensors and to enter manual tension values,
see Tension Sensors page on page 137.

216 385576/E
 Position mooring functions

Modes available from the Select drop-down list:

CALCULATED
Anchor selected. When you click the OK or Apply button, the system will read the
measured line tension (or a manually-entered line tension if the tension sensor is
not enabled) and will calculate the line characteristic. Thereafter, the calculated
line tension will be used.
MEAS/MAN
Anchor selected. When you click the OK or Apply button, the system will use
the measured line tension, if the tension sensor is enabled. If the tension sensor
is not enabled, the system will use the manually-entered line tension value. The
line characteristic will not be calculated.
With MEAS/MAN selected for any anchor line, the system cannot enter the
Position Mooring mode. You should use MEAS/MAN only in situations where it
is appropriate to force the system to use the measured or manual line tension; for
example, when deploying anchors or in other circumstances when it is not possible
to calculate line characteristics.
NO
Anchor not selected.
Bearing
When using calculated anchor positions, this is the initial true bearing of the
anchor line from the fairlead to the touchdown point. When using specified anchor
positions, this is the bearing of the anchor line from the touchdown point to the
anchor.
Depth
The water depth at the anchor (from the surface to the sea bed).
Water depth at vessel
The water depth at the vessel (from the surface to the sea bed).

Anchor Positions
The positions of the anchors are usually calculated according to the vessel position, the
bearing of the anchor line, and the catenary profile (based on the initial line tension, line
length, the line segment data and the water depth). These anchor positions are then used
to calculate the anchor line tensions according to the distance of the vessel from the
anchors and the calculated line characteristics.
Alternatively, if the anchor positions are known exactly, you can enter the coordinates
of the anchor positions directly. An advantage of this method is that the measured line
tensions are not used when calculating the line characteristics, but are used only in
connection with line break detection.
Note
Ensure that all mooring pattern data is correct. Errors will result in incorrect calculation
of line tension.

385576/E 217
Kongsberg K-Pos DPM (OS)

When the anchor coordinates have been defined for the system (either calculated or
entered explicitly), there is no difference in the subsequent use of the coordinates.
Use Anchor Positions
When selected, specified (rather than calculated) anchor positions are used.

Defining the line segment data

The Line Segments page of the Mooring System dialog box allows you to view, define or
modify the segment data for each anchor line.

This page shows the segment data for one anchor line at a time.
The number of segments that can be defined for each anchor line, the names of the
segments, the available segment types and the default parameters for each segment type
are predefined to suit the normal configuration used by your vessel.
Note
The line segment at the top of the list (the first row) is the one closest to the anchor.

Line
The name or number of the anchor line whose segment data is displayed.

218 385576/E
 Position mooring functions

Copy segments to ALL lines

Copies the segment data for the displayed anchor line to all the other lines.
Name
The name of the line segment.
Type
The segment type for this line segment. The available types are: CHAIN,
WIRE/ROPE, BUOYANCY, CLUMP WEIGHT or NOT USED.
Length
The length of the line segment. For clump weights and buoyancy elements, this is
the length of the pendant wire.
Unit Weight or Force
For a line segment, the weight (per unit length) of the segment in water. For a clump
weight or buoyancy element, this is the applied force (negative for buoyancy).
Diam.
The diameter of the line segment.
Elasticity Modulus
The modulus of elasticity of the line segment. The value is displayed in engineering
format but must be entered in its conventional decimal form.
For example: 5.10e+006 = 5.10 x 106 = 5100000
Friction
A coefficient describing the friction/holding power of the line segment when on
the sea bed. Unless operational experience shows that a different value is more
appropriate, you should use the default value that is defined for this segment type.
Breaking Strength
The breaking strength of the line segment.

Defining data for single risers

The Risers (Single) page of the Mooring System dialog box allow you to view, define
or modify the data for each single riser.

385576/E 219
Kongsberg K-Pos DPM (OS)

This page allows you to define the forces acting on the vessel due to single flexible
risers (or riser bundles that can be treated as single risers). For each defined riser, the
forces are based on the riser sea bed position, the riser connection point on the vessel, a
distance/force table, and viscous damping coefficients. Active risers can be displayed on
the Posplot view (see Riser display (Posplot view) on page 352). The calculated force
for each riser is displayed on the Anchor Lines dialog box (see Anchor Lines dialog
box on page 227).
Single Riser
The name of the riser (configured for each system).
Used
When selected, the forces induced by this riser are included in the mooring force
calculations.
Seabed Position
The sea bed position of this riser (relative to the Reference Origin).
Connection Point
The connection point of this riser at the vessel.
Distance
The horizontal distance between the Seabed Position and the Connection Point.
Force
The horizontal restoring force due to the riser at this Distance.

220 385576/E
 Position mooring functions

Viscous Damping Coefficients

Viscous damping coefficients at this Distance. The Along coefficients refer to
movement of the riser connection point in the plane of the riser. The Transverse
coefficients refer to movement of the riser connection point normal to the plane of
the riser. These coefficients are normally supplied as the result of hydrodynamic
calculations where:
Viscous Force = Coefficient • velocity • |velocity|
If reliable values are not available, set all the coefficients to zero.

Defining data for riser systems

The Risers (System) page of theMooring System dialog box allows you to view, define or
modify the data for riser systems.

This page allows you to define the forces acting on the vessel due to riser systems.
For each defined riser system, the forces are based on the deviation of the connection
point of the riser system from the equilibrium position of the connection point. Active
riser systems can be displayed on the Posplot view (see Riser display (Posplot view) on
page 352). The calculated force for each riser system is displayed on the Anchor Lines
dialog box (see Anchor Lines dialog box on page 227).
Riser System
The name of the riser system (configured for each system).

385576/E 221
Kongsberg K-Pos DPM (OS)

Used
When selected, the forces induced by this riser system are included in the mooring
force calculations.
Equilibrium Position
The equilibrium position and heading of the vessel (the position of the present
vessel connection point and the vessel heading at which the resultant force from
this riser system would be zero), relative to the Reference Origin.
Connection Point
The connection point of this riser system at the vessel.
Restoring Force
The diagonal elements of the restoring force matrix.
Non-linearity
The non-linearity of the restoring force (zero means linear).
Viscous Damping Coefficients
These coefficients are normally supplied as the result of hydrodynamic calculations
where:
Viscous Force = Coefficient • velocity • |velocity|
If reliable values are not available, set all the coefficients to zero.

Defining fairlead positions

If your vessel has alternative fairlead positions, you can define or modify the fairlead
positions for each anchor line.
The Fairleads page allows you to modify the fairlead positions for each anchor line.

222 385576/E
 Position mooring functions

Surge
The position of the fairlead in the surge direction (positive is forward).
Sway
The position of the fairlead in the sway direction (positive is to starboard).
Down
The vertical position of the fairlead (positive is down).
Turret Centre
The position of the turret centre. (For information only.)

Updating the mooring model

Note
Ensure that the vessel movement is stable (for example, by using the damping functions)
and that the vessel is approximately at the required position and heading before
calculating line characteristics.

If you have made modifications to the mooring system data, you must click the OK or
Apply button on the Mooring System dialog box to update the Mooring Model.
Line characteristics are calculated for all anchor lines which you have set for
CALCULATED line tension.

385576/E 223
Kongsberg K-Pos DPM (OS)

The following message should be displayed in the status line:

Mooring model updated
When this message is displayed, the mooring forces (calculated, measured or
manually-entered) from all selected anchors are taken into account in the mooring
calculations.
If it is not possible to calculate line characteristics for the lines that are set to
CALCULATED, a message is displayed. For example:

The message indicates the probable reason for the error, such as water depth at the vessel
or at the anchor, the line segment data, or the measured or manual line length or line
tension. Check and correct the mooring pattern data and try again.
If the message refers to a single anchor line, you can either click the OK button to
continue checking the remaining lines or click the Cancel button to stop the checks.
However, the mooring model is updated only when line characteristics can be calculated
for all lines that are set for CALCULATED line tension.

Saving and restoring data

Using the Save As and Read buttons on the dialog box, you can save and restore sets of
data for later use.
Save As
Click this button to display the Save Settings dialog box. This dialog box is used
for saving the currently-defined set-up data as a data set with a specified name.

224 385576/E
 Position mooring functions

You can either create a new data set by clicking the New button and entering a
new name using the simulated keyboard, or over-writing an existing data set by
selecting a name from the list.
To delete an existing data set, first select the name of the data set and then click
the Delete button.
Read
Click this button to display the Read Settings dialog box which is used for selecting
the data set to be read.

Automatic update of the mooring model

Every 10 seconds in both the Anchor Handling and Position Mooring modes, the system
checks the anchor line lengths and the reference origin to determine whether the mooring
model should be updated.
When an automatic update is performed, the following message is displayed in the
status line:
Mooring model automatically updated

Line length changes

If the length of one or more anchor lines changes by more than a predefined limit, the
mooring model will be automatically updated to obtain new line characteristics for these
lines. This is particularly important for lines with multiple line segments.
This check applies only for anchor lines that are set for CALCULATED line tension.
The line length that is checked is either the measured anchor line length or the
manually-entered length (if the length sensor is not enabled).

385576/E 225
Kongsberg K-Pos DPM (OS)

Change of reference origin

The effect of a change in the reference origin (for example, after a position dropout)
depends on whether the anchor coordinates used for the mooring system are calculated
or are specified explicitly on the Mooring System dialog box. (see Anchor Positions
on page 217).
• If calculated anchor coordinates are used for the mooring system, and the reference
origin changes, the mooring model will be automatically updated in order to
recalculate the anchor coordinates in the new coordinate system.
• When the anchor coordinates are specified explicitly on the Mooring System dialog
box, and the reference origin changes, the system will no longer calculate anchor line
forces (all the calculated anchor line forces will be set to zero). In this case, you must
either redefine the anchor coordinates in the new coordinate system or restore the
previous reference origin, and then update the mooring model manually.
A change of reference origin will always cause the calculated forces from risers and
riser systems to be set to zero, since the sea bed positions and zero-force positions are
defined in a particular coordinate system. You must either redefine these positions in
the new coordinate system or restore the previous reference origin, and then update the
mooring model manually.

Automatic updating not possible

An automatic update of the mooring model cannot be performed if any of the following
conditions apply:
• If the length measurements for any of the lines that are set for CALCULATED line
tension are not accepted by the system (the measured value is marked with an asterisk
on the Mooring Sensors and Alarms dialog box or the Anchor Lines dialog box).
• If the anchor positions are calculated (not specified explicitly on the Mooring System
dialog box) and the tension measurements for any of the lines that are set for
CALCULATED line tension are not accepted by the system (the measured value is
marked with an asterisk on the Mooring Sensors and Alarms dialog box or the Anchor
Lines dialog box).
• If an error is found in the line segment definition.
In these situations, a warning message is issued:
Mooring model automatic update failed
If the reason is a sensor measurement error, either repair the sensor or enter a manual
value. An automatic update of the mooring model should then occur.
If an error is found in the line segment definition, check and correct the definition and
then update the mooring model manually.

226 385576/E
 Position mooring functions

Anchor Lines dialog box

The Anchor Lines dialog box shows the bearing, length and tension of the anchor lines
and the calculated forces from risers.
The following displays are also available to provide information about the mooring
system:
• The Posplot view displays the mooring pattern and risers graphically (see Mooring
pattern display (Posplot view) on page 350)
• The Catenary Profile view shows vertical profiles of the anchor lines (see Catenary
profile view on page 323)
• The Trends view (see Trends view on page 400) provides dynamic history views of
the anchor line tension and length.
To display the dialog box, select Mooring→(General) Anchor Lines, or press the
ANCHORS button.

Numeric page
The Numeric page of the Anchor Lines dialog box allows you to obtain information about
the bearing, length and tension of the anchor lines, and the calculated forces due to risers.

385576/E 227
Kongsberg K-Pos DPM (OS)

Line/Riser
The name or number of the anchor line or riser.
Bearing
For anchor lines, this is the true line bearing. If a line characteristic has been
calculated for this line, the calculated bearing is shown and a “c” is displayed
after the value. If not, then the manual value is shown and an “m” is displayed
after the value.
For single risers and riser systems, this is the calculated direction of the force
acting on the vessel due to this riser or riser system.
Length
If the line length sensor is enabled, the filtered measured line length is shown. If
the measured line length is not accepted by the system, an asterisk is displayed
after the value. If the line length sensor is disabled, the manually-entered line
length is shown and an “m” is displayed after the value.
Tension
Measured
If the line tension sensor is enabled, the filtered measured line tension is shown. If
the measured line tension is not accepted by the system, an asterisk is displayed
after the value. If the line tension sensor is disabled, the manually-entered line
tension is shown and an “m” is displayed after the value.
Calculated
For anchor lines, this is the line tension calculated from the line characteristic
(if available).
For single risers and riser systems, this is the calculated force acting on the vessel
due to this riser or riser system.
Resulting horizontal force
Measured
The resulting horizontal force obtained if all lines were set equal to
measured/manually entered, assuming that the line is “hanging”. This includes
lines that are now measured/manually entered or calculated.
Calculated
The calculated resulting horizontal force acting on the vessel, based on the anchor
line tensions calculated by the Mooring Model and the calculated riser forces.
True/Rel.
True display (North, East and Yaw) or relative display (Surge, Sway and Yaw) of
the Measured and Calculated resulting force.

Tension page
The Tension page shows the tension of each anchor line.

228 385576/E
 Position mooring functions

For each anchor line, the tension is displayed graphically and numerically.
The yellow and red arrows indicate the tension warning and alarm limits, respectively
(see Tension Sensors page on page 137).

Length page
The Length page shows the length of each anchor line.

385576/E 229
Kongsberg K-Pos DPM (OS)

For each anchor line, the length is displayed graphically and numerically.
The yellow and red arrows indicate the length warning and alarm limits, respectively
(see Length Sensors page on page 140).

Line break detection

In the Position Mooring mode, the Line Break Detection function monitors the anchor
line tensions and the movement of the vessel in order to detect single line breaks. A line
break will be detected when the tension in an anchor line drops significantly and there is
a corresponding change in position and heading.
This function requires accurate measurement of position, heading, pitch and roll, with
no alarms from any of these sensors. A line break can only be detected for lines whose
tension sensors are enabled. Multiple simultaneous line breaks are normally detected as
a single line break.
A line break may not be detected for the first few minutes after entering the Position
Mooring mode or if there have been any recent and significant changes in the vessel's
position and/or heading.

230 385576/E
 Position mooring functions

Note
The Line Break Detection function requires that position-reference information is
reported at least once per second. For example, if only HPR is used for position-reference
information, the interrogation rate must be at least once per second. If this condition is
not satisfied, it is not possible to detect line breaks.

Line break is detected

When a line break is detected, the system issues an alarm with the following message:
Line break in Anchor X
The system immediately activates automatic position control in all axes. All enabled
thrusters are instructed to provide thruster force to compensate for the loss of force in the
mooring system and to bring the vessel to the position and heading setpoints.
Note
Ensure that the position and heading setpoints are appropriate at all times in Position
Mooring mode, even when automatic position and heading control are not selected.

The broken line is coloured red on the Posplot view and any tension from this line is
ignored by the system.
It is possible for a combination of sensor errors (line tension, position and heading) to
create a situation where a line break is detected but the line is not in fact broken. A line
break alarm can also be caused by a dragging anchor. You should therefore immediately
check whether the indicated line is really broken.

Line break is not detected

If a line break occurs that is not detected by the Line Break Detection function, you can
manually change the status of the affected anchor line. Display the Line Break dialog
box (see Line Break dialog box on page 232) and set the break status of this anchor line.
The system will then ignore the tension from this anchor line.

Acting on line break alarm

If the indicated anchor line is broken:
1 Consider enabling more thrusters to provide sufficient force to compensate for the
loss of the anchor line.
2 Use the Tension Optimisation function (see Tension optimisation and move-up
on page 233) and the Mooring Consequence Analysis function (see Mooring
Consequence Analysis on page 315) to evaluate the new mooring situation and the
adjustments that would be required to return to the wanted position.
If the indicated anchor line is not actually broken:

385576/E 231
Kongsberg K-Pos DPM (OS)

1 Display the Line Break dialog box and (see Line Break dialog box on page 232)
manually remove the break status of this anchor line.
• The system will then continue to use the tension from this anchor line.
2 Check the measurements from the line tension sensor for the indicated anchor line
on the Anchor Lines dialog box (see Anchor Lines dialog box on page 227).
3 If the sensor is faulty:
a Disable the sensor and enter an appropriate tension value manually (see Tension
Sensors page on page 137).
b Repair the sensor.
After a line break alarm has been issued, the Line Break Detection function is disabled
for a few minutes to allow the system to stabilize and is then automatically reactivated.

Line Break dialog box

The Line Break dialog box allows you to view or change the break status of the anchor
lines.
To display this dialog box, select Mooring→(General) Line Break.

The Line Break Detection function operates only in the Position Mooring mode, but you
can manually set the break status in both Anchor Handling and Position Mooring modes.
You can set a line break only for lines that are selected for CALCULATED tension. The
Break check box is unavailable for lines that are set to MEAS/MAN or NO (see Defining
the mooring pattern on page 216).
Any anchor line that is considered to be broken is coloured red on the Posplot view.
Line
The name or number of each anchor line.

232 385576/E
 Position mooring functions

Break
The break status of each anchor line. If the Line Break Detection function
incorrectly detects a line break, you can remove the break status of the affected
anchor line. The system will then continue to use the tension from this anchor line.
If a line break occurs that is not detected by the Line Break Detection function, you
can manually set the break status of the affected anchor line. The system will then
ignore the calculated tension from this anchor line.
Note
Before you manually set an anchor line as broken, check that the position and
heading and setpoints are appropriate, particularly if automatic position and
heading control are not currently selected. When the line break status is changed,
full automatic position and heading control will be activated using all enabled
thrusters to bring the vessel to the position and heading setpoints.

Tension optimisation and move-up

In the Anchor Handling and Position Mooring modes, the Tension Optimisation function
is available to provide advice about anchor line length adjustments. This function
calculates the changes in line length that would be required to optimise the mooring
system or to move the vessel within the mooring system. The Tension Optimisation
function does not affect the behaviour of the vessel unless you decide to execute the
proposed actions.
You can specify the required position of the vessel and any thruster force that you want
to include in the calculation. The calculations take into account the current line tensions,
lengths and environmental forces.
The main purposes of the Tension Optimisation function are:
• To calculate the line length adjustments required to move the vessel to a specified
position (in one or more separate movements through intermediate positions)
• To calculate the line length adjustments required during changes of weather conditions
to maintain the vessel's required position
• To calculate the line length adjustments required by changes in the working tension
in the anchor lines
The optimisation can be performed in two ways:
• To produce an optimum mean tension distribution in the mooring system with a
specified mean tension
• To maintain the current tension distribution in the mooring system with a specified
change of tension in all lines
When calculating the line length adjustments required to move the vessel to a new
position, you can specify:
• Upper and lower tension limits that must not be exceeded at each intermediate position

385576/E 233
Kongsberg K-Pos DPM (OS)

• The mean tension distribution that should be achieved at each intermediate position
• The maximum number of intermediate moves that can be made to reach the requested
position
– The system will first try to calculate a solution based on one move. A move can
comprise one or more steps, where a step is a set of concurrent winch operations.
The number of steps required for a move depends on the number of winches that
can be run simultaneously.
– If a solution cannot be found within the specified constraints, the system will
recalculate using two moves (one intermediate position), then three moves, and so
on until a solution is found or until the specified maximum number of moves is
reached.

Tension Optimisation Settings dialog box

The Tension Optimisation Settings dialog box is used to set up the required tension
optimisation and move-up constraint parameters.
When you have entered the required parameters on the Tension Optimisation and Move-up
Constraints tabbed pages, click the OK or Apply button. The tension optimisation
calculations are then performed.
If the calculations are successful, the results are automatically presented in the Tension
Optimisation Results dialog box. If the requested situation cannot be achieved within the
specified constraints, a message, giving the reason, is displayed.
To display the dialog box, select Mooring→(Analysis) Tension Optimisation Settings.

Tension Optimisation page

The Tension Optimisation page allows you to change the tension optimisation parameters.

234 385576/E
 Position mooring functions

Select for optimisation

You can select the anchor lines that are to be considered for optimisation. For
example, if the length of a particular line cannot or should not be changed, you
should not select this line for optimisation. Anchor lines which are not set for
CALCULATED line tension cannot be selected.
This function is significant only when the Optimum tension distribution is to
be calculated since all lines which are set for CALCULATED line tension are
considered when maintaining the Current tension distribution.
Turret
For a turret-moored vessel, specify whether the turret is to be regarded as Free or
Locked.
Thruster
Enter a thruster Force, Direction and Moment (if configured) to be included in
the calculation.
Optimise according to
Specify whether the optimisation is to be performed according to the Current
tension or the Optimum tension:

385576/E 235
Kongsberg K-Pos DPM (OS)

Current
The required Additional tension to be applied in the anchor lines (either positive
or negative) can be specified.
Optimum
The required Mean tension in the anchor lines that are selected for optimisation
can be specified. The system automatically calculates and displays the current
mean tension.
Position
Base
If you want to specify a new vessel position, specify whether the position shall
be given relative to the Wanted position, the Actual position, or a Select (selected)
position. If you choose Select, you must then choose one of the predefined base
positions listed in the Base Position Select group box.
Offset
You can specify whether the position will be given as a Relative offset or as a
True offset:
Relative
Enter the new vessel position as increments in the Forward and Starboard
directions. Give positive values for Forward and Starboard; negative values for
Aft and Port.
True
Enter the new vessel position as increments in the North and East directions. Give
positive values for North and East; negative values for South and West.
Base Position Select
If Base Select is chosen for the new position, you must select one of the predefined
base positions from this drop-down list.

Move-up Constraints page

The Move-up Constraints page allows you to change the move-up constraint parameters.

236 385576/E
 Position mooring functions

Tension
The Upper Tension Limit and Lower Tension Limit that must not be exceeded after
each step in the calculated anchor line adjustments. Select Enable Tension Limits
to activate these limits.
Winches
The maximum number of winches that can be run simultaneously.
Enable Winch Sequencing
When selected, each move will be divided into steps, where each step involves
anchor line adjustments using up to the specified Max Number of Winches to Run
Simultaneously.
If Enable Winch Sequencing is not selected, all the winches can be run
simultaneously.
Max Number of Moves
The maximum number of intermediate moves that can be made to reach the
requested position.

385576/E 237
Kongsberg K-Pos DPM (OS)

Intermediate Mean Tension

When optimised according to Optimum tension (selected on the Tension
Optimisation page), this is the mean tension that must be achieved after each step
in the calculated anchor line adjustments.
Intermediate Additional Tension
When optimised according to Current tension (selected on the Tension Optimisation
page), this is the additional tension with respect to initial current tension that must
be applied for each step in the calculated anchor line adjustments.

Tension Optimisation Results dialog box

The Tension Optimisation Results dialog box is displayed automatically when calculations
have been completed successfully.
Alternatively, select Mooring→(Analysis) Tension Optimisation Results (to display the
most recent set of results).
This dialog box shows the calculated sequence of anchor line adjustments that should
be performed to move the vessel to the specified position and/or to obtain the specified
anchor line tensions.

The present and proposed line lengths (and the difference between them), and the present
and proposed line tensions for each anchor line are displayed. If the calculations resulted
in more than one move to achieve the requested vessel position, this information refers
only to the currently-displayed move. Click on the up and down arrows beside the Move
number spin box to display each move in turn.

238 385576/E
 Position mooring functions

No information is displayed for lines which are not selected as part of the mooring
system.
If the line tension alarm limit is enabled for an anchor line and the resulting tension in
that line exceeds the alarm limit (at any intermediate position), a warning message is
displayed on the Tension Optimisation Results dialog box. If the resulting tension is less
than the hanging tension or is more than the breaking strength of the line, a warning
message is displayed irrespective of the alarm enable status.
Step Line
When winch sequencing is enabled, each move is divided into steps. The anchor
lines to be adjusted simultaneously in each step are listed with the appropriate
step number.
Length
Present
The filtered measured line length.
Proposed
The calculated line lengths that would be required for this move and/or to obtain
the specified anchor line tensions.
Dev
The difference between the actual and proposed line lengths (dynamic value).
Tension
Present
The actual calculated line tension (always marked with “c” for “calculated”).
Resulting
The calculated tension that would be in each anchor line if the proposed line length
changes were made (always marked with “c” for “calculated”).
Mean tension
The mean tension that would be achieved in the optimised anchor lines if the
proposed line length changes were made.
Turret angle
For a turret-moored vessel, the calculated turret angle that would result from the
proposed changes.
Position
The calculated vessel position that would result from the proposed anchor line
adjustments.
Heading
The calculated vessel heading that would result from the proposed anchor line
adjustments.

385576/E 239
Kongsberg K-Pos DPM (OS)

Extreme-Motion Analysis Settings dialog box

Before running the analysis, you must specify the environmental conditions using the
Extreme-Motion Analysis Settings dialog box.
To display this dialog box, select Mooring→Extreme-Motion Analysis Settings.

Wind
The ten-minute mean wind velocity (at 10 m reference height above sea level)
and direction. The wind spectrum used in the computation is as specified on the
Wind page of the Sensors dialog box.
Sea Current
The sea current speed and direction.
Wave
The significant wave height, direction and peak period. The wave spectrum used in
the computation is as specified on the Wave page of the Sensors dialog box (see
Sensors dialog box — Wave page on page 132).
Get Oper. Data
Clicking this button writes the present environmental conditions (as measured by
the sensors) into the corresponding text boxes.
Click the OK or Apply button to perform the analysis. The results are presented in
the Extreme-Motion Analysis Results dialog box.

Extreme-Motion Analysis Results dialog box

The Extreme-Motion Analysis Results dialog box is displayed automatically when an
analysis has been completed.
Alternatively, select Mooring→(Analysis) Extreme-Motion Analysis Results (to display
the most recent set of results).

240 385576/E
 Position mooring functions

POSITION
The calculated mean position and heading of the vessel.
ENVIRONMENT
The environmental conditions on which this analysis was based (specified on the
Extreme-Motion Analysis Settings dialog box).
EXTREME MOTION
The calculated motion extremes are listed (as described below).
High Freq. (Wave)
The calculated wave-induced high-frequency motion extremes in all six degrees of
freedom.
Low Freq. (Wind)
The calculated wind-induced low-frequency motion extremes in the surge, sway
and yaw axes.
Low Freq. (Wave)
The calculated wave-induced low-frequency motion extremes in the surge, sway
and yaw axes.

385576/E 241
Kongsberg K-Pos DPM (OS)

Total
The calculated total combined motion extremes in the surge, sway and yaw axes.
LINE
The anchor line numbers.
Tension
The calculated total extreme tension for each anchor line.
%
The calculated total extreme tension for each anchor line as a percentage of the
breaking strength.
SF
The calculated safety factor for each anchor line (breaking strength divided by
total extreme tension).

242 385576/E
 Thrusters

Thrusters

This section contains the following topics:

Enabling thrusters ..........................................................................................................243
Automatic Thruster Start dialog box..............................................................................245
Thruster Allocation dialog box ......................................................................................246
Allocation Settings dialog box.......................................................................................249
Rudder/Nozzle control ...................................................................................................251
Power optimal allocation ...............................................................................................251
Power Optimal Allocation dialog box ...........................................................................252
Thruster biasing .............................................................................................................253
Thruster Biasing dialog box...........................................................................................253
Thruster Combinator Control Settings dialog box.........................................................264
Thruster Run-in dialog box............................................................................................265
Clutch Settings dialog box .............................................................................................266
The term “thruster” is used throughout this manual to mean any element of the vessel's
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).

Enabling thrusters
When a thruster can be enabled for K-Pos DPM control, the thruster is shown as Ready
on the Thruster main view (see Thruster main view on page 384) and on the Thruster
Enable dialog box.
There are generally two criteria for a thruster Ready status:
• The individual thruster must be running.
• The individual thruster must be available for K-Pos DPM control.
The K-Pos DPM 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 THRUSTERS button group contains buttons used to enable or disable each of the
available thruster units for K-Pos DPM control. Each thruster button has a status lamp
which is lit when the thruster is enabled.

385576/E 243
Kongsberg K-Pos DPM (OS)

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 dialog box, select Thruster→Enable.

Thrusters /
Rudders
Enable/disable All
Selecting or clearing this check box allows you to enable or disable all thrusters
and rudders for K-Pos DPM control simultaneously.
Running
These check boxes show whether the thrusters are running or not. When a thruster
status is set as running, the K-Pos DPM ystem 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 K-Pos
DPM 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 K-Pos DPM control.

244 385576/E
 Thrusters

Enable
These check boxes allow you to enable or disable each of the thrusters for K-Pos
DPM 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.

Automatic Thruster Start dialog box

The Automatic Thruster Start function (for IAS deliveries) 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 Joystick (not in Standby 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.
To display the dialog box, select Thruster→Automatic Start.

385576/E 245
Kongsberg K-Pos DPM (OS)

Thruster Start
Turns on and off automatic start of thrusters in all groups.
Thruster Enable
Turns on and off automatic enabling of thrusters in all groups.
(thruster) Group
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.

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.

246 385576/E
 Thrusters

The configuration and operational requirements of the vessel determines the thruster
allocation modes that are implemented in the K-Pos DPM 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.
To display the dialog box, select Thruster→Allocation Mode or press the ALLOC. SETUP
button.

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 Thruster main
view on page 384).
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 Thruster biasing on page 253) 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.

385576/E 247
Kongsberg K-Pos DPM (OS)

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°.
FIX WEATHER STBD
The system automatically selects a fixed angle for each azimuth thruster, suitable
for counteracting environmental forces from the starboard side.
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°.
FIX WEATHER PORT
The system automatically selects a fixed angle for each azimuth thruster, suitable
for counteracting environmental forces from the port side.
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).
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.

248 385576/E
 Thrusters

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 Allocation
Settings dialog box on page 249).
Control
The configuration and operational requirements of the vessel determines the
controls that are implemented in the K-Pos DPM 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 Thruster main view on page 384). The
contents of the Free Run group box may vary depending on vessel configuration.

Allocation Settings dialog box

The Allocation Settings dialog box allows you to set a fixed direction of azimuth
thrusters/rudders and/or specify rudder angle limits.
To display this dialog box, select Thruster→Allocation Settings.

385576/E 249
Kongsberg K-Pos DPM (OS)

Manual Fix angles

The operator can set fixed direction of azimuth thrusters/rudders by entering the
required direction (in 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 Thruster main view
on page 384) shows which thrusters and/or rudders are using fixed angle.
Note
Manual Fix angles is only effective when the MANUAL FIX allocation mode is
selected (see Thruster Allocation dialog box on page 246).

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. These limits are shown on the Thruster main view:

250 385576/E
 Thrusters

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 Allocation Settings dialog box on
page 249), and can use the MANUAL FIX allocation mode (see Thruster Allocation
dialog box on page 246) when this is included in the delivery.

Power optimal allocation

Power optimal allocation is the primary barrier for preventing blackouts and requires the
same information as that required for Power Load Monitoring and Blackout Prevention
(see Power load monitoring and blackout prevention on page 268).
The power optimal allocation will first of all allocate thrust within the given power
limitations (denoted Normal mode).
For vessels with many separated switchboards it might be interesting to share the power
demand among the switchboards with respect to different optimization criteria.
Note
The available optimization criteria depend on the actual switchboard connections.
Insufficient thrust will result in automatic change to Normal mode.

385576/E 251
Kongsberg K-Pos DPM (OS)

Power Optimal Allocation dialog box

The mode for the power optimal allocation can be selected from the Power Optimal
Allocation dialog box.
To display the dialog box, select Thruster →Power Optimal Allocation.

Normal
In this mode the power optimal allocation will first of all allocate thrust within
the given power limitations.
Even Load
In this mode the thrust is allocated so that the load is as even and as low as
possible on all connect-switchboards. The mode can also be used to prevent
unnecessary automatic standby start of generators and to give less wear and tear
on the generators.
Even Load (with zero bus-tie current flow)
In this mode the thrust is allocated so that the current through the operator
defined bus-tie is as low as possible. This functionality utilises the interface for
heavy-consumer load (one per switchboard). The hotel load is assumed to be
shared equally on the switchboards in a connect-switcboard.
Reduced swbd load mode
In this mode the operator can specify wanted maximum power consumption on
one or more connect-switchboards. The K-Pos DPM system will allocate thrust

252 385576/E
 Thrusters

so that the limits are normally not exceeded. The limits will be exceeded only to
avoid insufficient thrust, and will hence not reduce the DPM capability in any
way. The mode can be used to prevent automatic standby start of generators on
operator-selected connect-switchboards. It can also be used to increase load on not
selected connect-switchboards to “clean” the associated diesel engines.

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 preconfigured.
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.

Thruster Biasing dialog box

The content of the Thruster Biasing 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.
To display this dialog box, select Thruster→Biasing.

385576/E 253
Kongsberg K-Pos DPM (OS)

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 on the Thruster main view (see
Thruster main view on page 384).
In use
Select this check box to turn on the Thruster Biasing function for this thruster
group.
Thrusters
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.
Bias
The minimum force to be used for each thruster when running the thrusters to
counteract each other.
Turn factor
The thrusters will work towards each other (when the Inwards check box selected
(see Inwards on page 262) 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 260).
Angle factor
Determines the relative priority of angle against force to satisfy the force demand
(see Angle factor on page 261).

254 385576/E
 Thrusters

Spin
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.
Inwards
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 262).

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).
Bias
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).
Thruster Select
Allows you to set the system to change bias pairs automatically as a function
of demand direction. In the Thruster Select group box, you can choose between
Automatic, By Operator or No Bias.
Used
A check mark in this column indicates the option (Automatic, By Operator or No
Bias) used by the system.

385576/E 255
Kongsberg K-Pos DPM (OS)

Automatic
When selected (see Figure 25), 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.

Figure 25 Thruster Biasing - Thruster 4 has joined the group containing thruster 7 and
8 because thruster 5 is disabled

By Operator
With Thruster Select set to By Operator, the operator can select the thrusters in
each group by typing the required thruster numbers, and enter Bias values or
select Total Bias.

256 385576/E
 Thrusters

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.
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 group box 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 K-Pos DPM 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,

385576/E 257
Kongsberg K-Pos DPM (OS)

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
group 3 (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 26). 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 group 3.

Figure 26 Thruster allocation FIX combined with Bias Type Both

258 385576/E
 Thrusters

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.

385576/E 259
Kongsberg K-Pos DPM (OS)

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).

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.

260 385576/E
 Thrusters

Figure 27 Turn factor - examples

5 T demand
Starboard thruster counteracting
port thruster .
7T 2T

5.99 T demand
Port thruster about to reach 80%.
Starboard thruster will start turning.
7.99 T 2T

6.0 T demand
Port thruster reached 80%, so
starboard thruster turned.
3T 3T (Increasing turn factor to 90% would
turn starboard thruster back again.)
(CD3325)

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).

385576/E 261
Kongsberg K-Pos DPM (OS)

Figure 28 Angle factor - examples

Example 1

Force demand = 10T ahead

Angle factor = 80%

Example 2

Force demand = 10T ahead

Angle factor = 60%

Example 3

Force demand = 10T ahead

Angle factor = 40%

(CD3326)

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.

262 385576/E
 Thrusters

Figure 29 Angle factor - examples

Inwards selected Inwards not selected

Sway demand = 0 T Sway demand = 0 T

Bias = 3 T Bias = 3 T

3T 3T 3T 3T

Sway demand = 5 T Sway demand = 5 T

Bias = 2 T Bias = 2 T

7T 2T 2T 7T

Surge demand = -10 T Surge demand = -10 T

Bias = 5 T Bias = 5 T

Surge demand = 10 T Surge demand = 10 T

Sway demand = -5 T Sway demand = -5 T
Bias = 5 T Bias = 5 T

(CD3327)

385576/E 263
Kongsberg K-Pos DPM (OS)

Thruster Combinator Control Settings dialog

box
By combinator control of a thruster we mean that the K-Pos DPM system controls both
pitch and RPM, and that pitch and RPM can be controlled individually.
To display the dialog box, select Thruster→Combinator Control Settings.

Configuration
Minimum RPM %
For each of the listed thrusters, the operator can specify a minimum percentage
value for the RPM. The RPM will not fall below this limit when Sequential or
Stepwise Combinator Control Mode is selected.
Minimum RPM is not applicable for Full Combinator Control Mode and is therefore
unavailable (appears dimmed) when this mode is selected.
Combinator Control Mode
Sequential
The RPM is kept fixed at the Minimum RPM limit for low force demands. The
RPM will only increase if the force demand is higher than what can be dealt with
by varying the pitch. The pitch setpoint will always be +100% or –100% when the
RPM setpoint is higher than the Minimum RPM limit.
Stepwise
The RPM will be stepped up (respective down) if the filtered pitch setpoint is
higher (respective lower) than a predefined limit. The RPM will never be stepped
below the Minimum RPM limit.
This mode is designed with long term station-keeping in mind. In this mode the
thrusters will step the RPM automatically in varying weather conditions in order to
force the pitch setpoint into a desired working interval.
Full
The pitch and the RPM follows a predefined trace (combinator curve) with regards
to the force demand.
Full Combinator Control Mode is similar to the way pitch and RPM is controlled in
combinator mode during manual thruster lever control.

264 385576/E
 Thrusters

Thruster Run-in dialog box

The Thruster Run-in dialog box allows you to limit the maximum thruster setpoint of
each individual thruster configured with this functionality.
To display the dialog box, select Thruster→Run-in.

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.
The maximum setpoint zones are shown for each selected thruster om the Thruster
main view:

385576/E 265
Kongsberg K-Pos DPM (OS)

Clutch Settings dialog box

If the system loses control of one of the propellers, it has to compensate for the idle force.
Otherwise, if the demand is below this we will get insufficient thrust and the allocation
will give up and position will be lost. In such situation the operator can specify when
the system should clutch in and out based on demand as a certain percentage of the idle
force. It is also possible to do continuous pulsing and to specify the periodic length and
minimum clutch activation time.
To display the dialog box, select Thruster→Clutch settings.

266 385576/E
 Thrusters

Clutch Strategy
Select the required strategy; Off, Demand Limit or Continuous Pulse.
Demand
Specify when the thrusters should clutch in and out based on demand as a certain
percentage of the idle force. These limits will be used when the Clutch Strategy
Demand Limit is selected.
Clutch in limit
The clutch is activated when the demand reaches this limit (percentage of the
idle force).
Clutch out limit
The clutch is deactivated when the demand falls below this limit (percentage of
the idle force).
Continuous Pulse
Continuous Pulse means cyclic operation of the clutch to achieve an average of
the allocated thrust.
Pulse period
The duration (in seconds) of each clutch pulse cycle.
Clutch active minimum
The minimum duration of time (in seconds) the clutch is activated for each clutch
pulse cycle. If the calculated clutch activation time is less than this value, the
thruster will not be clutched in. Increasing this value will reduce the wear and tear
of the clutch at the cost of position accuracy.

385576/E 267
Kongsberg K-Pos DPM (OS)

Power system

This section contains the following topics:

Power monitoring ..........................................................................................................268
Power load monitoring and blackout prevention ...........................................................268

Power monitoring
The K-Pos DPM system has no direct control over the vessel's electrical power system.
This is administered by a separate Power Management System (PMS).
Normally the K-Pos DPM system receives information about:
• The power produced by each main generator.
• Which switchboard each generator is connected to.
• How the switchboards are connected.
• How the thrusters are connected to the switchboards.
This information is used by the K-Pos DPM system for power overload control and is
also displayed on the Power view (see Power view on page 360).

Power load monitoring and blackout

prevention
The Power Load Monitoring function monitors the total load on the connected
switchboards and checks for unbalanced load. It will also act upon input failures from
equipment connected to the power distribution network, e.g. generators. Single failures
will be handled in such way that the Power Optimal Allocation and the Blackout
Prevention will still work. The Blackout Prevention function is the last barrier in the
K-Pos DPM system to prevent overload on the connected switchboards. Some functions
in the K-Pos DPM system can add thrust to the resulting thrust from the Power Optimal
Allocation, which might lead to an overload situation if not handled by the Blackout
Prevention function. The Blackout Prevention function will reduce the thrust demand if
the estimated load exceeds the nominal limit. The reduction is done as percentage wise
distribution of phase back power according to the rated power for each thruster.

268 385576/E
 Power system

The Blackout Prevention 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 functions cover 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 the vessel's Power Management System (PMS). The
thruster/propeller setpoint reduction criteria during DPM control are set at lower
overload levels than the load reduction initiated by the vessel's own PMS. The Power
Load Monitoring and Blackout Prevention functions are active in all operational modes
and are illustrated in Figure 30.

Figure 30 Power Load Monitoring and Blackout Prevention functions

The K-Pos DPM 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 connect-switchboard. The overload protection is achieved by automatically
reducing the pitch/rpm/force/load on the thrusters/propellers connected to the
connect-switchboard until the most loaded generator operates within its nominal
capacity.

385576/E 269
Kongsberg K-Pos DPM (OS)

• 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.
• Diesel Engine Load 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.

270 385576/E
 System status information

System status information

This section contains the following topics:

Remote support ..............................................................................................................271
Print Status dialog box ...................................................................................................273
Export Log Files dialog box ..........................................................................................275
About dialog box ...........................................................................................................275

Remote support
Online support from Kongsberg Maritime is available through the Remote support
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 K-Pos DPM system is prepared for this Remote support service using Bogmar
communication software package installed in each operator Sstation.
1 When requested by the Support Centre to give them access to the operator station,
select Tools→Remote support.

2 Select Start and wait for connection.

385576/E 271
Kongsberg K-Pos DPM (OS)

3 When the service engineer requests access a pop-up message is opened on the
operator station.

4 Select Allow. You can communicate with the service engineer in the chat window.

5 After the connection is established and the service engineer has finished the work,
select Disconnect.

272 385576/E
 System status information

Print Status dialog box

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 printout or request repeated
printouts with a given time interval.
The Print Status dialog box allows you to print the status page or to request repeated
printouts.
To display the dialog box, select System→(Printer Settings) Print Status.

Print Status
Click this button to request an immediate printout of the status page.
Cyclic Print Control
Select the Cyclic Print check box if you want a cyclic printout to be made
automatically after a specified Interval. This can only be selected from the
Operator Station in command.

385576/E 273
Kongsberg K-Pos DPM (OS)

Figure 31 Status page (example)

274 385576/E
 System status information

Export Log Files dialog box

It is possible to export messages sent from different logging systems, such as from the
panel driver, from the DP recorder and the process stations.
To display the Export Log Files dialog box, select System→Export Log Files .

Select time span and file types

Each of the values can be increased or decreased by 1, after selecting the respective
field. e.g. hours, minutes, etc., or you can type the value.
The type of files are selected by the respective check box.
Select target for export
Logged data can be exported to the hard drive or to any removable drive. If you
cannot see all the available drives — click the Refresh button. You can change the
drive, but the folder name is always the same and that is why you are warned that
the existing files in this folder will be removed.

About dialog box

The About dialog box allows you to view vital K-Pos DPM 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 K-Pos DPM system. It contains an
overview of basic software information for your K-Pos DPM system.

385576/E 275
Kongsberg K-Pos DPM (OS)

The dialog box is always available.

To display the dialog box, select System→(Help) About.

Clicking the EXE/DLLs button displays a list of EXE and DLL files in use and their
corresponding version numbers.

Clicking the Overview button returns to the overview of software information.

Clicking the Details>> button displays a detailed list of which EXE files use which DLL
files.

276 385576/E
 System status information

The structure of the information presented is as follows:

• The Program (EXE) column lists all the EXE files.
• The Using DLL column lists a batch of all the DLL files used by each specific EXE file.
• The Version column lists the version of the program (EXE file).
• The Modified column lists the date when each DLL and EXE file was last modified.
• The Size column lists the file size for each DLL and EXE file.
Clicking the Overview button returns to the overview of software information.
Clicking the Details<< button returns to the list of EXE and DLL files in use.

385576/E 277
Kongsberg K-Pos DPM (OS)

System status monitoring

This section contains the following topics:

Introduction....................................................................................................................278
System architecture........................................................................................................278
Equipment dialog box ....................................................................................................282
Station Explorer dialog box ...........................................................................................289
IO Manager dialog box ..................................................................................................291
RBUS IO Image.............................................................................................................294
IO Terminal Block dialog box .......................................................................................298
IO Point Browser dialog box .........................................................................................303
Properties — DpPs Serial port.......................................................................................306
Resetting a disabled serial line.......................................................................................309

Introduction
Functions are available for monitoring the status of the K-Pos DPM 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.

System architecture
A K-Pos DPM system consists of one or more operator stations (OS) and one or more
process stations (PS). A history station (HS) may also be included.
The K-Pos DPM control software is implemented in one, two or three process stations
(DpPSs) (the Main controller PS group) depending on the redundancy level of the
system. The process stations are implemented in computers located in the K-Pos DPM
Controller Cabinet.

278 385576/E
 System status monitoring

The DpPSs in the Main controller group are interconnected via a dedicated redundancy
net (RedNet).
Communication between operator stations, history stations and process stations is via
a single or dual communication net (Net A and Net B).
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 K-Pos DP systems:
OS name OS description
DP-OS1 Main Operator Station
DP-OS2 Main Operator Station
DP-OS3 Main Operator Station
DP-OS4 Fire Backup Operator Station
DP-OS6 Stand-alone Simulator Operator Station
DP-HS1 Main History Station
cPos-OS1 cPos Operator Station
cPos-OS2 cPos Operator Station
cJoy-OT1 cJoy Operator Terminal
cJoy-OT2 cJoy Operator Terminal
WT1 cJoy (cWing) Wing Terminal
WT2 cJoy (cWing) Wing Terminal
WT3 cJoy (cWing) Wing Terminal
WT4 cJoy (cWing) Wing Terminal

Process stations
The process stations are implemented in Remote Control Units (RCUs).
The RCU unit contains a real-time single board computer and IO interfaces in the same
unit.

Redundancy
In single systems, the DP Controller Cabinet contains a single DpPS.

385576/E 279
Kongsberg K-Pos DPM (OS)

In dual systems, the DP Controller Cabinet contains two DpPSs 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 DP Cabinet contains three DpPSs. The concept of majority voting
is used to detect and isolate faults in the sensors and in the system itself.
For more information, see Redundant systems on page 110.

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.
WinPSs are used for development purposes and in simulators.

PS names and numbers

The following standard names and numbers are used to identify process stations and
redundancy groups in K-Pos DPM systems.
Redundancy Redundancy type PS description
group
DpMain Single, DpDual or DpTriple Main Controller PS A
Main Controller PS B
Main Controller PS C
DpM_IO1 Single, DpDual or DpTriple Main Input/Output 1
DpM_IO2 Single, DpDual or DpTriple Main Input/Output 2
DpM_Sim Single Main - Simulator (WinPS)
DpM_Vrm Single Main - Built-in Trainer - Vessel Reference Model (WinPS)
DpFS_Vrm Single Field Simulator - Vessel Reference Model (WinPS)
DpBackup Single Backup DP Controller PS A
DpB_IO1 Single Backup Input/Output 1
DpB_IO2 Single Backup Input/Output 2
DpB_Sim Single Backup - Simulator (WinPS)
DpB_Vrm Single Backup - Vessel Reference Model (WinPS)

The Vessel Reference Models run in WinPS and provide simulator and built-in trainer
functions.

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

280 385576/E
 System status monitoring

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:
– RBUS for discrete analog and digital IO
– NetIO for communication between PSs
– Dedicated sensor and interface drivers for serial line devices such as Artemis,
GPS, Fanbeam and HPR
– ComAs for generic serial line IO
• 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 RBUS 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 K-Pos DPM 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
Equipment dialog box on page 282.
• Viewing of status information for all PSs in the system, using the Station Explorer
dialog box. See Station Explorer dialog box on page 289.
• Viewing of overview information for all IO drivers, IO blocks and IO points, using
the IO Manager dialog box. See IO Manager dialog box on page 291.
• Viewing of information for selected IO Points using the IO Point Browser dialog box.
See IO Point Browser dialog box on page 303.
• Viewing of information displayed for each IO Block, related to each IO Point and
its contents, using the IO Terminal Block dialog box. See IO Terminal Block dialog
box on page 298.
• Viewing of information for selected DP PS Serial ports using the Properties — DpPs
Serial port dialog box. See Properties — DpPs Serial port on page 306.
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.

385576/E 281
Kongsberg K-Pos DPM (OS)

Equipment dialog box

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 dialog box, select System→Equipment.

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.
The pages have a shortcut menu. Right-click anywhere on the page to display the
following menu:
Print Image.. see Print Image on page 288.
Station Explorer... see Station Explorer dialog box on page 289.
PS Info... not relevant for K-Pos DPM systems during normal
operation.
PS Operation... for use by Kongsberg Maritime engineers only.
System Events... see Presentation of messages on page 87.
IO Manager... see IO Manager dialog box on page 291.
IO Point Browser... see IO Point Browser dialog box on page 303.

282 385576/E
 System status monitoring

PS page
The PS page shows the current status of all process stations defined in the system.

Station
Identification of the PS.
Group name
Displays the name of the redundancy group to which this station belongs.
(No column title)
Identification of the PS within the redundancy group. For example: Controller PS
A, B or C within the DpMain group.
Status
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.
Spare Time (%)
The available CPU capacity, expressed as a percentage of total CPU capacity.
Net State
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.
I/O Status
Shows the status of the IO system for this PS:
• OK — No errors reported.

385576/E 283
Kongsberg K-Pos DPM (OS)

• ERROR — Errors reported.

Serial Status
Not relevant for K-Pos DPM systems.
Other Status:
Shows the status of other sub-systems reported by this station (typically system
self-test and monitoring):
• OK — No errors reported.
• ERROR — Errors reported.
Free Memory
Available memory (or largest continuous block) in kB. (Not applicable for
WinPSs.)
Uptime
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).
Started
Time stamp when the PS was started.
Format: day/month/year hour:min:sec
Last Reported
Time stamp of last communication.
Format: hour:min:sec

PS Redundancy page
The PS Redundancy page shows redundancy information for all process stations.

Station
Identification of the PS.
Group name
Displays the name of the redundancy group to which this station belongs.

284 385576/E
 System status monitoring

(No column title)

Identification of the PS within the redundancy group. For example: Controller PS
A, B or C within the DpMain group.
Status
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.
Online
Displays whether the PS is online or not. See Redundant systems on page 110.
Master
Displays whether the PS is master or not. See Redundant systems on page 110.
Capability
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.
Running mode
Displays the Running mode:
• Running — The PS is communicating and has finished all startup preparations.
• Starting — The PS is communicating, but more startup preparation is needed.
• Inactive — 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.

OS/HS page
The OS/HS page shows the status of the operator stations and history stations that are
defined in the system.

385576/E 285
Kongsberg K-Pos DPM (OS)

Station
Identification of the OS or HS.
Status
Shows the current status of the OS or HS:
• Operational — OS or HS is operational.
• Not Communicational — OS or HS has reported a status, but no communication
with the OS or HS is possible.
• Not Reported — OS or HS has not reported any status.
• Stopped — OS or HS is not switched on.
Last Reported
Time stamp of last communication.
Format: day/month/year hour:min:sec
Net State
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.
The OS/HS page has a shortcut menu. Right-click anywhere on the page to display
the following menu:

See Print Image on page 288.

Event Printer page

The Event Printer page shows the status of the event printers that are configured in
the system.

286 385576/E
 System status monitoring

The operator stations in the K-Pos DPM 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 Master of the Print Group.
Station
The address of the event printer.
Print Group
The name of the group of operator stations that can print to this printer.
Master
The current master operator station in this print group.
Members
The operator stations that are members of this print group. If an operator station is
not active, its name is shown in parentheses.
Printer Info
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 288.

Net Status
The Net Status page shows the status of the communication network for all OSs, HSs and
PSs in the system.

385576/E 287
Kongsberg K-Pos DPM (OS)

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
Identification of the OS, HS or PS sending messages to the receiving station.
Msg pr. 100 sec
The total number of messages being received every 100 seconds on both networks.
Lost Msg Net A
The number of lost messages on network A.
Lost Msg Net B
The number of lost messages on network B.
IpAddress
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:
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
The Print Image command on the shortcut menu of the PS, PS Redundancy, OS/HS or Net
Status page allows you to print the content of the current page on your printer.

288 385576/E
 System status monitoring

Selecting this command displays the Print dialog box.

Select the appropriate printer from the Printer drop-down list box.

Station Explorer dialog box

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 dialog box, select System→Equipment. Right-click on a PS line. Select
Station Explorer... from the shortcut menu.
Note
If the dialog box is empty, you have to select the required DpPs from the drop-down list.

PS tree structure
The dialog box 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.

385576/E 289
Kongsberg K-Pos DPM (OS)

Hotspot symbols provide links to dialog boxes for displaying further information
about the IO system.
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 .
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 IO Manager
dialog box on page 291.
Displays the Driver Properties dialog box for the selected IO
driver. This feature is intended only for Kongsberg Maritime
personnel.

Displays a submenu:

• For an IO driver:

– The Show RBUS IO Image command displays a graphical

view of the IO cards. See RBUS IO Image on page 294.
– The Show IO Driver command displays the Driver
Properties dialog box for the selected IO driver. This
feature is intended only for Kongsberg Maritime personnel.
• For an IO block (IO card):

290 385576/E
 System status monitoring

– The Show IO Block command displays the IO Terminal

Block dialog box, which shows information about the
selected IO block and its IO points. See IO Terminal Block
dialog box on page 298.
– The Properties command displays the Properties dialog box
for the selected IO card. This feature is intended only for
Kongsberg Maritime personnel.
• For a serial port:

– The Properties command displays the Properties-DpPs

Serial Port dialog box for the selected serial port. See
Properties — DpPs Serial port on page 306.

Displays the IO Terminal Block dialog box, which shows

information about the selected IO block and its IO points. See
IO Terminal Block dialog box on page 298.

IO Manager dialog box

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 dialog box, either:
1 Select System→Equipment.
The Equipment - System Status dialog box is displayed.
2 Right-click on a PS line anywhere on the PS or PS Redundancy page of the
Equipment - System Status dialog box.
The following shortcut menu is displayed:

3 Select IO Manager.
The IO Manager dialog box is displayed.

385576/E 291
Kongsberg K-Pos DPM (OS)

or:
1 Start the Station Explorer (see Station Explorer dialog box on page 289).
2 Select the required PS from the drop-down list.

3 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 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.

IO Configurator page
In the IO Manager dialog box — IO Configurator page, use the drop-down box to select
the PS for which you will display the IO drivers and IO blocks.

292 385576/E
 System status monitoring

All IO blocks and devices

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 an IO driver name, the corresponding Driver Properties dialog
box is displayed.
If you click on an IO block name, the corresponding IO Terminal Block dialog box
is displayed. See IO Terminal Block dialog box on page 298.

385576/E 293
Kongsberg K-Pos DPM (OS)

RBUS IO Image
The RBUS IO Image provides a graphical view of the status of the RBUS IO cards. This
is intended as an aid to fault-finding in the IO system.
To display the RBUS IO Image:
1 Start the Station Explorer (see Station Explorer dialog box on page 289).
2 Select the required PS from the drop-down list.
3 Expand the IO Manager to locate the RBUSDriver.
4 Click on the sub-menu symbol ( ) and select the Show RBUS IO Image command
from the sub-menu.
The RBUS IO Image can be displayed either in the Overview level or the Detailed level:
• When the Overview level is selected, the display corresponds to the physical layout of
the IO cards as you see them in the IO cabinet.
• When the 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 RBUS IO Images at the Overview level for an RCU-based PS is shown below.

294 385576/E
 System status monitoring

The alarm status indicators are the same as for the Station Explorer. See Station Explorer
dialog box on page 289.
If you click on an IO card, the IO Terminal Block dialog box is displayed showing
information about the selected IO card and its IO channels. See IO Terminal Block
dialog box on page 298.
If you right-click on an IO card, a shortcut menu is displayed:

385576/E 295
Kongsberg K-Pos DPM (OS)

• The Show IO Block command displays the IO Terminal Block dialog box, showing
information about the selected IO card and its IO channels. See IO Terminal Block
dialog box on page 298.
• 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 view
containing the relevant alarms.
The tool bar of the RBUS IO Image window provides the following functions:
Displays the Overview level of the RBUS IO Image.

Displays the Detailed level of the RBUS 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.

Appears when an IO card is clicked.

Hides/shows the IO Terminal Block dialog box for the selected
IO card.

Detailed level
Example RBUS IO Image at Detailed level for an RCU-based PS is shown below.

296 385576/E
 System status monitoring

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.

385576/E 297
Kongsberg K-Pos DPM (OS)

IO Terminal Block dialog box

The IO Terminal Block dialog box displays information about a selected IO block and its
IO points. This is intended as an aid to fault finding in the IO system.
To display this dialog box, either:
1 Start the Station Explorer.
2 Select the required PS from the drop-down list.
3 Expand the appropriate driver to locate the required IO block.

4 Either click on the block icon ( ), or click on the sub-menu symbol ( ) and
select the Show IO Block command from the sub-menu.
or:
1 Start the IO Manager.
2 On the IO Configurator page, select the required PS from the drop-down list.
3 Expand the appropriate driver to locate the required IO block.
4 Click on the IO block name.
The content of this dialog box varies according to the IO driver.
Note
For IO cards belonging to the RBUS driver, a block is the same as an IO card, and a
point is the same as an IO channel.

298 385576/E
 System status monitoring

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 dialog
box on page 289.
Tag
Displays the name of the selected IO block.
Description
Displays descriptive text for the selected IO block.
Task
Shows the scan rate for the selected IO block:
• Task 1 — Normal
• Task 2 — Quick

385576/E 299
Kongsberg K-Pos DPM (OS)

• Task 3 — Rapid
Auto
Not relevant for K-Pos DPM 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.
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.
(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.
(signal conditioning elements)
Symbols representing the signal conditioning elements used, in order of
execution.
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

300 385576/E
 System status monitoring

• 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.
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.

Details
Clicking the Details button displays or removes the IO Point Parameters and Eng.
Signal Conditioning sections in the lower part of the dialog box.

Shortcut menu
If you right-click on any displayed IO point tag, the following shortcut menu is displayed:

Only one of the commands in the shortcut menu is available for the operator.
Resize Columns
Resizes the columns displayed in the IO Points area 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 Points area.

385576/E 301
Kongsberg K-Pos DPM (OS)

The signal conditioning includes elements for:

• Scaling
• Inversion
• Filtering
• Fail-safe value
• Compensation for wire resistance.
The available signal conditioning elements are as follows:
Icon Element name Analogue Digital Input Ouput Description
Scale X X X Sensor scale maximum
Sensor scale minimum
Sensor unit
Engineering scale maximum
Engineering scale minimum
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 maximum
Engineering scale minimum
Engineering unit
Fail-safe X X Fail-safe value
Freeze (check box):
Checked: Last usable value
Not checked: Fail-safe value

Filter X X Filter time (seconds)

Limit check X X X Gain

Bias
Use negative input value
Invert X X X None
Fail-safe X X Fail-safe value
Freeze (check box):
Checked: Last usable value
Not checked: Fail-safe value
Filter X X On delay (seconds)
Off delay (seconds)

302 385576/E
 System status monitoring

IO Point Browser dialog box

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 fault-finding in the IO system.
To display the IO Point Browser dialog box:
1 Select System→Equipment.
The Equipment - System Status dialog box is displayed.
2 Right-click on a PS line anywhere on the PS or PS Redundancy page of the
Equipment - System Status dialog box.
The following shortcut menu is displayed:

3 Select IO Point Browser.

The IO Point Browser dialog box is displayed.

385576/E 303
Kongsberg K-Pos DPM (OS)

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.

304 385576/E
 System status monitoring

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
Browse by IO Tag
Use this command button to search for IO points whose name satisfies the specified
Browse Criteria.
Browse by Module Tag
Not relevant for K-Pos DPM systems.
Details
Clicking the Details button displays or removes the IO Point Parameters and Eng.
Signal Conditioning sections in the lower part of the dialog box.
Browse results
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 Terminal Block dialog
(see IO Terminal Block dialog box on page 298), with one additional column:
• PS — The name of the PS that contains the IO point.
If you right-click on any IO point tag displayed in the browser window, the following
shortcut menu is displayed:

385576/E 305
Kongsberg K-Pos DPM (OS)

Only some of the commands in the shortcut menu are available for the operator.
Add Trend to previous popup
Adds a new trend to already created popup.
Create Trend in popup
Starts the procedure for creating a trend for the selected IO point.
Resize Columns
Resizes the columns displayed in the IO Point Browser dialog box to fit the content
of the columns.
Show IO Block
Allows you to view configuration information for the selected IO Block by
displaying the corresponding IO Terminal Block dialog box. See IO Terminal Block
dialog box on page 298.

Properties — DpPs Serial port

The Properties — DpPs Serial port dialog box shows the properties and configuration
of a selected serial port.
To display the Properties — DpPs Serial port dialog box:
1 Start the Station Explorer (see Station Explorer dialog box on page 289).
2 Select the required PS from the drop-down list.
3 Expand IO Manager, ComAs and the required serial line to locate the required serial
port (in the example below Serial port 101).

4 Click on the sub menu icon ( ).

306 385576/E
 System status monitoring

• A shortcut menu is displayed.

5 Select Properties on this shortcut menu.
• The Properties — DpPs Serial port dialog box is displayed.
The information provided on the Properties — DpPs Serial port dialog box is intended
primarily for Kongsberg Maritime personnel.

SerPort page

Enable configuration
When selected, the configuration shown is enabled.
Baud rate
Shows the baud rate (110, 300, 600, 1200, 2400, 4800, 9600, 19200, 38400 baud).
Parity
Shows the parity (No, Even, Odd).
Number of data bits
Shows the number of data bits (5, 6, 7, 8 bit).
Number of stop bits
Shows the number of stop bits (1, 2 bit).
Protocol
Click the line to open the drop-down list with the available protocols.
EOR char. input
Shows the End of Record character input in hexadecimal.

385576/E 307
Kongsberg K-Pos DPM (OS)

EOR char. output

Shows the End of Record character output in hexadecimal.
HW handshake
Shows the Hardware handshake (No, RTS@Send, RTS@Receive) - (RTS is short
for Request To Send).
HW selection
Shows the Hardware selection (Default, RS232, RS422, RS485).
Auto disable interrupts
To automatically disable interrupts, select this check box and click the OK or
Apply button.
Max. interrupt rate receive
Shows the highest recorded receive interrupt rate for this serial port (since startup
or reset).
Max. interrupt rate exception
Shows the highest recorded exception interrupt rate for this serial port (since
startup or reset).

Disable status page

The Disable status page of the Properties — DpPs Serial port dialog for the ComAs driver
displays the interrupt status of a selected serial port.
Reset disabled serial port
To reset a disabled serial port, select this check box and click the OK or Apply
button.

308 385576/E
 System status monitoring

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 the OK or Apply button.
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).

Resetting a disabled serial line

A serial port may be automatically disabled by the system to protect the K-Pos DPM
controller computer system from 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, a timeout alarm 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 computer.
1 In the Dynamic Alarm Page of the Event List view, right-click the relevant message.
• A shortcut menu is displayed.
2 Select Station Explorer on this shortcut menu.
• The Station Explorer dialog box for the serial line that has an error is displayed.

385576/E 309
Kongsberg K-Pos DPM (OS)

3 Click the Driver Properties hotspot (the indicator to the right of 02_FanbeamDrv
in this example).
• The Driver Properties dialog box is displayed.

4 Click the Driver operation page tab.

• The Driver operation tabbed page is displayed.

310 385576/E
 System status monitoring

5 Select the Reset disabled serial port check box.

6 Click the OK button.
• The serial line is reset.
Note
Resetting a disabled serial line can also be performed by using the Properties — DpPs
Serial port dialog box. (See Properties — DpPs Serial port on page 306.)

385576/E 311
Kongsberg K-Pos DPM (OS)

DP online consequence
analysis

This section contains the following topics:

DP online consequence analysis ....................................................................................312
Selecting the DP class....................................................................................................313
Consequence analysis status messages ..........................................................................313
Consequence analysis alarm messages ..........................................................................314

DP online consequence analysis

The DP Online Consequence Analysis function performs analyses to determine the
vessel's 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 Class 3. It also
satisfies the requirements for systems with enhanced reliability (Class ER).
The analysis 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. An alarm 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 displayed on the Dashboard is PRESENT (for Auto
Position mode).

312 385576/E
 DP online consequence analysis

• The heading setpoint status on the Dashboard is PRESENT (for Auto Position mode).
• DP Class 2, Class 3 or Class ER is selected.
Note
By default, the DP Online Consequence Analysis function is switched off. Prior to
engaging Class 2, Class 3 or Class ER operations, the corresponding class of operation
must be selected using the DP Class dialog box.

Selecting the DP class

DP Class 2, Class 3 or Class ER must be selected on the Dp Class dialog box to activate
the DP Consequence Analysis.
To display this dialog box, select Settings (General)→Dp Class.

If configured, the currently selected DP Class is indicated on the dashboard.

When the consequence analysis is running, the time to the next sample is counting down
and shown in the box Time to next analysis.

Consequence analysis status messages

When the DP Online Consequence Analysis function is activated, an information
message is displayed, e.g.:
Consequence analysis running class 2
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:

385576/E 313
Kongsberg K-Pos DPM (OS)

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.

Consequence analysis alarm messages

If an analysis detects that a given worst-case single equipment failure will result in
insufficient thrust or power to maintain the vessel's position and heading, an alarm
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 connect-swbd 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.

314 385576/E
 Mooring consequence analysis

Mooring consequence
analysis

This section contains the following topics:

Mooring Consequence Analysis ....................................................................................315
Acting on alarm..............................................................................................................316
Mooring Consequence Analysis Settings dialog box ....................................................316
Mooring Consequence Analysis Results dialog box .....................................................322

Mooring Consequence Analysis

The Mooring Consequence Analysis function performs an analysis of the vessel's ability
to maintain its position after a single line break or a failure in the thruster or power
system. There are no prerequisites for the number of anchor lines that must be deployed
or for the form of the anchor pattern. The Mooring Consequence Analysis function runs
every five minutes while the system is in either Anchor Handling or Position Mooring
mode. The function does not affect the behaviour of the vessel. The analysis uses the
present system data.
Based on the current mooring pattern, environmental forces and available thruster
force, the system simulates the consequences of each requested failure in the mooring
system. A failure can be:
• A break in a single anchor line
• A single thruster failure
• Failure of a thruster group
• Failure of an individual switchboard
• Failure of an individual connect-switchboard
• A total power blackout (loss of all thrusters)
The Mooring Consequence Analysis function examines the current operating data
and simulates each requested failure in turn. For each situation, the system calculates
the predicted path of the vessel, the maximum position and heading deviation, the
equilibrium position and the maximum tension in the remaining lines during the transient
period.

385576/E 315
Kongsberg K-Pos DPM (OS)

You can define warning and alarm limits for position and heading deviation (see Position
Limits page on page 319) and for anchor line tension (see Tension Limits page on
page 320). If any of the results of the analysis exceed these limits, a warning or alarm is
issued and the time until the limit is reached is calculated.
For each simulated failure:
• The PM Cnsq view (see Mooring consequence analysis view on page 337) shows a
trace of the predicted vessel path and the estimated equilibrium position.
• The Mooring Consequence Analysis Results dialog box (see Mooring Consequence
Analysis Results dialog box on page 322) provides a table showing which of the
remaining anchor lines is exposed to the highest tension during the transient period,
the position and heading deviation, and the time until the limit is reached.
The Mooring Consequence Analysis runs on all Operator Stations. The results are
presented independently on each Operator Station. This means that the results can be
slightly different from one Operator Station to another, but all are equally correct. The
Operator Station in command will be responsible for issuing alarms.

Acting on alarm
Depending on the operational situation and whether or not reduced safety factors are
acceptable, you should consider taking actions to eliminate any warnings or alarms that
are issued by the Mooring Consequence Analysis function:
1 Check that the position, heading or tension alarm limits are correct and appropriate
(see Position Limits page on page 319 and Tension Limits page on page 320).
2 Check the tension distribution in the mooring system. If necessary, optimize the
mooring system for the present weather conditions (see Tension Optimisation
Settings dialog box on page 234).
3 Check if the mean tension in the mooring system is too low. If necessary, increase
the mean tension.
4 Consider enabling thrusters to reduce the potential position deviation or to
compensate for the forces in the mooring system (see Enabling thrusters on
page 243).
5 If thrusters are already enabled, consider making more thruster force available.

Mooring Consequence Analysis Settings

dialog box
The Mooring Consequence Analysis Settings dialog box allows you to specify the failures
that are to be analysed, the available thrusters after a line break, and the warning and
alarm limits for position and heading deviation and anchor line tension.
You can save and restore sets of set-up data.

316 385576/E
 Mooring consequence analysis

To display the dialog box, select Mooring→(Analysis) PM Consequence Analysis Settings.

Failures page
The Failures page allow you to specify the failures that are to be simulated and analysed
by the Mooring Consequence Analysis function.

Simulate failures in
Mooring Lines
Select this check box to simulate single line breaks in each of the anchor lines that
are currently selected as part of the mooring pattern.
Thrusters
Select this check box to simulate thruster failures. Then select either Single (to
simulate single thruster failures) or Groups (to simulate failures of predefined
groups of thrusters).
Switchboards
Select this check box to simulate power failures. Then select either Swbd (to
simulate failures of individual switchboard), Connect-switchbord (to simulate
failures of individual connect-switchboards), or Total Blackout (to simulate a total
power blackout).

385576/E 317
Kongsberg K-Pos DPM (OS)

Reaction after linebreak page

When a line break is detected, the K-Pos DPM system immediately activates automatic
thruster control in all axes. Normally, all enabled thrusters are instructed to provide
thruster force to compensate for the loss of force in the mooring system.
The Reaction after linebreak page allows you to specify the thruster capacity that will be
available to compensate for a line break during the analysis. However, it is relevant only
if you choose to simulate failures in mooring lines on the Failures page.

Use thrusters:
You can select between the two following options for excepting thrusters from
line break compensation:
All except # most critical
Enter the number of most critical thrusters.
All except
Select the check boxes of the thrusters you do not wish to use for line break
compensation.
Rest upto ###.# % of maximum force
For the remaining available thrusters, you can specify the percentage of the
maximum force that is to be available.

318 385576/E
 Mooring consequence analysis

Position Limits page

The Position Limits page allows you to enter and enable the warning and alarm limits
for position and heading deviation that are to be used by the Mooring Consequence
Analysis function.

Reference Position and Heading

Wanted Position and Heading
When selected, the limits are relative to the position and heading setpoint.
Specified
When selected, the limits are relative to a position and heading which can be
entered in these text boxes.
Enable
In Anchor Handling and Position Mooring modes you can enable or disable the
Position and Heading limits as required. Whenever the system enters the Position
Mooring mode, the position limit is enabled automatically.
Warning/Alarm
Enter the required limits for Position and Heading in these text boxes.
If the results of an analysis show a simulated position or heading deviation that
exceeds these limits, a warning or alarm is issued.

385576/E 319
Kongsberg K-Pos DPM (OS)

Tension Limits page

The Tension Limits page allows you to enter and enable the warning and alarm limits for
anchor line tension that are to be used by the Mooring Consequence Analysis function.

Tension
You can enable or disable the specified Warning and Alarm limits as required in
Anchor Handling and Position Mooring mode. Whenever the system enters the
Position Mooring modes, these limits are enabled automatically.
Warning/Alarm
The warning and alarm limits must be specified as a percentage of the breaking
strength of each anchor line. If the results of an analysis show a simulated tension
that exceeds these limits, a warning or alarm is issued.
ALL
The ALL field can be used to simplify the set-up of the warning and alarm limits.
Enter the required values in the ALL text boxes, and click the Copy button to copy
this information to all the anchor lines.

Analyze now
The Mooring Online Consequence Analysis function runs automatically every five
minutes while the system is in either Anchor Handling or Position Mooring mode.
Provided an analysis is not already under way, you can force new calculations to be

320 385576/E
 Mooring consequence analysis

performed immediately by clicking the Analyze now button on the Mooring Consequence
Analysis Settings dialog box. If you have made changes to settings in the dialog box,
remember to click the Apply button prior to clicking the Analyze now button.

Saving and restoring data

Using the Save As and Read buttons on the dialog box, you can save and restore sets of
data for later use.
Save As
Click this button to display the Save Settings dialog box. This dialog box is used
for saving the currently-defined set-up data as a data set with a specified name.

You can either create a new data set by clicking the New button and entering a
new name using the simulated keyboard, or over-writing an existing data set by
selecting a name from the list.
To delete an existing data set, first select the name of the data set and then click
the Delete button.
Read
Click this button to display the Read Settings dialog box which is used for selecting
the data set to be read.

385576/E 321
Kongsberg K-Pos DPM (OS)

Mooring Consequence Analysis Results

dialog box
The Mooring Consequence Analysis Results dialog box allows you to see the results of the
Mooring Consequence Analysis function.
To display the dialog box, select Mooring→(Analysis) PM Consequence Analysis Results.

This dialog box shows the results of the Mooring Consequence Analysis in tabular form
and should be viewed in conjunction with the PM Cnsq view. The simulated failure
conditions are identified in the same way as on the PM Cnsq view. The information
displayed is updated each time a new set of calculations are completed.
This page lists the following information:
• The time at which the Mooring Consequence Analysis computations started
• The reference position and heading
• For each simulated failure:
– The name or number of the line with the highest absolute tension during the
transient period and the corresponding absolute tension value
– The name or number of the line with the highest relative tension during the
transient period (as a percentage of the breaking strength) and the corresponding
relative tension value
– The maximum position deviation (distance and direction) from the reference
position during the transient period
– The maximum heading deviation from the reference heading during the transient
period
– The time taken for the first limit to be reached (if warning and alarm limits for
position and heading deviation are enabled)

322 385576/E
 Display views

Display views

This section contains the following topics:

Catenary profile view.....................................................................................................323
Diesel view.....................................................................................................................326
Joystick view..................................................................................................................328
LTW view ......................................................................................................................332
Mooring consequence analysis view .............................................................................337
Numeric view.................................................................................................................341
Posplot view...................................................................................................................344
Power view.....................................................................................................................360
Power consumption view...............................................................................................366
Reference system main view .........................................................................................367
Reference system status view ........................................................................................376
Rotation center view ......................................................................................................378
Sensor view....................................................................................................................378
Thruster forces view ......................................................................................................382
Thruster main view ........................................................................................................384
Thruster view — tunnel thruster ....................................................................................389
Thruster view — azimuth thruster ................................................................................392
Thruster view — propeller/rudder .................................................................................395
Thruster setpoint feedback view ....................................................................................398
Trends view....................................................................................................................400

Catenary profile view

The Catenary profile view shows vertical profiles for two anchor lines. The profiles are
calculated according to the line tension, line length and line segment structure.
Different line segments are identified by different colours. Clump weights are shown as
an asterisk (*). Buoyancy elements are shown as o.
When you first select this page, no profiles are displayed. You must select the anchor
lines to be displayed using the view control dialog box.
The displayed information for an anchor line is calculated when the profile is first
displayed and is not dynamic. To update the displayed information you must click the
Apply button again on the view control dialog box.

385576/E 323
Kongsberg K-Pos DPM (OS)

To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

Line X (: status)
Shows the name or number of the anchor line. If a profile cannot be calculated,
status information is displayed.
Tension:
If the line tension sensor is enabled, the measured line tension is shown. If the line
tension sensor is disabled, the manually-entered line tension is shown.
Length:
If the line length sensor is enabled, the measured line length is shown. If the line
length sensor is disabled, the manually-entered line length is shown.
Fairlead angle:
The calculated vertical angle of the anchor line at the fairlead, measured either
downwards from the horizontal or upwards from the vertical (as indicated by
the symbol).

324 385576/E
 Display views

Touchdown at:
The calculated horizontal distance from the fairlead to the touchdown point.
Anchor at:
The calculated horizontal distance from the fairlead to the anchor.

Catenary Profile Plot view control

To display the view control dialog box: right-click on the view →View control.
or
Click on a displayed catenary profile.

Line
The name or number of the anchor line whose catenary profile is to be displayed
in the upper or lower plot. You must select the required name or number from
the list box.
Hanging
Select this check box to specify that the anchor line is hanging (during deployment).
The profile for a hanging anchor will be displayed, even if the anchor line touches
the sea bed, provided that the line tension is high enough to allow a calculation
to be performed.
When part of a hanging anchor line lies on the sea bed, the displayed catenary
profile will not be entirely correct, because it is still calculated as if the anchor
line did not reach the sea bed.

385576/E 325
Kongsberg K-Pos DPM (OS)

Tension
Select Current if the profile is to be calculated using the currently-measured line
tension. Select Defined and enter a tension value if the profile is to be calculated
using a specified line tension.
Length
Select Current if the profile is to be calculated using the currently-measured line
length. Select Defined and enter a length value if the profile is to be calculated
using a specified line length.
X-Axis Range
Select Anchor if the x-axis range is to be from the fairlead to the anchor position.
Select Touchdown if the x-axis range is to be from the fairlead to the touchdown
point.
Y-Axis Zero
Select Surface if the y-axis range is to be from the sea bed to the surface. Select
Fairlead if the y-axis range is to be from the sea bed to the fairlead.

Diesel view
The Diesel view provides a simplified mimic display of the vessel's diesel engines and
fuel rack system as seen from the K-Pos DPM system.
The information presented in this view is based on the following signals received by
the K-Pos DPM system:
• The power produced by each main diesel generator
• The fuel rack reading
• Diesel clutched in or out
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

326 385576/E
 Display views

Main models for fuel-rack regulation in common use are:

• propeller with two diesels and two shaft generators
• propeller with one diesel, no shaft generator
• propeller with two diesels, no shaft generator
• propeller with one diesel, one shaft generator
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.
This is a generator symbol showing the produced power both as
a numerical value (above the symbol) and graphically (the line
in the symbol) as a percentage of the nominal power (where the
vertical axis is 100%). The symbol is colour-coded:
• Grey indicates that the generator is not running.
• Green indicates that the generator is OK and running.
• Yellow indicates that the generator has a warning status.
• Red indicates that the generator has a signal error on the load
signal.

385576/E 327
Kongsberg K-Pos DPM (OS)

These are numerical and graphical displays of the fuel rack load
on the diesel engines. They have the same colour coding as
for the generators.

Clutch symbol with the same colour coding as for the generators.

These are numerical and graphical displays of propeller

pitch/rpm feedback. The green label indicates which system has
control of the thrusters.
The symbol is colour-coded:
• The colour of the bars changes to yellow when the thrusters
pass the limit for percentage of available thrust (typically
80%). This applies only in some modes (depending on your
system configuration, but usually in auto-modes).
• The colour of the bars changes to red when there is a signal
error from one of the propellers/rudders.

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.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

328 385576/E
 Display views

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.

This is a graphical display of the obtained rotational moment,

the rotational moment setpoint is marked by the orange line.
The numerical value of the obtained rotational moment is
displayed.

385576/E 329
Kongsberg K-Pos DPM (OS)

This is a graphical display of the obtained surge force, the surge

force setpoint is marked by the orange line.
The numerical value of the obtained surge force is displayed.

This is a graphical display of the obtained sway force, the sway

force setpoint is marked by the orange line.
The numerical value of the obtained sway force is displayed.

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.

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 (text on pink background).

330 385576/E
 Display views

This is the estimated surge and sway speed at the vessel's

Midships position.

The resulting force and speed vectors are shown graphically.

The numeric values show the range of the display for both force
and speed.

This shows the present joystick thrust setting as selected on

the Joystick Settings dialog box which can be either Full Thrust
or Reduced Thrust.
The present joystick precision setting as selected on the Joystick
Settings dialog box is shown. 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 Joystick Settings dialog box on page 79).

385576/E 331
Kongsberg K-Pos DPM (OS)

This shows the joystick demand as a percentage of the

maximum available demand in surge, sway and yaw axes.

If this operator station is not in command a grey symbol on

the graphic display to the right shows the setpoint of the local
joystick.

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).

LTW view
The Light-weight Taut Wire (LTW) is based on measurements and calculations of the
vessel's position relative to a fixed point on the sea bed.
A gimbal head on a boom over the side of the vessel is connected by a wire to a depressor
weight on the sea bed.
The vertical component of the wire length is measured when the depressor is lowered
onto the sea bed. The angles between the wire and the vertical, both in the alongships
and the athwarthships axes (see Figure 32), 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. Corrections are applied to allow for the offset
distance between the sensor on the gimbal head and the vessel's rotation center.

332 385576/E
 Display views

Figure 32 LTW position-reference system

Gimbal head

Wire Draught Wire angle

angle alongships
athwarthships

Wire
Wire Wire length, Water length, Wire
length vertical depth vertical length
component component

Depressor Seabed
Depressor
weight Seabed weight
CD2824

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 sea
bed and re-lowered to have the system record the change of wire length.
The LTW view allows you to monitor the performance of a Light-weight Taut Wire
(LTW) position-reference system.
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.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

385576/E 333
Kongsberg K-Pos DPM (OS)

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.

The symbol represents the position of the depressor weight

relative to the gimbal head.

334 385576/E
 Display views

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
to edge of plot. The button decreases the display range.
The button increases the display range.
You can adjust the grid spacing using the view control dialog box
(see Light Taut Wire Plot view control on page 336). The grid
spacing is automatically adjusted when decreasing/increasing
the display range.

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 Athwart angle is positive when the gimbal head is to
starboard of the depressor weight.

385576/E 335
Kongsberg K-Pos DPM (OS)

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 Athwart 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 sea bed.

Light Taut Wire Plot view control

To display the view control dialog box: right-click on the view →View control.

Grid
Show
To show or hide the grid.
Square
Square grid.

336 385576/E
 Display views

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.
Light Taut Wire Graphics
LTW 1, LTW 2, LTW 3, LTW 4
Allows you to select the LTW system whose position information is to be displayed
in the main graphic area of the view.
Range
Allows you to specify the display range explicitly by typing in a value in the text
box.
Incr. Range
This button allows you to increase the display range in fixed steps.
Decr. Range
This button allows you to decrease the display range in fixed steps.

Mooring consequence analysis view

The PM Cnsq view shows the results of the PM Online Consequence Analysis function.
This view is updated each time a new set of Consequence Analysis calculations are
completed. The time at which the calculations started is shown at the top left of the view.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

385576/E 337
Kongsberg K-Pos DPM (OS)

The center of the display is the reference position as defined on the Position Limits page
of the Online Consequence Analysis Settings dialog box.
For each simulated failure, a trace of the predicted path of the vessel is displayed leading
from the actual vessel position at the start of the simulation. The point on the trace at
which the analysis ended is marked with a cross. A straight line is then displayed to the
estimated equilibrium position (marked with an asterisk).
A yellow circle centred on the reference position indicates the warning limit for position
deviation (if enabled). A red circle centred on the reference position indicates the alarm
limit for position deviation (if enabled).
If the vessel position would exceed the position or tension warning limit during the
transient, the trace is coloured yellow. If the vessel would exceed the position or tension
alarm limit, the trace is coloured red.
The traces of the predicted vessel path are labelled according to the failure that is
analysed:
• Line break in line X is labelled L-X.
• Failure of thruster X is labelled T-ThrName X.

338 385576/E
 Display views

• Failure of thruster group X is labelled TG-Groupname X.

• Failure of switchboard X is labelled S-Swbd X.
• Failure of connect-switchboard X is labelled CS-X.
• Total power blackout is labelled B-ALL.
The two buttons at the top right of the view allow you increase and
decrease the display range.

Shows the current display range. The range is the distance from center to
edge of plot. Grid: shows the distance between grid lines or circles. You
can adjust the grid spacing using the view control box.

The grid spacing is automatically adjusted when decreasing/increasing

the display range.

PM Consequence Plot view control

To display the view control dialog box: right-click on the view →View control.

Mode page

Show
Select which groups of failure traces that are to be displayed (items that are greyed
on the dialog box were not calculated), and whether the calculated equilibrium
positions are to be displayed.

385576/E 339
Kongsberg K-Pos DPM (OS)

Grid page

Show
To show or hide the 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.
Type
The type of grid.

340 385576/E
 Display views

Range page

Distance from Center ...to Top of Plot

Allows you to specify the display range by typing in a value in the text box.
Decr. Range
Allows you to decrease the display range in fixed steps.
Incr. Range
Allows you to increase the display range in fixed steps.

Numeric view
The Numeric view shows performance data in numerical form.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

385576/E 341
Kongsberg K-Pos DPM (OS)

The position setpoint, present position and position deviation in

north (N) and east (E) direction are shown.

342 385576/E
 Display views

These are the values for heading setpoint, present heading and heading
deviation.

These are the values for Rate Of Turn setpoint and present Rate Of Turn.

These are the values for vessel speed setpoint and present speed.

This is the direction of the vessel speed relative to true (N UP) or to the
vessel (H REL). The displayed orientation is selected from the Heading
pane on the dashboard.

This displays the warning and alarm limits for position and
heading deviation. Green indicates that the limits are currently
active.

385576/E 343
Kongsberg K-Pos DPM (OS)

The calculated residual force (the sum of all the non-modelled

forces together with any errors in the modelling). In Anchor
Handling and Position Mooring mode this can be seen as a
measure of the quality of the defined mooring system. The
residual force is shown with either true components (N and E)
or relative components (Surge and Sway), as selected from the
Heading pane on the dashboard. Moment is the rotation moment
exerted on the vessel.

Posplot view
The Posplot view shows the vessel's 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.
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 centre of the display.
• Display or remove various features on the view.
• Show or hide a chart on the Posplot view.
• Show or hide the grid, and select grid type and grid spacing.
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 centre to edge of plot.
• Display or hide a trace line and trend symbols, and also specify the sample rate and
the extent of the trace line/trend symbols.
The EBL (Electronic Bearing Line) button can be used for measuring positions, distances
and bearings on the display.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

344 385576/E
 Display views

The example Posplot view shows some of the available display features. The figures
with text that follow the example describe all the standard features of the Posplot view.
Additional features which relate to specific operational modes are described together
with the appropriate operating procedure.
The compass rose is marked with degrees. The north/south and
east/west geographical axes are displayed.

385576/E 345
Kongsberg K-Pos DPM (OS)

This is the vessel symbol that indicates the position of the vessel, relative to
known reference points and directions. The vessel's Midships position is
marked with a small cross. The currently-selected rotation centre 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 Marking a new position setpoint
on the Posplot view on page 191).

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 carrot's movement
depends on the speed setpoint.

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, the shaded area
indicating the relaxed control radius will also be hidden.

346 385576/E
 Display views

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 centre. The inner radius is indicated by a blue,
shaded circle. The predicted trajectory for the vessel is displayed as a line
pointing from the rotation centre.

This is the heading setpoint symbol. By selecting and moving this symbol
you can change the heading setpoint (see Marking a new position setpoint
on the Posplot view on page 191).

This is the present heading symbol.

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 carrot's movement
depends on the Rate Of Turn setpoint.

This displays range value and decrease/increase buttons. The

Range value is the distance from centre to edge of plot. The
button decreases the displayed range. The button increases
the displayed range.
The N symbol indicates the orientation of the heading as
selected by the buttons on the heading pane — if H REL
(heading relative) is selected the symbol is tilted in the
respective direction.
The Grid value is the spacing between grid lines or
circles. The grid spacing is automatically adjusted when
decreasing/increasing the display range.
The TM/RM toggle button (true/relative motion) changes the
orientation of the display (the same function as the Motion page
on the Posplot view control).

385576/E 347
Kongsberg K-Pos DPM (OS)

The EBL (Electronic Bearing Line) button. This feature allows

you to view the coordinates of positions on the display.

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
towards 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 Presentation Units dialog box.

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 Presentation Units dialog box.

This shows the residual as current (in DP operations) or residual

as force (in PM operations).
The arrow rotates around the compass rose to show the
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 Presentation Units dialog box (see Wind, waves and
sea current direction on page 67).

348 385576/E
 Display views

In DP operations this is the residual shown as current speed

and true direction.
An “s” in front of the “degrees” symbol in the unit for direction
means “setting” (goes to) if selected using the Presentation
Units dialog box (see Wind, waves and sea current direction
on page 67).

In PM operations this is the residual shown as force and true

direction.

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 setpoint is hidden (see Show page on page 355).

The short lines, dashed and solid, 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 setpoint is hidden (see Show page on page 355).

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.

385576/E 349
Kongsberg K-Pos DPM (OS)

Mooring pattern display (Posplot view)

The vessel's current mooring pattern can be displayed. This feature is selected for display
using the Posplot view control dialog box.
The following features of the mooring pattern are displayed:
• All the defined anchor lines relative to the vessel position
• The anchor line numbers
• The touchdown point of each anchor (if available)
• The status of each anchor line
• The status of the line tension and line length sensors
• Equilibrium positions (with and without environmental forces, error force or other
external forces)
The length of the displayed anchor lines represents the calculated horizontal distance
from the vessel to the anchor.
Note
If the line length for an anchor is less than the water depth at the vessel, the anchor
line is not displayed.

An anchor line that is detected as broken by the Line Break Detection function (see Line
break detection on page 230) is displayed in red.
Note
When zooming 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. When this simplified symbol is displayed, the connection points of
the mooring lines (which are always displayed correctly) will appear to be displaced
relative to the vessel symbol.

350 385576/E
 Display views

The boxes displayed at the end of each anchor line show the
status of the anchor line (A), the line tension sensor (T) and the
line length sensor (L).

A (white) The anchor is selected. The line tension is calculated from the
line characteristic.

A (white) The anchor is selected. The line tension is either the measured
value or a manually-entered value.

A (pink) The anchor is not selected.

T/L (white) The sensor is enabled.

385576/E 351
Kongsberg K-Pos DPM (OS)

T/L (pink background) The sensor is disabled.

For all anchor lines for which a line characteristic has been
calculated, the touchdown points are indicated, together with
the calculated horizontal distance from the fairlead to the
touchdown point.

By reducing the range of the Posplot view you can zoom in on

the vessel symbol to shown in detail the line bearings relative
to the fairlead positions.
Calculated equilibrium positions can be displayed.
IE (including environmental forces) is the position that the
vessel would adopt if no thruster forces were used. The
deviation between this and the vessel's actual position provides
an indication of how much power will be used to maintain the
current position.
XE (excluding environmental forces) is the position that the
vessel would adopt if the forces from the mooring system (as
defined by the mooring pattern) were the only forces acting on
the vessel. Environmental forces, error force and other external
forces are excluded.

Riser display (Posplot view)

In the Anchor Handling and Position Mooring modes the riser positions can be displayed
on the Posplot view. You must select this feature for display using the Posplot view
control dialog box.

352 385576/E
 Display views

For single risers, the riser sea bed position is marked with a
cross and the name of the riser. A line is displayed between
the connection point of the riser at the vessel and the riser sea
bed position.

For riser systems, the equilibrium position is marked with a

cross and the name of the riser system. This is the position of the
vessel at which the resultant force from this riser system would
be zero. A dashed line is displayed between the connection
point of the riser and the equilibrium position.
The equilibrium position entered using the Mooring System
dialog box refers to the equilibrium position of the vessel
reference point that was active at that time (Midships or
alternative rotation center). If the vessel reference point
has changed, the displayed equilibrium position is adjusted
accordingly.

Posplot view — riser disconnect limit

When watch circle limits and riser disconnect limit are enabled using the Riser
disconnect settings dialog box, the limits are displayed on the Posplot view

385576/E 353
Kongsberg K-Pos DPM (OS)

WCC Watch circle centre.

Dashed circles Watch circle limits — warning and alarm.
Solid circles Riser disconnect limit.

354 385576/E
 Display views

Posplot view control

To display the view control dialog box: right-click on the view →View control.

Motion page

Plot Centerpoint
True Motion
True display centred on the position setpoint. The position setpoint (required
position) is placed at the centre of the display.
Relative Motion
Relative display centred on the current position. The symbol of the vessel (present
position) is placed at the centre of the display.

Show page

Show/Hide
Display or remove various features of the Posplot view. The choice of features
available is configured for each vessel.

385576/E 355
Kongsberg K-Pos DPM (OS)

The Setpoint, Carrot, Refsys and Wind/Current features are described previously in
this section.
Mooring and Equilibrium Positions are described in Mooring pattern display
(Posplot view) on page 350.
Riser information is described in Riser display (Posplot view) on page 352.
Selecting Green Prediction displays the predicted trajectory for the vessel as a
line pointing from the rotation centre.

Grid page

Show
Show or hide the grid.
Spacing
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.

356 385576/E
 Display views

Range page

Distance from Center ...to Edge of Plot

Allows you to specify the display range explicitly by typing a value in the text box.
Increase Range
This button allows you to increase the display range in fixed steps.
Decrease Range
This button allows you to decrease the display range in fixed steps.

Trace page

Vessel Position/Heading History

Trace-line
It is possible to show or hide a trace line of the vessel movements (Show) and
specify the sample rate (Sampling) and the extent of the trace (Memory) to be
stored. The trace line shows the path followed by the currently-selected vessel
rotation centre.

385576/E 357
Kongsberg K-Pos DPM (OS)

Figure 33 Posplot trace line (example)

Trend-symbols
It is possible to show or hide a series of vessel symbols indicating vessel movement
and position (Show) and specify the sample rate (Sampling) and extent of the trend
symbols (Memory) to be stored.

Figure 34 Posplot trend symbols (example)

Note
With the Posplot view at close range when the simplified symbol is displayed,
the “trended” symbols are not shown.

Clear All
Clicking this button permanently clears all the trend symbols and the trace line
both in memory and on the Posplot view.

358 385576/E
 Display views

EBL dialog box

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.
1 Click the EBL button on the Posplot view.
• The EBL dialog box is displayed.
2 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.
3 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.

Panning function
You can easily change the coordinates for the centre 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 centre of the view. This can be especially useful, for
example, when plotting waypoints for a new track using the Waypoint dialog box (see
separate Auto Track Mode Operator Manual).
The panning function is available from the shortcut menu. The panning related
commands on the shortcut menu will change depending on whether or not panning
has been selected.

385576/E 359
Kongsberg K-Pos DPM (OS)

To use the panning function:

1 Place the cursor on the Posplot view at the new position around which the view is
to be centred.
2 Click the right trackball button.
• The Posplot shortcut menu is displayed (see the menu on the left side).
3 Select Center Here.
• The selected position now becomes the new centre of the Posplot view and the
text Panning ON is shown in the upper right corner of the view.

When the panning function is on, the following commands related to panning are
available on the shortcut menu.
Center Reset
Resets the centre of the view to the original position, i.e. the vessel position or
position setpoint, depending on the centre point selected on the Mode page of the
Posplot view control dialog box. It also switches the panning function off.
Center Here
Selects a new position for the centre of the Posplot view.
The panning function is automatically switched off if the rotation centre is changed
or another centre point is selected on the Mode page of the Posplot 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 by selecting Center Reset.

Power view
The Power view is a simplified mimic display of the vessel's electrical power system as
seen from the K-Pos DPM system.
Normally the K-Pos DPM system is supplied with information about:
• The power produced by each main generator.
• Which switchboard each generator is connected to.

360 385576/E
 Display views

• How the switchboards are connected.

• How the thrusters are connected to the switchboards.
The thruster power consumption is either measured directly or calculated from the
thruster feedback.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

This is a generator symbol showing the produced power both as a numerical

value (above the symbol) and graphically (the line in the symbol) as a
percentage of the nominal power (where the vertical axis is 100%). The
symbol is colour-coded:
• Grey indicates that the generator is not running.
• Green indicates that the generator is OK and running.
• Yellow indicates that the generator has a warning status.
• Red indicates that the generator has a signal error on the load signal.

385576/E 361
Kongsberg K-Pos DPM (OS)

This is the switchboard name (swbdB in the example). The number in

brackets (2 in the example) indicates the connect-switchboard that the
switchboard is a part of. The symbol is colour-coded:
• Grey background indicates that no generators are connected to this
switchboard.
• Green background indicates that the switchboard is OK and running.
• Yellow background indicates that the switchboard has reached the
warning limit.
• Red background indicates that the switchboard has a signal error on
the load signal.

The position of the generator breaker symbol shows whether the generator
is connected to the switchboard or not. In addition, the generator breaker
symbol is colour-coded:
• Green frame indicates the breaker is closed.
• Grey frame indicates the breaker is open.
• Red frame indicates alarm status.
• Orange frames indicate the selected bus-ties for even distributed load
with zero current flow.

This is a thruster symbol showing the produced power both as a numerical

value and graphically as a percentage of the nominal power (where the
vertical axis is 100%). The symbol is colour-coded:
• Grey indicates that the thruster is not running.
• Green indicates that the thruster is OK and running.
• Yellow indicates that the thruster has reached the warning limit for load.
• Red indicates that the thruster has a signal error on the load signal, or
the demand to this thruster is reduced by the blackout prevention and it
is not possible to distribute this demand to other thrusters, i.e. the DP
system has insufficient thrust.

362 385576/E
 Display views

The total available and consumed power from the generators

connected to each connect-switchboard or switchboard can be
displayed using the Power Plot view control dialog box. The
Load/MAX values indicate: the consumed power — the first
value (27 or 22 in the examples) and the maximum load — the
second value (95 in the examples) shown in percentage. If the
value for maximum load is in orange colour, this indicates that
the respective connect-switchboard is selected for Reduced
swbd load (see Power Optimal Allocation dialog box on
page 252).

385576/E 363
Kongsberg K-Pos DPM (OS)

The power optimal allocation can be defined to run in different

modes as selected on the Power Optimal Allocation dialog box
(see Power Optimal Allocation dialog box on page 252).
In Normal mode the power optimal allocation will first of all
allocate thrust within the given power limitations.
• In Even Load mode the thrust is allocated so that the load is
as even and as low as possible on all connect-switchboards.
• In Even Load with zero bus-tie current flow mode the thrust
is allocated so that the current through the operator defined
bus-tie is as low as possible.
• In Reduced swbd load mode the operator can specify
wanted maximum power consumption on one or more
connect-switchboards.

A trend plot is displayed. You can select the information to be displayed using the Power
Plot view control dialog box.

364 385576/E
 Display views

Power Plot view control

To display the view control dialog box: right-click on the view →View control.

Present
Selects whether to display information about Connect-switchboards or Switchboards.
Show/Hide
If configured, selects whether or not to display the internal names (IO Tags) of the
generator breakers, bus-ties and thruster switches.
Plot
The trend plot to be displayed.
Time span
The time span for the trend plot.
Range...
Clicking this button displays the Y-Axis Range dialog box which allows you to
select automatic scaling or to manually set the upper and lower limits for the
y-axis plot scale.

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits manually.

385576/E 365
Kongsberg K-Pos DPM (OS)

Power consumption view

The Power Consumption view shows:
• The consumed power for each connect-switchboard in numerical and graphical form
as a percentage of available power.
• Which switchboards are included in each connect-switchboard.
• The available power for each connect-switchboard in numerical form.
The view is dynamically updated to always show the current switchboard topology.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

366 385576/E
 Display views

The consumed power for each connect-switchboard is shown

in graphical form as a percentage of available power for each
connect-switchboard.
The number of bar graphs shown will be automatically
adjusted to reflect the vessel's current connect-switchboard
configuration, i.e. when it changes due to bus-tie breakers being
opened/closed.
Each bar graph has a blue bar and two predefined power
consumption limits (one for warning and one for alarm) that are
shown as dashed horizontal line for warning limit and solid line
for alarm limit. If the lower (warning) limit (typically 60%) is
exceeded the colour of the bar becomes yellow. If the upper
(alarm) limit (typically 80%) is exceeded the colour of the bar
changes to red.

The consumed power for a switchboard group.

The maximum power for a switchboard group.

The switchboards that are included in each connect-switchboard

(Conn-swbd 1, Conn-swbd 2, etc.) are designated SwbdA,
SwbdB, etc.

Reference system main view

The Reference system main view shows the individual and resulting performance of the
position-reference systems that are currently enabled.
The general characteristics of position-reference systems are described in Position
information on page 146.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

385576/E 367
Kongsberg K-Pos DPM (OS)

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 the display range. The
button increases the display range.
The N symbol indicates the orientation of the heading as
selected by the buttons on the heading pane — if H REL is
selected the symbol is tilted in the respective direction.
You can adjust the grid spacing using the view control,
Grid page. The grid spacing is automatically adjusted when
decreasing/increasing the display range.

368 385576/E
 Display views

The centre of the plot is the present vessel position. Using the
Reference system main view control dialog box, Mode page, 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.

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.
For each position-reference system, the outer circle (dashed)
represents the standard deviation for this system.

An error ellipse is displayed. There is a certain statistical

confidence (95%) that the vessel's position is within the region
that is encircled by this ellipse (The error region in this example
has the shape of a circle, but generally the region may have
an oval shape).

This indicates the legends used for plotting. Colour coding and
capital letters help to differentiate the various position-reference
systems.

385576/E 369
Kongsberg K-Pos DPM (OS)

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 Validation page on page 159). 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 the Clear button
to stop plotting and to remove the raw-data position samples
from the plot.

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 Reference system main 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

370 385576/E
 Display views

a specific reference system during the previous second, the weight for this system
is set to zero (and Online shown in orange). The horizontal bar is not displayed for
position-reference systems that have an enabled mobile transponder, i.e. those with a
Relative status.
In the lower right corner of the Reference system main view, numerical data or a trend
plot is displayed. Using the Reference system main view control dialog box, Mode page,
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 system. The data are presented according to current presentation 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.

385576/E 371
Kongsberg K-Pos DPM (OS)

Raw Position

These are numerical values of raw (uncompensated and untransformed) position

measurements (for each reference system) as received by the 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.
RefSys Raw Data STD DEV

These are trend plots. The type of trend plot is selected on the Mode page of the Reference
system main 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.

372 385576/E
 Display views

Refsys view control

To display the view control dialog box: right-click on the view →View control.

Mode page

Position
Transponder Coordinates
Raw Position
Select the required set of numerical data to be displayed in the lower right corner
of the Reference system main view. These items are described in detail in the
previous section.
Trend Plot
Select a Trend Plot to be displayed in the lower right corner of the Reference
system main view. These items are described in detail in the previous section.
Plot
The type of trend plot to be displayed. You can select between the following
options: RefSys Bias E, RefSys Bias N, RefSys STD DEV, RefSys STD DEV AS,
RefSysWeight or – none –.
Time span
The time span for the trend plot.
Range...
Clicking this button displays the Y-Axis Range dialog box which allows you to
select automatic scaling or to manually set the upper and lower limits for the
y-axis plot scale.

385576/E 373
Kongsberg K-Pos DPM (OS)

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits manually.

Grid page

Show
To show or hide the 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.

374 385576/E
 Display views

Type
The type of grid.

Range page

Distance from Center ...to Edge of Plot

Allows you to specify the display range by typing a value in the text box.
Increase Range
Allows you to increase the display range in fixed steps.
Decrease Range
Allows you to decrease the display range in fixed steps.

385576/E 375
Kongsberg K-Pos DPM (OS)

Reference system status view

The Reference system status view shows the status for each reference system or
transponder. The information displayed is similar to the reference system status
information in the Reference System Main view.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

Position The values for the calibrated position (from the position-reference
systems) as used by the system.
Position setpoint The wanted position for the vessel.
Reference origin The name of the position-reference system providing the
sensor reference origin.
Reference name The names of the position-reference systems.
The name of the position-reference system that is providing the
reference origin is marked with an asterisk (*).

376 385576/E
 Display views

Status The operational status of the position-reference system, which

can be Calibrating, Online, Relative, Offline or Lost. If a
position-reference system is in a monitoring state (operating but
not providing position-reference data) the status text is displayed
with the prefix Mon, e.g. Mon Online.
Note
The Relative status indication is only shown if the optional Follow
Target mode is available.

If the measurements are acceptable, Calibrating or Online is

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
selected.
If the measurements are lost, Offline is displayed in red. If the
measurements are lost during calibration, Lost is displayed in red.
When a position-reference system is turned off, the weight and
standard deviation is set to zero, and Offline is displayed in red
before the position-reference system is removed from the view.
Offset The position Offset during the last second is displayed as a bar
graph (portion of 10m) for each reference system.
Weight A blue horizontal bar that shows the weighting factor applied to
the measurements from the position-reference system during
the last second.
The sum of the weighting factors for all position-reference
systems with an Online status is always one (full bar).
If no new update is received from the position-reference system
during the previous second, the Weight for the system is set to
minimum (zero) and Online is shown in orange.
The blue horizontal bar is not displayed for position-reference
systems that have an enabled mobile transponder, i.e. those with
a Relative status.

385576/E 377
Kongsberg K-Pos DPM (OS)

Rotation center view

The Rotation Center view shows the position of all the rotation centres that are available
when the vessel is under automatic control. The coordinates are relative to the Midships
rotation centre.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

The position of the currently-active rotation centre (In Use) is shown in orange colour.
The position of the proposed rotation centre (Selected) is shown in blue colour.

Sensor view
The Sensor view shows the performance and state of each of the vessel's sensors. This
view may have several pages depending on the number and type of sensors installed
on the vessel.

378 385576/E
 Display views

To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.
By clicking on the left or right arrow (if present) you can display the next or previous
sensor view.
Examples of page 1 and 2 of the Sensor view:

385576/E 379
Kongsberg K-Pos DPM (OS)

380 385576/E
 Display views

Common for all types of sensors on any of the Sensor view pages:
Sensor status indications:
The sensor is in use.

The sensor is enabled but not in use.

The sensor is not enabled.

There is an active warning alarm for this sensor.

The readings from the sensor are not OK.

- - - - - - Dashes replace the measurement values.

Additional sensor information:

If there is a symbol by the sensor name, clicking it will open a sensor description
dialog box containing details about this type of sensors, for example:

Trend plot:
The plot for each sensor has a different colour. You can change the settings for the
information to be displayed using the History settings ... and Range settings ...view
controls.

Used measurements:
For some of the sensor types (such as Wind, GPS speed, Doppler speed, Rotation speed,
Draught, Water depth, etc.) the value currently used by the system. is shown:

385576/E 381
Kongsberg K-Pos DPM (OS)

Thruster forces view

The Thruster forces view shows the resultant thruster forces and the “real” location of
the thrusters.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

These are the resultant thruster force and direction, and the resultant
turning moment and direction.

382 385576/E
 Display views

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. The numerical
values are all based on feedback signals from the thrusters.
The Status boxes show the Running, Ready and Enabled status of
each thruster unit.

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 vessel's

Midships position) is displayed. A graphical indication of turning
moment is also shown. The turning moment has a maximum sector
range of ±180°.

The colour of the bars, the background colour of the values and the force vectors change
to yellow when the thrusters pass the limit for percentage of available thrust (typically
80%). This applies only in some modes (depending on your system configuration, but
usually in auto-modes). The colour changes to red when there is a signal error from
one of the thrusters. For example:

385576/E 383
Kongsberg K-Pos DPM (OS)

Thruster main view

The thruster main view shows the performance and status of all the thrusters.
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.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.
You can also press the THRUSTER button (THR) on the Operator panel.

384 385576/E
 Display views

You can toggle the amount of information displayed on the view by clicking the Show
detail / Hide detail button.

Allocation mode:
This is the currently-selected thruster allocation mode (see
Thruster Allocation dialog box on page 246).
Priority shows either HDG (heading) or POS (position).
FreeRun shows either ON or OFF.
The Allocation 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.

385576/E 385
Kongsberg K-Pos DPM (OS)

The following information is presented:

• a numerical display of the resulting turning moment and
direction, a curved bar graph represents the value
• individual thrust vectors for each thruster
• a numerical display of the resulting force and direction, all
values are based on feedback signals from the thrusters

The colour of the force vectors change to yellow when the

thrusters pass the limit for percentage of available thrust
(typically 80%). This applies only in some modes (depending
on your system configuration, but usually auto-modes).

The colour of the force vectors change to red when there is a

signal error from one of the thrusters.

386 385576/E
 Display views

When using the thruster force bias function, the thrusters are
colour-coded to identify the thruster bias groups.

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.
The numerical values are all based on feedback signals from
the thrusters.
The Status boxes show the Running, Ready and Enabled status
of each thruster unit.

The colour of the bars and the background colour of the

values change to yellow when the thrusters pass the limit for
percentage of available thrust (typically 80%). This applies
only in some modes (depending on your system configuration,
but usually in auto-modes).

The colour of the bars and the background colour of the values
change to red when there is a signal error from one of the
thrusters.

385576/E 387
Kongsberg K-Pos DPM (OS)

These are numerical and graphical displays of pitch/rpm and

power feedback for the tunnel thruster. The green label indicates
which system has control of the thrusters.

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 green label indicates which system has
control of the thrusters.

The orange text FIX is displayed for thrusters that use fixed
angles. The green label indicates which system has control of
the thrusters.

These are numerical and graphical displays of propeller

pitch/rpm feedback.
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.
The green labels indicate which system has control of the
thrusters.

For all thruster symbols:

• The colour of the bars changes to yellow when the thrusters pass the limit for
percentage of available thrust (typically 80%). This applies only in some modes
(depending on your system configuration, but usually in auto-modes).
• The colour of the bars changes to red when there is a signal error from one of the
propellers/rudders.

388 385576/E
 Display views

Thruster view — tunnel thruster

The Tunnel thruster view shows the operational state of a tunnel thruster.

A trend plot is displayed. You can select the information to be

displayed using the Thruster Sub Plot view control dialog box
(see Thruster Sub Plot view controls on page 390).

These are numerical and graphical displays of thruster pitch/rpm

and power feedback.

385576/E 389
Kongsberg K-Pos DPM (OS)

This shows the thruster status:

Running
The thruster is running.
Ready
The thruster is available for control by the K-Pos DPM system.
Enabled
The thruster is enabled for control by the K-Pos DPM system.
This is the numerical value and a 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 setpoint force is indicated by
an orange line. The bar graph changes colour to red when the
thruster force exceeds the limit value for percentage of available
thrust (typically 80%).
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 centre of the scale).
The arrow changes colour to red to indicate an error.

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.

Thruster Sub Plot view controls

To display the view control dialog box: right-click on the view →View control.
The Thruster Sub Plot view control dialog box is displayed.

Plot
The trend plot to be displayed. The following trend plots are available:
Thr Pitch
Pitch setpoint and feedback for this thruster.

390 385576/E
 Display views

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.
Time span
The time span for the trend plot.
Y axis Range...
Clicking this button displays the Y Axis Range dialog box which allows you to set
the upper and lower limits for the y-axis plot scale manually or to select automatic
scaling.

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits.

385576/E 391
Kongsberg K-Pos DPM (OS)

Thruster view — azimuth thruster

The Azimuth thruster view shows the operational state of an azimuth thruster.

A trend plot is displayed. You can select the information to be

displayed using the Thruster Sub Plot view control dialog box
(see Thruster Sub Plot view controls on page 390).

These are numerical and graphical displays of thruster azimuth

and pitch/rpm feedback.
The shaded arcs indicate the forbidden zones.

392 385576/E
 Display views

This shows the thruster status:

Running
The thruster is running.
Ready
The thruster is available for control by the K-Pos DPM system.
Enabled
The thruster is enabled for control by the K-Pos DPM system.

This is the numerical value and a 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 setpoint force is indicated by
an orange line. The bar graph changes colour to red when the
thruster force exceeds the limit value for percentage of available
thrust (typically 80%).

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 centre of the scale).
The arrow changes colour to red to indicate an error.

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.

Thruster Sub Plot view controls

To display the view control dialog box: right-click on the view →View control.
The Thruster Sub Plot view control dialog box is displayed.

385576/E 393
Kongsberg K-Pos DPM (OS)

Plot
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.
Time span
The time span for the trend plot.
Y axis Range...
Clicking this button displays the Y Axis Range dialog box which allows you to set
the upper and lower limits for the y-axis plot scale manually or to select automatic
scaling.

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits.

394 385576/E
 Display views

Thruster view — propeller/rudder

The Propeller/rudder thruster view shows the operational state of a main propeller and, if
applicable, its associated rudder.

385576/E 395
Kongsberg K-Pos DPM (OS)

A trend plot is shown. You can select the information to be

displayed using the Thruster Sub Plot view control dialog box
(see Thruster Sub Plot view controls on page 390).

Numerical and graphical displays of propeller pitch/rpm

feedback are shown.
Numerical and graphical displays of rudder azimuth feedback
are shown.
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.

This shows the thruster status:

Running
The thruster is running.
Ready
The thruster is available for control by the K-Pos DPM system.
Enabled
The thruster is enabled for control by the K-Pos DPM system.

This is the numerical value and a 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 setpoint force is indicated by
an orange line. The bar graph changes colour to red when the
thruster force exceeds the limit value for percentage of available
thrust (typically 80%).

396 385576/E
 Display 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 centre of the scale).
The arrow changes colour to red to indicate an error.
Note that only rpm and azimuth are configured in this example.

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.

Thruster Sub Plot view controls

To display the view control dialog box: right-click on the view →View control.
The Thruster Sub Plot view control dialog box is displayed.

Plot
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.
Time span
The time span for the trend plot.

385576/E 397
Kongsberg K-Pos DPM (OS)

Y axis Range...
Clicking this button displays the Y Axis Range dialog box which allows you to set
the upper and lower limits for the y-axis plot scale manually or to select automatic
scaling.

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits.

Thruster setpoint feedback view

The Thruster setpoint feedback view shows setpoint and feedback data for all the
thrusters.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

398 385576/E
 Display views

Indicates the colour coding used on bar graphs and numerical

values for Setpoint, Feedback and the Difference between them.

This shows the thruster/propeller/rudder status:

Running
This is displayed only if the running status is available to the
K-Pos DPM system.
Ready
Available for control by the K-Pos DPM system.
Enabled
Enabled for control by the K-Pos DPM system (see Enabling
thrusters on page 243).

385576/E 399
Kongsberg K-Pos DPM (OS)

These are numerical and graphical displays of the thruster

azimuth or rudder angle setpoint and feedback, and the
difference between them (in degrees).

These are numerical displays and bar graphs of

the thruster load 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 displays and bar graphs of

the force setpoint and feedback, and the difference
between them, shown as a percentage of maximum.

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.
Using the Trend Plot view control dialog box (see Trend Plot view control on page 403)
you can select the trend plots to be displayed. Up to three different trend plots can be
displayed simultaneously.
To select the display view: place the cursor in the upper left corner of the working
area so that the drop-down list becomes visible. Click on the arrow and select the view
from the list.

400 385576/E
 Display views

The header indicates the name of the variable type for which
you have selected to display the trend plot (see Trend Plot view
control on page 403 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.

385576/E 401
Kongsberg K-Pos DPM (OS)

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 i 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 Trend Plot view control on page 403).
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 re-sized in several different
ways as follows:
• 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.

402 385576/E
 Display views

Note
This will not re-size the total width of the dialog box itself.

• By placing the cursor on top of a column or column header and then click the right
trackball button. A shortcut menu is then displayed.

Using the commands available on this menu, you can:

• 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 re-sized 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 be re-sized according to the changed column
widths.

Trend Plot view control

To display the view control dialog box: right-click on the view →View control.

385576/E 403
Kongsberg K-Pos DPM (OS)

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.
Time span
The time span for the trend plots.
Range...
Clicking this button displays the Y-Axis Range dialog box which allows you to
select automatic scaling or to manually set the upper and lower limits for the
y-axis plot scale.

Auto
Selecting this option will set the Y-axis range automatically.
Manual
Allows you to set the Upper and Lower scale limits manually.

404 385576/E
 Index

Index
A Tension, 228 Controller mode
anchor positions, 217 High Precision, 72
About (dialog box) Anchors (button), 228–229 Relaxed, 72
Details, 277 Auto Position mode, 181 controller PS
EXE/DLL, 276 from Joystick mode to, 181 resetting, 108
Overview, 276 Green control, 25 selecting master, 112
Acceleration/Deceleration Automatic Thruster Start updating offline, 112
Settings (dialog box), (dialog box), 245 Controls (button), 31
198, 207 AutoPos (menu) coordinate systems, 163
Ack (button), 92 Acceleration, 207 position presentation, 147
Activate (button), 33, 203 axis control, 46 system datum, 164
alarm Axis Control (dialog box), 209 current
acknowledging, 92 direction display, 67
lamps, 93 sensors, 131
silence, 93 B current update, 79
alarm limits basic forces and motions, 18
achor line length, 141 blackout prevention, 268
anchor line tension, 138 D
heading, 69 damping, 46
mooring, 137 C damping of vessel motion, 209
pitch, roll, heave, 71 calibrating dashboard, 41
position, 69 joystick, 83 Date And Time (dialog
VRS, 71 Catenary Profile Plot box), 90
Alarm Limits (dialog box) (dialog box), 325 Datum Details (dialog
Position, 69 Catenary profile view, 323 box), 150
VRS, 71 Catenary Profile view Decrease (button), 33, 203
alarm message, 86 view controls, 325 detailed views
alarm presentation, 39 Change Heading (button), 204 Diesel view, 326
alarm states, 91 Change User (dialog box), 61 LTW view, 332
Alarm View (button), 87 changing user, 61 Mooring consequence
Alarms (button) Clutch Settings (dialog analysis view, 337
Alarm lamp, 93 box), 266 dialog boxes, 50
Fault lamp, 93 combinator control of Diesel view, 326
Power lamp, 93 thrusters, 264 display
Alarms (menu) command colours, 68
Position and Heading, 69 groups, 101 layout, 35, 38, 50
VRS, 71 status, 101 printing a hardcopy, 62
Alloc Setup (button), 246 transfer, 99 selection of display
Allocation Settings (dialog Command Control (dialog palette, 68
box), 249 box), 101 side bar, 50
analysis DP-OS, 102 top bar, 38
consequence Give, 104 working area, 50
DP, 312 Overview, 102 display accuracy
PM, 315 command control indicator sea current speed, 67
Anchor Handling mode, 182 on top bar, 39 vessel speed, 67
axis control, 209 Connect (dialog box), 107 display layout
consequence analysis, 315 consequence analysis alarm presentation, 39
deploying anchors, 185 DP, 312 command control, 39
thruster control, 184 PM, 315 system status, 39
anchor line length running state messages, 313 display presentation
limits, 141 selecting DP class, 313 wind, waves and sea
anchor line tension warning messages, 314 current direction, 67
limits, 138 Control Setup (button), 72 display views, 55
Anchor Lines (dialog box) controller control dialog boxes, 57
Length, 229 gain, 72 Joystick view, 328
Numeric, 227 in operation type PM, 27 Numeric view, 341

385576/E 405
Kongsberg K-Pos DPM (OS)

orientation of the entering numeric values, 51 limits, 69

operator station, 55 environmental operator selected, 206
Posplot view, 344 compensation, 79, 211 rate of turn, 206
mooring pattern Equipment - System Status stopping a change of
display, 350 (dialog box ) heading, 202
riser display, 352 Event Printer, 286 system selected, 205
Power Consumption Net Status, 287 Heading (dialog box)
view, 366 OS/HS, 285 Heading, 204
Power view, 360 PS, 283 Rate Of Turn, 206
preselecting, 58 PS Redundancy, 284 Heading pane, 46
Reference system main equipment status, 282 Heading Setpoint (dialog
view, 367 Event List view, 87 box), 203
Reference system status, 376 Event Printer (dialog box), 94 Heading Wheel, 33, 203
Rotation Centers view, 378 export log files dialog box, 275 heave, 18
selecting, 56 Extreme-Motion Analysis heave limits, 71
Sensors view, 378 Results (dialog box), 240 Help (menu)
Thruster forces view, 382 Extreme-Motion Analysis Messages, 95
Thruster main view, 384 Settings (dialog box), 240 High Precision controller
Thruster setpoint mode, 72
feedback view, 398 hotspot, 55
Thruster views F
Azimuth thruster free run
view, 392 in Auto Track (high I
Propeller/rudder speed) and Autopilot Increase (button), 33, 203
view, 395 modes, 249 information message, 86
Tunnel thruster view, 389 freeze test of position input validation of entered
tooltip, hotspot cursor measurements, 166 values, 54
and change of cursor function keys, 32 IO Manager (dialog box), 291
image, 55 IO Point Browser (dialog
Trends view, 400 box), 303
zooming, 58
G
IO system, 280
ditailed views gain, 72
IO Terminal Block (dialog
Catenary profile view, 323 customised, 74
box), 298
divergence test of position high/medium/low, 73
measurements, 167 Gain (dialog box), 72
DP Class (dialog box), 313 general inforamtion, 55 J
DpPS, 278 Give (button), 99
dpresentation units giving command, 100 joystick, 33
editing, 66 GPS calibrating, 83
draught quality filter, 162 current update, 79
sensors, 130 Green control, 25 electrical failure, 177
Driver Properties (dialog Gyro (button), 116, 118 environmental
box), 306 Gyro Deviation (dialog compensation, 79
dropout box), 120 locking, 211
heading, 119 gyrocompasses, 116 precision, 79
position, 172 deviation calculation, 120 thrust, 79
faulty, 119 Joystick (button), 176
status lamp, 118 Joystick (menu)
E Acceleration, 207
Joystick Calibrate (dialog
EBL (button), 348 H box), 83
EBL (dialog box), 359 hardcopy, 62 joystick control
EBL function, 359 Hardcopy (button), 62 position and heading, 176
electrical failure hardware information, 275 rotation center, 81
joystick, 177 heading Joystick Full Thrust
Electronic Bearing Line, 359 changing using the (button), 80
emergency message, 86 heading wheel, 203 Joystick mode, 175
Enter a New Numeric changing using the with auto heading
Value (dialog box), 53 Posplot view, 202 control, 177

406 385576/E
 Index

with auto position alarm limits, 137 Risers (System), 221

control, 178 sensors, 137
with automatic Mooring (menu)
stabilisation, 179 Anchor Lines, 227 N
Joystick pane, 43 Extreme-Motion numbers
Joystick Settings (dialog Analysis Results, 240 entering, 51
box), 79 Extreme-Motion input validation, 54
Joystick Setup (button), 79 Analysis Settings, Numeric Entry Keypad
Joystick view, 328 240 Dialog Use (dialog box), 52
Line Break, 232 Numeric view, 341
Mooring System, 215
K PM Consequence
keypad, 32 Analysis Results, 322
O
PM Consequence offline controller PS
Analysis Settings, updating, 112
L 316 Offshore Loading mode
lamps PM Quick Set-up, 213 axis control, 209
dimming, 63 Sensors and Alarms, Online Consequence
test, 64 137, 140 Analysis (dialog box)
Light Taut Wire Plot Tension Optimisation Position Limits, 319
(dialog box), 336 Results, 238 Reaction after linebreak, 318
limits Tension Optimisation Tension Limits, 320
anchor line length, 141 Settings, 234 operator panel, 30
anchor line tension, 138 Mooring Consequence operator station, 29
heading, 69 Analysis Results (dialog software restart, 98
pitch, roll, heave, 71 box), 322 software stop, 98
position, 69 Mooring Consequence operator stations, 279
VRS, 71 Analysis Settings (dialog
line characteristic, 22 box)
line segment data, 218 P
Failures, 317
Line-Break (dialog box), 232 Mooring consequence panel, 30
Local N/E Properties analysis view, 337 Panel Lamp Test (dialog
(dialog box), 151 mooring forces, 22 box), 64
logging, 275 mooring model Panel Light Configuration
LTW view, 332 automatic update, 225 (dialog box), 63
view controls, 336 manual update, 223 panning function (center
Mooring Sensors and here), 359
Alarms (dialog box) pitch, 18
M pitch limits, 71
Length Sensors, 140
master controller PS Tension Sensors, 137 pitch, roll, heave
selecting, 112 Turret Sensor, 142 limits, 71
median test of position mooring system PM Cnsq view
measurements, 168 defining, 215 view controls, 339
messages fairlead positions, 222 PM Consequence Plot
acknowledging, 92 line segment data, 218 (dialog box)
explanations, 95 mooring pattern, 216 Grid, 340
presentation, 87 risers (single), 219 Mode, 339
printed, 94 risers (system), 221 Range, 341
minimum power heading, 204 quick set-up, 213 position
mixed joystick/auto modes, 177 updating the mooring changing using absolute
modes model, 225 coordinates, 196
Anchor Handling, 182 manual, 223 changing using
Auto Position, 181 Mooring System (dialog increments, 193–194
button group, 31 box), 215 changing using
Joystick, 175 Fairleads, 222 range/bearing, 192,
mixed joystick/auto, 177 Line Segments, 218 195
Position Mooring, 187 Pattern, 216 changing using the
Standby, 174 Risers (Single), 219 Posplot view, 191
mooring dropout, 172

385576/E 407
Kongsberg K-Pos DPM (OS)

limits, 69 riser display, 352 Reference System (dialog

speed setpoint, 196 view controls, 355 box)
stopping a change of power Enable, 157
position, 190 monitoring, 268 Reference system main
Position (dialog box) Power Consumption view, 366 view, 367
Abs, 196 Power Optimal Allocation view controls, 373
Inc, 194 (dialog box), 252 Reference System
R/B, 195 Power Plot (dialog box), 365 Properties (dialog box), 160
Speed, 196 Power view, 360 Quality Filter Actions, 162
Position deviation pane, 44 view controls, 365 Reference System Settings
Position Inc (dialog box), 193 prediction test of position (dialog box), 154
Position Mooring mode, 187 measurements, 167 Reference system status
axis control, 209 Preselect (dialog box), 58 view, 376
consequence analysis, 315 Preselect button names Refsys (dialog box)
restoring after (dialog box), 58 Grid, 374
shut-down, 211 Present Heading (button), 202 Mode, 373
Position Presentation presentation Range, 375
(dialog box), 147 resetting, 68 Relaxed controller mode, 72
Position R/B (dialog box), 192 Presentation Units Remote Support, 271
position-reference systems selecting the set of Reset Controller PS (dialog
changing relative presentation units, 65 box), 108
weight, 158 Presentation Units (dialog resetting presentation, 68
changing test limits, 159 box), 65 riser forces, 186
changing the reference Print (dialog box), 288 riser systems, 221
origin, 172 Print Status (dialog box), 273 single risers, 219
controlling, 153 printing roll, 18
coordinate systems, 163 display picture, 62 roll limits, 71
divergence test, 167 System report, 63 rotation center
enabling, 157 process stations, 279 automatic heading
enabling other, 171 resetting, 108 control, 76
enabling the first, 170 propeller bias, 211 joystick heading control, 81
freeze test, 166 PUIF Network message Rotation Center (dialog
median test, 168 monitoring (dialog box), 93 box), 76
monitoring, 157 automatic control, 76
prediction test, 167 Rotation Centers view, 378
properties, 160 Q rotation speed, 206
reference origin, 164, 170 Quick Model (dialog box), 75
relative weighting of, 166 quick model update, 75
standard deviation, 165 S
Quick Set-up (dialog box), 213
tests on, 165 satellite navigation
variance test, 166 quality filter, 162
Positioning (menu) R Save Settings (dialog box),
Heading, 204 144, 214, 224, 321
Position, 193 rate of turn
acceleration/deceleration sea current speed
Position Inc, 193 display accuracy, 67
Position R/B, 192 factor, 207
sensors, 136 sensors
Posplot (dialog box) gyro deviation, 120
Grid, 356 setpoint, 206
RBUS IO Image, 294 gyrocompass, 116
Motion, 355 mooring, 137
Range, 357 Read Settings (dialog box),
144, 214, 225, 321 VRS, 125
Show, 355 wind, 121
Trace, 357 redundancy, 279
dual-redundant systems, 110 manually enter values, 123
Posplot view, 344, 350, Sensors — Wind (dialog
352, 355 triple-redundant
systems, 111 box), 121
changing heading, 202 Sensors (button), 32
changing position, 191 Redundant Stations (dialog
box), 112 Sensors (dialog box)
EBL function, 359 Current, 131
mooring pattern display, 350 reference origin, 164
changing, 172 Depth, 134

408 385576/E
 Index

Draught, 130 stopping a change of Thruster Combinator

Gyro, 116 heading, 202 Control Settings (dialog
Rate Of Turn, 136 stopping a change of box), 264
Speed, 127 position, 190 Thruster Enable (dialog
Wave, 132 surge, 18 box), 244
Sensors (menu) Surge (button), 31, 177 Thruster forces view, 382
Current, 131 sway, 18 Thruster main view, 384
Depth, 134 Sway (button), 31, 177 Thruster Run-in (dialog
Draught, 130 System (menu) box), 265
Gyro, 116 About, 275 Thruster setpoint feedback
Gyro Deviation, 120 Connect, 107 view, 398
Rate Of Turn, 136 Equipment, 282 Thruster Sub Plot (dialog
Reference System, 157 Event Printer, 94 box), 390, 394, 397
Reference System Print Status, 273 Thruster views
Properties, 160 Redundant Stations, 112 Azimuth thruster view, 392
Reference System Reset Controller PS, 108 Propeller/rudder view, 395
Settings, 154 Screen Capture Printer, 62 Tunnel thruster view, 389
Speed, 127 Set Date/Time, 68 view controls, 390, 393, 397
VRS, 125 Stop/Restart, 98 thrusters
Wave, 132 system architecture, 278 allocation, 28
Wind, 121 system messages allocation modes, 246
Sensors view, 378 acknowledging, 92 diving, 248
serial lines messages on the printer, 94 environ fix, 248
resetting, 309 presentation, 87 fix, 248
Set System Date/Time System report, 63 heave red, 248
(dialog box), 68 system start-up, 98 variable, 247
Settings (menu) system status, 39, 273 automatic start, 245
Axis Control, 209 biasing, 253
Dp Class, 313 angle factor, 261
Gain, 72 T inwards, 262
Joystick, 79 Take (button), 99 turn factor, 260
Quick Model, 75 taking command, 100 clutch settings, 266
Rate of Turn, 206 Tension Optimisation combinator control, 264
Rotation Center, 76 Result (dialog box), 238 control modes, 246
Speed, 197 Tension Optimisation enabling, 243
showing the tooltip, 55 Settings (dialog box) force bias, 253
side bar, 50 Move-up Constraints, 236 manual fix angles, 249
signal conditioning, 301 Tension Optimisation, 234 rudder limits, 249
Silence (button), 32, 64, 93 thrust run-in, 265
slow-drift test, 167 joystick, 79 Thrusters (button), 32
software information, 275 Thruster (menu) views, 384
speed Allocation Mode, 246 Tools (menu)
acceleration/deceleration Allocation Settings, 249 Calibrate, 83
factor, 198 Automatic Start, 245 Numeric Entry Dialog, 52
display accuracy, 67 Biasing, 253 Remote support, 271
sensors, 127 Clutch Settings, 266 System report, 63
setpoint Combinator Control tooltip, 55
changing, 196–197 Settings, 264 top bar, 38
Speed Setpoint (dialog Enable, 244 alarm presentation, 39
box), 197 Power Optimal command control, 39
standard deviation of Allocation, 252 system status, 39
position measurements, 165 Run-in, 265 trackball, 33
Standby (button), 175 Thruster Allocation (dialog Trend Numeric: (dialog
Standby mode, 174 box), 246 box), 402
startup procedure, 98 Thruster Biasing (dialog) Trend Plot (dialog box), 403
Status (button), 101 automatic bias, 255 Trends view, 400
status page, printing, 273 enter bias manually, 254 view controls, 403
Stop/Restart (dialog box), 98

385576/E 409
Kongsberg K-Pos DPM (OS)

U Yaw (button), 31, 177

UTM Properties (dialog
box), 152

V
variance test of position
measurements, 166
vertical reference sensor, 125
vessel speed
display accuracy, 67
Vessel speed pane, 41
View (menu)
Position Presentation, 147
Preselect, 58
Presentation Units, 65
Use Preselected, 58
Views (button), 31
VRS, 125
faulty, 127
status lamp, 126
VRS (button), 126

W
warning limits
anchor line length, 141
anchor line tension, 138
heading, 69
pitch, roll, heave, 71
position, 69
VRS, 71
warning message, 86
explanations, 95
water depth
sensors, 134
wave
direction display, 67
sensors, 132
wind
direction display, 67
sensors, 121
faulty, 123
manually enter values, 123
status lamp, 123
Wind (button), 123
wind sensors
operating without, 125
WinPS, 280
working area, 50

Y
Y-Axis Range (dialog box)
Power Plot, 365, 373, 404
Thruster Sub Plot, 391,
394, 398
yaw, 18

410 385576/E
Kongsberg K-Pos DPM (OS)

411 385576/E
©2015 Kongsberg Maritime