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Robertson AP9 MK3 Autopilot
Priority mode (APB sentence)
NAVIGATING
05 XTE = R0.021N
WAYPOINT 1
L LEFT
R RIGHT
XTE= R0.02NM
RESET
The waypoint arrival warning will depend on the arrival zone setting on the
Note !
navigational receiver.
The AP9 MK3 uses bearing waypoint – waypoint as the initial
heading reference. The XTE is used to update this heading reference
in order to minimise the XTE.
When arrival circle for the next waypoint is reached, the ACCEPT
CHANGE alarm will start.
If the turn is accepted by ALARM RESET, then the vessel is turned
towards the bearing for the next waypoint. The internally values on
RADIUS/RATE OF TURN is used for turning. When the vessel is
within 35° of the bearing waypoint- waypoint, the internally nav.
mode will change from CTS to XTE and the XTE is used to control the
vessel along next leg.
If the turn is not accepted by ALARM RESET, the alarm is
continuously on and the vessel proceeds on present course.
2-18
INFO DISPLAY
BEARING LINE
05°
ACCEPT CHANGE
Y:RESET N:AUTO
INFO DISPLAY
WAYPOINT 2
NAV.RECEIVER
WAYPOINT 3
NAVIGATING
00 ON TRACK
INFO DISPLAY
ALARM
20169223D
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