SH-420-001 Dynamic Positioning Sys

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DYNAMIC POSITIONING SYSTEM (DPS)

TA-420-01

VT HALTER MARINE INC.

5801 Elder Ferry Road

Moss Point, MS 39563

FRV 40 CLASS

CONTRACT # 50-SPNA-1-00031

HULL # 1957 JOB # M284

PREPARED BY: IRA JUDGE APPROVED BY: DAVID TERRY

BY DIRECTION PROGRAM MANAGER

TEST & TRIALS VT HALTER MARINE INC

TEST CONDUCTED BY: VT HMI REP TEST COMPLETED BY: GOV'T. REP

DATE DATE

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REVISION RECORD

REVISION

DESCRIPTION

APPROVAL

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B

C

REVISED COVER PAGE

MARCH 31, 2005

REVISED COVER PAGE AND REVISION RECORD

NICK SWAFFORD

03/08/07

REVISED COVER PAGE AND REVISION RECORD

NICK SWAFFORD

02/21/08

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CONTENTS

1 INTRODUCTION

SYSTEM COMPONENTS

SYSTEM ARCHITECTURE

2 IVCS 2000 DOCKSIDE TESTS

ACTUATOR INTERFACE TESTS

BEIER IVCS 2000 DP Mode Actuator “Motor Running” Signals Actuator “Ready” Signals Actuator Commands and Feedbacks

CONTROL TRANSFER TESTS

Control Transfer between Operator Stations Control Transfer between Main and Portable Control Panels of the Operator Stations Control Transfer between Operator Station and Joystick Control Station (Backup System)

POWER SUPPLY TEST

DOCKSIDE TESTS ACCEPTANCE AND APPROVAL

3 BEIER IVCS 2000 MANUAL JOYSTICK CONTROL SEA TRIALS

SENSOR INTERFACE TESTS

Gyro Compass

Compass Heading Transmission Heading Transmission Alarm

Wind Sensor Wind Sensor Alignment Wind Speed Comparison Wind Sensor Alarms

Vertical Reference Sensor (VRS) Orthogonal Mount Zero Pitch / Roll Alignment Pitch and Roll Polarities VRS Alarms

Differential Global Positioning System (DGPS)

DGPS

GPS / DGPS Modes DGPS Alarms

Hydro Acoustic Sensor Hydro Acoustic Data Input Hydro Acoustic Data Input Loss

MANUAL CONTROLS

Joystick Control Levers Heading Control Knobs Maximum Heading Moment Surge Force Sway Force Hold Heading Control Panel Pushbutton Hold Position Control Panel Pushbutton Alarm Acknowledge Control Panel Pushbutton

FUNCTIONS

Hold Heading Heading Setpoint Deviation Alarm Rate of Turn Adjustment Automatic Wind Compensation (AWC)

Performance without AWC

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Performance with AWC

BASIC SEA TRIALS ACCEPTANCE AND APPROVAL

4 BEIER IVCS 2000 DYNAMIC POSITIONING TRIALS

DYNAMIC POSITIONING SYSTEM SEA TRIALS

Hold Position Position Setpoint Deviation Alarm Semi-Automatic Positioning

Manual Speed Vector Manual Surge Manual Sway

DYNAMIC POSITIONING SEA TRIALS ACCEPTANCE AND APPROVAL

5 BEIER IVCS 2000 OPTIONAL CONTROL MODES

ROV FOLLOW

Hydro Acoustic Sensor Offline ROV Beacon Selection ROV Follow Operation ROV Follow Sea Trials Acceptance and Approval

TRACK CONTROL LOW SPEED MODE

Route Selection Track Control (Low speed) operation Off-track Limit Heading offset Change – Hold Heading Mode Heading Offset Change –Manual Mode Heading Offset Change – Auto Heading Mode Pause Tracking Track Follow Termination Track Control Sea Trials Acceptance and Approval

AUTOPILOT OPERATION

Hold Course Changing Course Course Alarm Rate of Turn Adjustment Autopilot Sea Trials Acceptance and Approval

Comment Sheet

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1 INTRODUCTION

The objective of the tests described in this procedure is verification that the Beier IVCS 2000 conforms to the

Frank L. BEIER RADIO Inc. standard specifications and meets agreed requirements.

A Trials Comment section is included at the end of each section for incorporation of related data.

For the purpose of this test procedure, it is assumed that all installation test procedures for power-up and cabling interconnections have been successfully completed.

The following test procedures verify correct operation of the Beier IVCS 2000. Section Error! Reference source not found. describes the dockside Beier IVCS 2000 tests, such as actuator interface tests, control transfer and power supply tests. Section 0 provides the necessary test for only the base model of joystick system, which offers the following functionality: Manual joystick control and Hold Heading. Additional features will be addressed in Section Beier IVCS 2000 Dynamic Positioning Trails (page 22) and Section “Beier IVCS 2000 Operational Control Mode” (page24).

SYSTEM COMPONENTS

The Beier IVCS 2000 architecture is presented in the #040-8001-01 –IVCS 2000 System Architecture.

The system includes:

1. 2 Control Computers (Main and Backup)

2. 5 Operator Stations

3. I/O Control Unit (PLC)

4. Ethernet LAN

5. CAN Bus

1. 5 Control Panels

2. 5 LCDs with Touchscreens

3. 2 Portable Control Panel

6. 5 Alarm Speakers

7. 2 Vertical Reference Sensors

8. UPS

9. Some other additional components

The Main Computer, the Programmable Logical Controller (PLC), and electronic components are assembled into the bulkhead mounted Control Unit The Backup Computer and electronic components are assembled into the Backup Control Unit. The VRSs are separately housed for ease of mounting and alignment.

The main Beier IVCS 2000 component links are presented in the drawing #040-8002-01 – IVCS 2000 System

Diagram, where the ship subsystem interface is also shown.

The Control Computers provide the main control in various modes, graphic information generation, operator interface and serial communication with the external sensors.

The Programmable Logic Controller (PLC) provides analog and digital signal input/output and conditioning, and power system control and monitoring.

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Control Unit is intended for:

� Sensors Data Input

� Data Exchange with actuators and PMS

� Follow-Up Monitoring Systems Implementation

� Interaction with Operator Station

� Power Supply System Control

� Data output to Alarm Printer

� DP System Mathematical Algorithms Implementation

� Warning Alarm Implementation

Each Operator Station consists of Station Computer and additional electronic components installed in a separate housing.

� Operator Station is intended for:

� Operator-interaction with the system via LCD and TouchScreen, control panel with joystick, knob, LED indicators; sound alarm generation.

� Connection of portable control panel

� Communication with Processor Unit

� Implementation of Control Transfer Procedure between Operator Stations

Operator Stations, Control Panels, and LCDs with Touchscreens are combined into the Forward, Aft, Port and

Stbd Operator Consoles and provide the Beier IVCS 2000 Operator Station, Control Panel and LCD with

Touchscreen constitute the Backup Operator Console. This console differs from any other Operator Console by an additional CAN Bus link to the Control Computer.

The Portable Control Panels are connected to the Port and Stbd Operator Consoles.

More detailed description of system structure and systems component operation is provided below.

� Operator Station is intended for:

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SYSTEM ARCHITECTURE

Figure 0-1 IVCS 2000 Structure Diagram

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2 IVCS 2000 DOCKSIDE TESTS

The following dockside tests verify the calibration of adjusted parameters and correct interface of the BEIER

IVCS 2000 to all external equipment, and the ability to transfer control.

Actuator Interface Tests

This procedure verifies the integrity of the actuator interface and documents the response to DP system commands.

BEIER IVCS 2000 DP Mode

Verify that ship’s controls are inoperable when the DP Mode Selector is activated and one of the BEIER IVCS

2000 modes (Stand By, J/DP, Autopilot) is selected.

Verification

ACTUATOR “MOTOR RUNNING” SIGNALS

Verify that “Motor running” signals, provided for actuator(s), are properly received by the BEIER IVCS 2000 when equipment is online and functioning correctly.

Bow Thruster Verification

Main Engine Verification

ACTUATOR “READY” SIGNALS

Verify that “Ready” signals, provided for actuator(s), are properly received by the BEIER IVCS 2000 when equipment is online and functioning correctly.

Bow Thruster Verification

Main Engine Verification

Steering System Verification

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ACTUATOR COMMANDS AND FEEDBACKS

With the BEIER IVCS 2000 selected on-line, run up the actuator commands (separately for every actuator), recording the feedback percents for various actuator command (where available).

Table 1 Bow Thruster Commands and Feedbacks

Bow Thruster

Thrust % RPM Azimuth Verification

Goal Actual Goal Actual Goal Actual

Table 2 Main Engine Commands and Feedbacks

Main Engine

Command % RPM Verification

Goal Actual Goal Actual

Table 3 Rudder Commands and Feedbacks

Steering System

Command °°°° Verification

Goal Actual

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CONTROL TRANSFER TESTS

This section describes the tests of BEIER IVCS 2000 ability to transfer control

� between the Bridge and the Main Control Panel of the active Operator Station

� between the active Operator Station and non-active Operator Stations

� between the active Operator Station and Joystick Control Station (Backup System)

� and between the Main Control Panel of an Operator Station and the Portable Control Panel.

CONTROL TRANSFER BETWEEN OPERATOR STATIONS

1. Switch the BEIER IVCS 2000 on and verify that all functions are operated correctly from the Forward

Operator Station.

2. Transfer control from the Forward Operator Station to the Aft Operator Station by pressing “Take

Control” pushbutton on the Aft Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

3. Transfer control from the Aft Operator Station to the Port Operator Station by pressing “Take Control” pushbutton on the Port Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

4. Transfer control from the Port Operator Station to the Stbd Operator Station by pressing “Take Control” pushbutton on the Stbd Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated

5. Transfer control from the Stbd Operator Station to the Forward Operator Station by pressing “Take

Control” pushbutton on the Forward Operator Station Control Panel. Verify that the transferring is bumpless and set modes are continuously operated.

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CONTROL TRANSFER BETWEEN MAIN AND PORTABLE

CONTROL PANELS OF THE OPERATOR STATIONS

1. Switch the BEIER IVCS 2000 on and verify that all functions are operated correctly, using Port

. Verification

2. Transfer control from the Main Control Panel to the Portable Control Panel by pressing “Take Control” pushbutton on the PCP. Verify that the transferring is bumpless and set modes are continuously operated.

3. Transfer control from the Portable Control Panel to the Main Control Panel by pressing “Take Control” pushbutton on the MCP. Verify that the transferring is bumpless and set modes are continuously

4. Transfer control to the Stbd Operator Station. Transfer control from the Main Control Panel to the

Portable Control Panel by pressing “Take Control” pushbutton on the PCP. Verify that the transferring is bumpless and set modes are continuously operated.

5. Transfer control from the Portable Control Panel to the Main Control Panel by pressing “Take Control” pushbutton on the MCP. Verify that the transferring is bumpless and set modes are continuously

CONTROL TRANSFER BETWEEN OPERATOR STATION

AND JOYSTICK CONTROL STATION (BACKUP SYSTEM)

1. Switch the BEIER IVCS 2000 on and verify that all functions are operated correctly from the Forward

2. Set the Main/Backup Switch to “Backup” position. Verify that all functions are performed correctly from the Joystick Control Station Verify that the transferring is bumpless and set modes are continuously operated.

3. Set the Main/Backup Switch to “Main” position. Verify that all functions are performed correctly from the Forward Operator Station Verify that the transferring is bumpless and set modes are continuously

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POWER SUPPLY TEST

1. Switch on the BEIER IVCS 2000.

2. Disconnect the UPS the 115VAC Ship Power. Using the BEIER IVCS 2000 System Monitor

Window verify that the system diagnoses UPS failure (the Line Failure indicator of AC-DC

Monitor is red) and respective alarm appears (“Line Failure”).

3. Verify that the BEIER IVCS 2000 continues operation in the same mode.

4. Disconnect 115 VAC Ship Power for a quite long time (5-30 minutes depending on battery status). Using the BEIER IVCS 2000 System Monitor Window verify that the system diagnoses UPS battery discharging (the Low Battery indicator of AC-DC Monitor is red) and respective alarm appears (“Low Battery”).

5. If the system diagnoses UPS battery discharging, verify that it will be automatically shut down and power will be switched off in 1-2 minutes.

DOCKSIDE TESTS ACCEPTANCE AND APPROVAL

The following signing signifies completion of basic portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Tests conducted by: Customer:

Name: Name:

Signature: Signature:

Title: Title:

COMMENTS:

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3 BEIER IVCS 2000 MANUAL JOYSTICK

CONTROL SEA TRIALS

The following sections document the sea trials procedures, which establish execution of the design performance requirements.

SENSOR INTERFACE TESTS

This procedure verifies the integrity of the sensor interface and documents sensor data receiving by the BEIER

IVCS 2000.

GYRO COMPASS

Two gyrocompasses are interfaced with the BEIER IVCS 2000. This testing verifies correct transmittal of heading information and alarm conditions for this sensor.

COMPASS HEADING TRANSMISSION

Start the BEIER IVCS 2000 program and verify the correct heading is displayed in the BEIER IVCS 2000

Sensors Window. Also, verify that the gyro compass heading reflected on the BEIER IVCS 2000 remains correct when the course is changed.

GYRO 1 Verification

GYRO 2 Verification

HEADING TRANSMISSION ALARM

Disconnect the gyro compass input and verify that the alarm “GYRO – No data received” is activated.

GYRO 1 Verification

GYRO 2 Verification

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WIND SENSOR

Two wind sensors are provided. Sensor electrical interfacing to the BEIER IVCS 2000 is verified in this section.

WIND SENSOR ALIGNMENT

Point wind sensor body at each cardinal point (0, 90, 180 and 270 degrees). At the BEIER IVCS 2000 display

(Sensors Window) verify that indicated value is within 5 degrees of selected sensor azimuth.

Wind Sensor 1 Verification

Wind Sensor 2 Verification

WIND SPEED COMPARISON

Compare wind speed value indication of the current wind sensor with reported values from other available wind sensors. Verify velocities agree within 5 knots.

WIND SENSOR ALARMS

Disconnect the wind sensor input and verify that the alarm “Wind sensor– No data received” is activated.

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VERTICAL REFERENCE SENSOR (VRS)

Two vertical reference sensors are interfaced with the BEIER IVCS 2000 and compensate the position data from the DGPS and Hydro Acoustics. This section verifies correct pitch and roll data are being received and that appropriate corrections are being made.

ORTHOGONAL MOUNT

Verify that VRS has been mounted squarely to the vessel’s axes.

VRS 1 Verification

VRS 2 Verification

ZERO PITCH / ROLL ALIGNMENT

Verify that VRS reading from the unit matches independent trim and list measurements.

PITCH AND ROLL POLARITIES

Pitch the vessel bow up or simulate by tilting the sensor. Verify that pitch measurements are correct and positive values represent bow up motions.

Roll the vessel starboard down or simulate by tilting the sensor. Verify that pitch measurements are correct and positive values represent starboard down motions.

VRS ALARMS

Verify that an alarm is generated when the VRS reports its extreme values (+-30°).

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DIFFERENTIAL GLOBAL POSITIONING SYSTEM (DGPS)

Two DGPS are interfaced with the BEIER IVCS 2000. This procedure verifies the integrity of communication interface between the DGPS and the BEIER IVCS 2000. Make sure all required startup procedures for the

DGPS unit have been completed.

DGPS

On the BEIER IVCS 2000 console (Ref Window) select the DGPS online and offline by using the control keys.

DGPS 1 Verification

DGPS 2 Verification

GPS / DGPS MODES

Switch GPS and DGPS modes on the GPS receiver. Verify that this switching is indicated in the REF Window of the BEIER IVCS 2000.

DGPS ALARMS

With DGPS input online, terminate input of the DGPS signal. Verify appropriate alarms are raised and then cleared when the signal is reestablished.

HYDRO ACOUSTIC SENSOR

A Hydro Acoustic Sensor can be interfaced with the BEIER IVCS 2000. This procedure verifies the integrity of communication interface between the Hydro Acoustic Sensor and the BEIER IVCS 2000 in case such sensor is installed. Make sure all required startup procedures for the Hydro Acoustic unit have been completed.

HYDRO ACOUSTIC DATA INPUT

Verify that position information from the Hydro Acoustic sensor is being provided on the BEIER IVCS 2000 console.

Hydro Acoustics Verification

HYDRO ACOUSTIC DATA INPUT LOSS

Set the Hydro Acoustic sensor on-line. Then terminate the input data stream and verify a ”Hydro – No Data received” alarm is generated.

Hydro Acoustics Verification

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MANUAL CONTROLS

This testing ensures the correctness of manual (joystick) commands from the BEIER IVCS 2000 console.

Ensure that console-mounted joysticks are calibrated prior to execution of the following test procedure. Also, deselect Active Wind Compensation (AWC). Head the vessel into the wind.

JOYSTICK CONTROL LEVERS

Verify that the AWC mode is inactive, all joystick levers are in zero position and that there are no thruster force commands. Deflect each joystick lever and verify response values and directions for surge (Fore/Aft) and sway (Port/Stbd) axes.

Forward Operator Station Control Panel Verification

Aft Operator Station Control Panel Verification

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

Port Operator Station Portable Control Panel Verification

Stbd Operator Station Portable Control Panel Verification

HEADING CONTROL KNOBS

Rotate the heading control knob to 25 percent positive command clockwise. Verify that thrusters are commanded for vessel bow rotation to starboard. Confirm thruster feedback signals agree with command values.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

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MAXIMUM HEADING MOMENT

Slowly approach 100 percent positive moment command. Verify that at least one thruster reaches maximum thrust level. Repeat process for vessel bow rotation to port (negative).

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

SURGE FORCE

Reset moment command to zero. Reset joystick command to zero. With vessel rotation rate at zero, command forward thrust of 50 percent. Verify that the Main Engines respond with forward thrust and that vessel rotation rate is approximately zero. Repeat procedure for 50 percent reverse command.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

SWAY FORCE

Reset moment command to zero. Reset joystick command to zero. With vessel rotation rate at zero, select lateral joystick command starboard of 50 percent. Verify that thrusters respond with starboard lateral thrust and that vessel rotation rate is approximately zero. Repeat procedure for 50 percent port lateral command.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

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HOLD HEADING CONTROL PANEL PUSHBUTTON

Press the “Hold HDG” pushbutton on the CP. Verify that its LED indicator lights solidly and that the system switches to the Hold Heading Mode.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

HOLD POSITION CONTROL PANEL PUSHBUTTON

Press the “Hold POS” pushbutton at the CP. Verify that its LED indicator lights solidly and that the system switches to the Hold Position Mode.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

ALARM ACKNOWLEDGE CONTROL PANEL PUSHBUTTON

Simulate an alarm condition which will cause the “Alarm ACK” LED indicator to blink. Verify that the Alarm lamp flashes until the button is pressed to acknowledge the alarm.

Port Operator Station Control Panel Verification

Stbd Operator Station Control Panel Verification

Joystick Control Station Control Panel Verification

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FUNCTIONS

HOLD HEADING

Select the “Hold Heading” mode of the BEIER IVCS 2000. Verify that the “Hold heading” LED indicator lights solidly and that the system switches to the “Hold Heading” mode.

HEADING SETPOINT

Set desirable Heading Setpoint as 90 degrees from current vessel heading (use set and offset functions). Verify that the vessel moves in the direction of set heading.

DEVIATION ALARM

Verify alarm conditions (red colour of the heading error and alarm message) activate when vessel deviates from heading Setpoint in the Auto Heading Mode, steady state.

RATE OF TURN ADJUSTMENT

This setting allows the operator to adjust how quickly the vessel will attempt to change heading. The maximum setting is 60 deg/min and average value of 24-30 deg/min is recommended.

AUTOMATIC WIND COMPENSATION (AWC)

The system provides feed-forward compensation for wind drag effect. This testing allows adjustment and verification of performance improvement with this function activated. Ideally, no ocean current or waves should exist, with a steady 10 to 20 knots of wind.

PERFORMANCE WITHOUT AWC

Select the “Hold Heading” mode and set joystick lever to zero position. Record ship SOG in prevailing wind conditions without AWC activated. Verify using the Hold Plot that athwartships control force does not compensate athwartships disturbance force.

PERFORMANCE WITH AWC

Activate AWC function and wait for transient effects to dissipate. Verify using the Hold Plot that athwartships control force compensates athwartships disturbance force. Verify that ship SOG decreases.

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BASIC SEA TRIALS ACCEPTANCE AND APPROVAL

The following signing signifies completion of basic portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies

Signature: Signature:

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4 BEIER IVCS 2000 DYNAMIC POSITIONING

TRIALS

DYNAMIC POSITIONING SYSTEM SEA TRIALS

The following tests verify correct operation of the dynamic positioning capabilities of the BEIER IVCS 2000 by evaluating different positioning functions.

HOLD POSITION

Select the “Hold Position” mode of the BEIER IVCS 2000. Verify that the “Hold position” LED indicator lights solidly and that the system switches to the “Hold Position” mode.

POSITION SETPOINT

Set a new desirable point of positioning (use set and offset functions). Verify that the vessel moves to the new location and is positioned in desirable point.

DEVIATION ALARM

Verify alarm conditions activate when thrusters are taken offline and vessel deviates from set position, Auto

Positioning Mode, steady state.

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SEMI-AUTOMATIC POSITIONING

MANUAL SPEED VECTOR

Select the Speed vector submode of the J/DP Mode. Using joystick, set desirable ship speed vector. Verify that ship is moving in accordance with speed vector setting.

MANUAL SURGE

Select the Auto Heading submode of the J/DP Mode, and then select Relative View. Reset joystick command to zero. Select the Manual Surge mode. Using joystick, command forward thrust of 50 percent. Verify that the thrusters respond with forward thrust and that vessel moves forward (athwartships deviation is approximately zero). Repeat procedure for 50 percent reverse command.

MANUAL SWAY

Select the Auto Heading submode of the J/DP Mode, and then select Relative View. Reset joystick command to zero. Select the Manual Sway mode. Using joystick command Stbd thrust of 50 percent. Verify that thrusters respond with starboard lateral thrust and that and that vessel moves Stbd (alongships deviation is approximately zero). Repeat procedure for 50 percent port lateral command.

DYNAMIC POSITIONING SEA TRIALS ACCEPTANCE AND

The following signing signifies completion of dynamic portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Tests conducted by: Customer:

Name: Name:

Signature: Signature:

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5 BEIER IVCS 2000 OPTIONAL CONTROL

MODES

This section verifies proper operation of additional control modes and optional equipment supplied with the

BEIER IVCS 2000 system. A single section is dedicated to each of the options available as listed below:

ROV Follow

Track Control Low Speed

Autopilot Operation

ROV FOLLOW

ROV Follow provides the ability for the vessel to automatically follow a moving target (ROV) and keeps the vessel at a constant position relative to the target. A Hydro Acoustic sensor provides information regarding the

ROV location. Then the BEIER IVCS 2000 analyses it with respect to a circle of operation and maneuvers the vessel accordingly.

HYDRO ACOUSTIC SENSOR OFFLINE

Switch the Hydro Acoustic sensor off from the BEIER IVCS 2000 operation. Verify that it is impossible to enter the ROV Following Mode (the “ROV” control button of the Position Group is not active).

ROV BEACON SELECTION

With no ROV Beacon selected, try to enter the ROV Following Mode. Verify that the “ROV” control button

(Position Group) is not active.

Select one of active beacons in the ROV Follow Window of the BEIER IVCS 2000 as ROV Beacon. Verify that it is possible to load the ROV Follow Mode.

ROV FOLLOW OPERATION

Load the ROV Following Mode of the BEIER IVCS 2000. With different selected heading modes, verify that the vessel begins to follow the ROV movements when they exceeded the Stop Circle.

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ROV Follow Sea Trials Acceptance and Approval

The following signing signifies completion of ROV portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies

Signature: Signature:

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TRACK CONTROL LOW SPEED MODE

Track Control Mode provides the ability for the vessel to automatically follow the route (track), described by a set of waypoints with automatic or manual holding of heading.

The following test procedure verifies correct BEIER IVCS 2000 operation in the Track Control (Low speed)

Mode.

ROUTE SELECTION

With no Active Route (Low status) selected, try to enter the Track Control (Low speed) Mode. Verify that the

“Track” control button (Position Group) is not active.

Select one of low speed tracks in the Route Window of the BEIER IVCS 2000 as active Route. Verify that it is possible to load the Track Control (Low speed) Mode.

TRACK CONTROL (LOW SPEED) OPERATION

Position the vessel near the selected active route. Load the Track Control (Low speed) Mode with System selected heading. Verify that the vessel follows the route with heading directed to the next waypoint at every moment.

OFF-TRACK LIMIT

Simulate or generate a cross-track error value bigger than respective parameter setting. Verify that Off-track limit alarm is generated by the BEIER IVCS 2000.

HEADING OFFSET CHANGE – HOLD HEADING MODE

Run the BEIER IVCS 2000 in the Track Control (Low Speed) Mode with System Selected Heading. Select the

Hold Heading Mode. Verify that the vessel heading is not changed at transferring to the next route leg.

HEADING OFFSET CHANGE –MANUAL MODE

Select the Manual Heading Mode. Rotate the vessel to 10 degrees using the heading control knob. Select the

Hold heading Mode to re-engage it with the new heading. Verify the vessel maintains the newly specified heading.

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HEADING OFFSET CHANGE – AUTO HEADING MODE

Select the Auto Heading Mode and set new heading setpoint. Verify the vessel maintains the newly specified heading.

PAUSE TRACKING

Pause the track control (low speed) process and verify that the vessel is slowing down and stops in the one of route points. Verify that the vessel hold its position until tracking is resumed.

TRACK FOLLOW TERMINATION

Terminate the Track Control (Low Speed) mode of the BEIER IVCS 2000 by selection any other position mode. Verify that the system keeps heading mode (except of system selected heading) and resumes normal joystick operation.

TRACK CONTROL SEA TRIALS ACCEPTANCE AND

The following signing signifies completion of Track Control portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Signature: Signature:

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AUTOPILOT OPERATION

The system provides a simple autopilot feature, which allows easy vessel moving with desirable heading. Select the Autopilot Mode on one of Operator Stations (Forward, Aft, Port or Stbd) of the BEIER IVCS 2000.

HOLD COURSE

Select the “Hold Heading” submode. Verify that the “Hold heading” LED indicator lights solidly. Apply a small amount of forward thrust using the Engine Telegraph levers and verify that the ship moves forward operating the rudders to maintain set course.

CHANGING COURSE

Using the Heading Setpoint Editor enter a new course for auto keeping in the Autopilot Mode (use set and offset functions). Verify that the vessel reacts to follow the new course specified.

COURSE ALARM

This setting allows the operator to adjust the course deviation allowed before an alarm is activated. The recommended setting is 5 degrees, but should be verified with onboard operation.

RATE OF TURN ADJUSTMENT

This setting allows the operator to adjust how quickly the vessel will attempt to change course. The maximum setting is 60 deg/min and average value of 24-30 deg/min is recommended.

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AUTOPILOT SEA TRIALS ACCEPTANCE AND APPROVAL

The following signing signifies completion of Autopilot portion of Sea Trials and acceptance of that portion of the system as fully operational. This date marks the beginning of the warranty period. Please, note any discrepancies in the comment space provided.

Signature: Signature:

TEST SIGN OFF DATE

VT HMI REP ________________________________________ ________

GOVERNMENT REP _______________________________________ ________

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COMMENT SHEET

COMMENTS