Simrad Robertson AP9 Mk3, Instruction Manual, Page: 46 / 202

Robertson AP9 MK3 Autopilot
2-18
20169223D
Priority mode (APB sentence)
NAV.RECEIVER
ACCEPT CHANGE
Y:RESET N:AUTO
WAYPOINT 3
WAYPOINT 2
WAYPOINT 1
INFO DISPLAY
INFO DISPLAY
INFO DISPLAY
05°
BEARING LINE
XTE= R0.02NM
R RIGHT
L LEFT
RESET
ALARM
NAVIGATING
05 XTE = R0.021N
NAVIGATING
00 ON TRACK
Note !
The waypoint arrival warning will depend on the arrival zone setting on the
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.