Raymarine p70 User Reference page 35

Example 1 shows the course correction which will be a turn away
from the actual waypoint in order to reacquire the track line.
Item
1.
2.
3.
Note: The cross track error alarm will continue to display and
sound until it is reduced to less than 0.3Nm.
Caution: Cross track error correction
When returning to TRACK mode the autopilot will
correct the XTE in order to keep to the defined track
leg. The direction of turn may not coincide with the
bearing to waypoint and may be different from that
expected.
Waypoint arrival
As the boat arrives at the target waypoint the chartplotter will select
the next target waypoint and transmit this to the SmartPilot. It
will then detect the new target waypoint name, sound a Waypoint
Advance warning and display the Waypoint Advance popup. This
shows the new bearing to the next waypoint and the direction the
boat will turn to acquire the new track.
Waypoint arrival circle
The NEXT WPT screen and acknowledgement occur within a circle
around the actual waypoint (and hence a distance from the next
track leg). If you have manually changed the default waypoint arrival
circle value to 0.3 nm or greater this can result in a cross track error
alarm and associated course correction.
Pilot modes
Description
Cross track error
Target waypoint
Track line
Waypoint arrival circle
Example: Cross track error (XTE) due to waypoint arrival circle
1
2
Item
1.
2.
3.
4.
5.
3
5
4
D12114-1
Description
Next waypoint
Bearing to next waypoint
Track line
Cross track error
Waypoint advance circle
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