NAVIS NavDP 4000 Series User manual

000.JDP-10000-OME
NAVIS NavDP 4000
Dynamic Positioning & Independent Joystick Control System
Operation Manual
Software version 3.3.13 (“2102.$–17A-Advanced”)
Document build 9203
May 2018

NAVIS NavDP 4000. Operation Manual
Document History
Revision Date Modification Made by
2.17 2000-2007 JL, AA, LK, AV
3.2 2008-2009 292.$–Bus5 software version VA, SR, AA
3.3.2 2009-2010 450.$–MultiTarget EA, YK, OS
3.3.4 2009-2011 570.$–Summer09 Style refactoring, new software fea-
tures
EA, YK, OS
3.3.5 2010-2011 680.$–May10 software features EA
3.3.6 2012 900.$–Release-12A software features EA, TM, DL
3.3.7 2012-2013 1024.$–Release-12B software features EA, TM, OK
3.3.8 2013 1200.$–Release-13A software features EA, TM, OK
3.3.9 2014 1400.$–Release-14A software features EA, TM, OK
3.3.10 2015 1600.$–Release-15A software features EA, OK, AL
3.3.11 2016 1828.$–Release-16A software features EA, AL, LP, VS
3.3.12 2017 2100.$–Release-17A software features:
Capability analysis refactoring, Drift analysis, DP Class 2
monitor, Time auto synchronization
EA, AL, LP, VS, MK
THE INFORMATION CONTAINED HEREIN IS THE PROPRIETARY OF NAVIS ENGINEERING OY AND SHALL
NOT BE DUPLICATED, USED, OR DISCLOSED IN WHOLE OR IN PART FOR ANY FUNCTIONAL OTHER
THAN TO EVALUATE THIS MANUAL
Designed by:
Navis Group
Navis Engineering OY (Head office)
Address: Tuupakantie 3 A 01740 VANTAA, FINLAND
Tel: [phone]
Fax: [phone]
Web: http://www.navisincontrol.com/
E-mail: [email protected]
1Doc. 000.JDP-10000-OME, rev.3.3.13/“2102.$–17A-Advanced”

CONTENTS
Contents
Abbreviations 9
1 System Principles and Functionality 10
1.1 Introduction.................................................. 10
1.2 SystemPrinciples............................................... 10
1.2.1 VesselModel............................................. 12
1.2.2 WindModel ............................................. 12
1.2.3 ThrusterModel............................................ 12
1.2.4 VesselModelUpdate......................................... 13
1.2.5 OperatorCommands ......................................... 13
1.2.6 SetPointAlgorithm ......................................... 13
1.2.7 OptimalController.......................................... 13
1.2.8 Sensors and Position References Systems Data Processing . . . . . . . . . . . . . . . . . . . . . 13
1.3 BasicsofSystemOperation.......................................... 14
2 System Hardware Configuration 15
2.1 Operational Modes and Mode Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1.1 Bridge(orManual)Mode ...................................... 22
2.1.2 DPMode(DPControlSystem) ................................... 22
2.1.3 IJmode(IJControlSystem) ..................................... 22
2.1.4 Autopilotmode............................................ 22
2.1.5 Mode Selectors for NAVIS NavDP 4011 or NAVIS NavDP 4022 ................. 22
2.2 OperatorStations ............................................... 23
2.3 Main and Portable Control Panels (MCP, PCP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.4 Control Panel MCP4000 with LCD Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.4.1 POWER................................................ 25
2.4.2 OPERATION............................................. 26
2.4.3 CommunicationIcon......................................... 26
2.4.4 BATTERY .............................................. 26
2.4.5 TAKE/GIVE ............................................. 26
2.4.6 DIM+,DIM- ............................................ 27
2.4.7 HDG ................................................. 27
2.4.8 POS.................................................. 27
2.4.9 TheControlElementsGroup..................................... 28
2.4.10 HOLD ................................................ 29
2.4.11 ArrowButtons ............................................ 29
2.4.12 RotaryKnob ............................................. 29
2.4.13 ALARMACK ............................................ 30
2.4.14 ENTER................................................ 30
2.4.15 CANCEL............................................... 30
2.4.16 VIEW................................................. 31
2.4.17 MODE ................................................ 31
2.4.18 ALARMLIST ............................................ 32
2.5 ControlPanelMCP4000-3 .......................................... 32
2.5.1 Power................................................. 33
2.5.2 OPERATION............................................. 33
2.5.3 TAKE/GIVE ............................................. 33
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NAVIS NavDP 4000. Operation Manual
2.5.4 Communication............................................ 34
2.5.5 AlarmAck .............................................. 34
2.5.6 Enter ................................................. 34
2.5.7 Rotary Knob (Setting Heading) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.5.8 Test.................................................. 34
2.5.9 ArrowButtons ............................................ 35
2.5.10 HDG ................................................. 35
2.5.11 POS.................................................. 36
2.5.12 HOLD ................................................ 37
2.6 ControlPanelMCP2000 ........................................... 37
2.6.1 Power................................................. 37
2.6.2 SystemActive ............................................ 37
2.6.3 TakeControl ............................................. 39
2.6.4 SerialLinkIndicator ......................................... 39
2.6.5 BatteryIndicator ........................................... 39
2.6.6 Knob Match and Joystick Match . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.6.7 Volume ................................................ 40
2.6.8 AlarmAck .............................................. 40
2.6.9 Enter ................................................. 40
2.6.10 Rotaryknob(Heading)........................................ 40
2.6.11 Joystick(Position) .......................................... 40
2.6.12 Test.................................................. 40
2.6.13 HoldHDG .............................................. 41
2.6.14 HoldPOS............................................... 41
2.6.15 Silence ................................................ 41
2.7 ControlPanelMCP-B............................................. 41
2.7.1 Power................................................. 42
2.7.2 CommunicationIcon......................................... 42
2.7.3 RotaryKnob ............................................. 42
2.7.4 InControl............................................... 42
2.7.5 DIMMode .............................................. 42
2.7.6 CANCEL............................................... 43
2.7.7 AlarmACK.............................................. 43
2.7.8 AutoHDG............................................... 43
2.7.9 AutoPOS ............................................... 43
2.8 JoystickandRotaryKnob........................................... 45
2.9 Printers .................................................... 47
2.9.1 AlarmPrinter............................................. 47
2.9.2 NetworkAlarmPrinter........................................ 48
2.9.3 ColorPrinter ............................................. 49
3 Switching On/Off and Troubleshooting 50
3.1 PowerOn ................................................... 50
3.1.1 PowerOn—DP-0ClassSystem................................... 50
3.1.2 PowerOn—DP1ClassSystem ................................... 50
3.1.3 PowerOn—DP2ClassSystem ................................... 50
3.2 StarterMenu ................................................. 51
3.3 SaveaScreenshotasaFile .......................................... 55
3.4 TakingControl ................................................ 55
3.4.1 Master/SlaveStations......................................... 55
3.5 FailureModes................................................. 55
3.5.1 ForDP1ClassSystems........................................ 55
3.5.2 ForDP2ClassSystems........................................ 55
3.5.3 Multi-WSsystem........................................... 55
3.6 SwitchingOff................................................. 55
3.6.1 Basicway............................................... 56
3.6.2 SupplementaryWay ......................................... 56
3.6.3 Emergencymethod.......................................... 56
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CONTENTS
4 System Messages and Alarms 57
4.1 AlarmMessageTypesandPriority...................................... 57
4.2 AudibleandVoicealarms........................................... 57
4.3 Alarm/MessageLine ............................................. 57
4.4 ACKSoftkey ................................................. 58
4.5 SilenceSoftkey ................................................ 58
4.6 AlarmWindow ................................................ 58
4.7 AlarmMonitorWindow ........................................... 60
4.8 MessageMarkers ............................................... 60
4.9 MessageStatuses ............................................... 61
4.10AlarmMessagesPrinting........................................... 61
5 Operator Interface 63
5.1 OperatorScreenLayout............................................ 63
5.1.1 StatusLine .............................................. 66
5.1.2 Alarm/MessageLine......................................... 66
5.1.3 Mode/FunctionPanel......................................... 66
5.2 DPWindows(Views)............................................. 67
5.2.1 QuickSwitcherPanel......................................... 67
5.3 HelpWindow ................................................. 69
5.4 Position and Heading Display (Map View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
5.4.1 Vesselheadingdisplaying ...................................... 70
5.4.2 Vesselpositiondisplaying ...................................... 72
5.4.3 MapView............................................... 73
5.4.4 ViewControls ............................................ 73
5.5 EnterPositionSetpoint ............................................ 76
5.5.1 Position new setpoint indication on Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.6 EnterHeadingSetpoint............................................ 79
5.6.1 Presetheadinginput ......................................... 79
5.6.2 Offsetheadinginput ......................................... 80
5.6.3 Heading new setpoint indication on Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.7 EnterCrabAngle ............................................... 81
5.8 TrendViewWindow ............................................. 81
5.8.1 TrendViewSettings ......................................... 82
5.9 SystemParameters .............................................. 85
5.9.1 ParameterPages ........................................... 85
5.9.2 Graphic Display Customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.9.3 EnteringParameterValues ...................................... 88
5.10Syncronized/IndependentMode ....................................... 88
5.11TimeAutoSynchronizationMode ...................................... 90
5.12 Control Panel MCP4000 with 6” Color LCD, the LCD GUI . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.12.1 MainView .............................................. 90
5.12.2 ParametersView ........................................... 94
5.12.3 RightPanel.............................................. 94
5.12.4 LeftPanel............................................... 96
5.12.5 StatusBar............................................... 98
5.12.6 ConfigurationMenu ......................................... 99
5.12.7 ModesandFunctions......................................... 100
5.12.8 Values Setting in the AutoPos and HDG Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
5.12.9 CPOrientation ............................................ 100
6 Thrusters 101
6.1 ThrusterWindows............................................... 101
6.1.1 ThrusterSoftkeys........................................... 101
6.1.2 Thrust Ability Diagram (Auto Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.1.3 Thrusters State Table (Manual Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.1.4 Manual Thruster Controls (Manual Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . 106
6.1.5 Thruster View (Auto Thruster Window) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
6.2 ThrusterOperation .............................................. 111
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6.2.1 Thrusterstatus ............................................ 111
6.2.2 ThrustDemand............................................ 111
6.2.3 ThrusterControl ........................................... 112
6.2.4 Interface with the Thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
6.3 ThrusterAllocationFunction......................................... 115
6.3.1 TALModes.............................................. 116
6.4 Power Monitoring and Blackout Prevention . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
6.4.1 PowerMonitoring .......................................... 118
6.4.2 Generator/Engine Overload Protection and Blackout Prevention . . . . . . . . . . . . . . . . . . 119
6.4.3 PowerAlarms............................................. 119
6.4.4 PowerView.............................................. 119
6.4.5 Indication of Blackout Prevention Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
6.4.6 Powertrendview........................................... 125
6.4.7 Failuremodes............................................. 125
7 Sensors 126
7.1 SensorsDataProcessing ........................................... 126
7.1.1 SensorsPriority............................................ 126
7.1.2 Sensors Fault Detection and Redundancy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
7.1.3 DataProcessingResults ....................................... 126
7.2 SensorInterfaceandOperations ....................................... 126
7.2.1 NavigationBar ............................................ 127
7.2.2 Parametersprotection......................................... 127
7.2.3 Sensor Softkey and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
7.2.4 SensorSoftkey ............................................ 128
7.2.5 DataFilterIndicator ......................................... 129
7.2.6 DataIndicator............................................. 129
7.2.7 PrefferedSensorIndicator ...................................... 129
7.2.8 Sensors Raw and Used Data Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
7.2.9 DataProcessingResults ....................................... 130
7.2.10 PrioritySetting ............................................ 130
7.3 SensorsDetails ................................................ 130
7.3.1 GyroSensorDetails ......................................... 131
7.3.2 WindSensorDetails ......................................... 133
7.3.3 Vertical Reference Sensor (VRS) Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
7.3.4 LOGDetails ............................................. 134
7.3.5 DraftDetails ............................................. 135
7.3.6 TensionDetails............................................ 137
8 Position References 139
8.1 CoordinateSystems.............................................. 139
8.1.1 TargetOffset ............................................. 140
8.2 NoiseestimationandWeights......................................... 143
8.3 Biasing .................................................... 143
8.4 OriginRef-system............................................... 143
8.5 Absolute and Relative ref-systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.6 Position Reference Systems Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.7 Position Reference Failure Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.8 Ref-system Interface and Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.8.1 General................................................ 144
8.8.2 Ref-system Softkey and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.8.3 Selecting Origin Ref-system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.8.4 Detailed Information for Ref-system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.8.5 Detailed Information for DGPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.8.6 Parametersprotection......................................... 152
8.8.7 Detailed Information for Hydroacoustic System . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.8.8 Detailed Information for Laser Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.8.9 Detailed Information for Taut Wire System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
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CONTENTS
9 Control Modes 160
9.1 General .................................................... 160
9.2 HeadingControlModes............................................ 161
9.2.1 Manual Heading (“Knob” mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.2.2 ROTHeadingMode ......................................... 161
9.2.3 AutoHeading............................................. 162
9.2.4 RelativeBearingtoTarget ...................................... 163
9.2.5 HighSpeedTracking......................................... 163
9.2.6 HeadingbyLowSpeedTrack .................................... 164
9.3 PositionControlModes............................................ 165
9.3.1 ManualPosition ........................................... 165
9.3.2 AutoPosition............................................. 166
9.3.3 ManualSurge............................................. 166
9.3.4 ManualSway............................................. 167
9.3.5 SpeedVectorControl......................................... 168
9.3.6 PositionbyTargetControl ...................................... 169
9.3.7 Position mode: LS Track Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
10 System Functions 171
10.1 Remote Center of Rotation (Pivot Point) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
10.2AutomaticWindCompensation........................................ 173
10.3Minimalpowerheading............................................ 176
10.4HoldArea................................................... 178
10.5TargetFollowing ............................................... 180
10.6Tracking.................................................... 189
10.6.1 TrackControlActivation....................................... 189
10.6.2 TrackFollowingStrategy....................................... 189
10.6.3 TrackWindow ............................................ 190
10.7AutopilotFunction .............................................. 201
10.7.1 Dodgemode ............................................. 203
10.7.2 Automatic Speed Control function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
10.7.3 Manualposition ........................................... 204
10.7.4 Steering System Monitoring Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
10.7.5 HeadingMonitorfunction ...................................... 206
10.8CapabilityAnalysis.............................................. 207
10.9DriftAnalysis................................................. 218
10.10ConsequenceAnalysis ............................................ 227
10.11CPUTemperatureMonitoring ........................................ 231
10.12System Diagnostics Function. System Monitor Window . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
10.12.1 Component State Indication on the Mimic Diagram . . . . . . . . . . . . . . . . . . . . . . . . . 235
10.12.2ComponentStateTables ....................................... 236
10.12.3 On-line Diagnostics (Option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
10.13StatusPagePrinting(Option)......................................... 239
10.14DPFootprintPlot(Option) .......................................... 242
11 Simulator 245
11.1Built-inTrainerFunction ........................................... 245
11.2SimulatorSettings............................................... 245
11.3Operation ................................................... 246
Index 247
A Synchronized/Independent Modes for DP-2 Systems (Visual) 250
B Alarm Messages List 251
C Parameter Description 263
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NAVIS NavDP 4000. Operation Manual
D Sensors and Ref-Systems Raw Data 277
D.1 SensorsRawData............................................... 277
D.2 Ref-SystemsRawData ............................................ 284
D.3 VDRDataStandard.............................................. 291
E Routes transferring and uploading 300
E.1 RTEMessages:Routes ............................................ 300
E.2 WPLMessage:WaypointLocation...................................... 300
F Route Format 301
G DPShell Service Utility 302
G.1 Standard Configuration (with a Touchscreen Display) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
G.1.1 Entering the Service Menu on DP/IJ Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
G.1.2 Leaving the Service Menu on DP/IJ Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
G.1.3 CreatingFeedbackPackage ..................................... 304
G.1.4 Copying Feedback Package to USB Flash Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
G.1.5 Sending Feedback Package to Navis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
G.1.6 DeletingFeedbackPackages..................................... 306
G.1.7 DP/IJSoftwareUpdate........................................ 306
G.1.8 Installing Update Package on Control Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 307
G.1.9 Obtaining NAVIS NavDP 4000 Active Version Information . . . . . . . . . . . . . . . . . . . . 308
G.1.10 Switching the Active Version of NAVIS NavDP 4000 on Control Computer . . . . . . . . . . . . 308
G.1.11ConfigurationMenu ......................................... 308
G.2 MonitorlessConfiguration .......................................... 310
G.2.1 DPShell First Start on the Control Panel of DP/IJ Station . . . . . . . . . . . . . . . . . . . . . . 310
G.2.2 Routine Entering the Service Menu on the Control Panel of DP/IJ Station . . . . . . . . . . . . . 311
G.2.3 Leaving the Service Menu on DP/IJ Control Station . . . . . . . . . . . . . . . . . . . . . . . . . 312
G.2.4 CreatingFeedbackPackage ..................................... 313
G.2.5 Copying Feedback Package to USB Flash Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
G.2.6 Sending Feedback Package to Navis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314
G.2.7 DeletingFeedbackPackages..................................... 314
G.2.8 DP/IJSoftwareUpdate........................................ 315
G.2.9 Installing Update Package on Control Computer . . . . . . . . . . . . . . . . . . . . . . . . . . 315
G.2.10 Obtaining NAVIS NavDP 4000 Active Version Information . . . . . . . . . . . . . . . . . . . . 316
G.2.11 Switching the Active Version of NAVIS NavDP 4000 on Control Computer . . . . . . . . . . . . 316
G.2.12ConfigurationMenu ......................................... 317
H Data Logging 319
H.1 General .................................................... 319
H.1.1 LocalDataLogging ......................................... 319
H.1.2 Advanced Network Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
H.2 Logging Settings on DP/IJ Stations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
H.2.1 LoggingArea............................................. 320
H.2.2 CurrentLogArea........................................... 324
H.2.3 The Overload Protection in the “Continuous” Mode . . . . . . . . . . . . . . . . . . . . . . . . . 327
H.2.4 DiskSpaceControl.......................................... 327
H.2.5 Screenshot .............................................. 327
H.3 DataLoggerConsole ............................................. 327
H.3.1 DLConsoleWindowAreas ..................................... 327
H.3.2 Softkeys................................................ 328
H.3.3 Data Export (“Records...” Softkey) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
H.4 DataLoggerAnalyzer............................................. 332
H.4.1 DLAMainWindow ......................................... 332
H.4.2 MainWindowSoftkeys........................................ 332
H.4.3 OperationwithCharts ........................................ 335
H.4.4 OperationwithTables ........................................ 336
H.4.5 Addition of Tables and Custom Charts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
H.5 LoggingtoExternalVDR........................................... 339
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CONTENTS
I Services 341
I.1 SignalMonitorUtitity............................................. 341
I.2 PLCFaultsUtitity............................................... 341
I.3 AlarmViewer................................................. 341
I.4 COMPortsMonitorUtitity.......................................... 341
I.5 TouchScreenCalibration........................................... 342
J Error Codes 343
J.1 General .................................................... 343
J.2 CCErrorcodes ................................................ 343
J.3 PLCErrorcodes ............................................... 343
J.4 Examples ................................................... 344
K The Trend View Diagrams List 345
K.1 DataClasses.................................................. 345
K.2 DataGroupsandItems ............................................ 345
K.2.1 Power................................................. 345
K.2.2 Thruster Commands and Feedbacks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
K.2.3 Forces................................................. 345
K.2.4 SensorsData ............................................. 346
K.2.5 REFSystemsData .......................................... 346
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NAVIS NavDP 4000. Operation Manual
Abbreviations
ACK Acknowledge
AP Autopilot
AWC Automatic Wind Compensation
BOD Bearing Origin Destination
BTW Bearing To Waypoint
CB Communication Box
COG Course Over Ground
COR Center of Rotation
CP Control Panel
CPP Controllable Pitch Propeller
CPU Central Processing Unit
DGPS Differential Global Positioning System
DP Dynamic Positioning
DTW Distance To Waypoint
EBL Electronic Bearing Line
ECDIS Electronic Chart Display and Information System
FAA Federal Aviation Administration
FPP Fixed Pitch Propeller
GPS Global Positioning System
GUI Graphic User Interface
HDG Heading
HDOP Horizontal Dilution Of Precision
HM Heading Monitor
HPR Hydroacoustic Position Reference
HS Track High Speed Track
HSC Heading Control System
I/O Input/Output
IJ Independent Joystick
JB Junction Box
JDP Joystick/Dynamic Positioning
LCD Liquid Crystal Display
LED Light-emitting Diode
LS Track Low Speed Track
MAN Manual
MCP Main Control Panel
NWU Network Unit
PCB Printed Circuit Board
PCP Portable Control Panel
PLC Programmable Logic Controller
PMF Power Monitoring Function
PMS Power Monitoring System
PRS Position Reference System
PSU Power Switch Unit
PWR-DU Power Distribution Unit
RMS Root Mean Square
ROV Remotely Operated Vehicle
RPM Revolutions Per Minute
SI-DU Serial Interface Distribution Unit
SOG Speed Over Ground
SP-U Surge Protection Unit
STBD Starboard
TAL Thrust Allocation Logic
UPS Uninterruptible Power Supply Unit
VDR Voyage Data Recorder
VRS Vertical Reference Sensor
WP Waypoint
XTE X-Track Error
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