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APPENDIX 4 DIGITAL INTERFACE
AP-9
HTC - Heading/Track control command, HTD - Heading/Track control data
$--HTC, A, x.x, a, a, a, x.x, x.x, x.x, x.x, x.x, x.x, x.x, a, a*hh<CR><LF>
Vessel heading, degrees
Off-track status
(see Note 5)
Off-heading status
Rudder status
Heading reference in use, T/M
Sentence status (see Note 7)
$--HTD, A, x.x, a, a, a, x.x, x.x, x.x, x.x, x.x, x.x, x.x, a, A, A, A, x.x, *hh<CR><LF>
A = within limits
V = limit reached
or exceeded
Commanded track (see Note 4 and 6) degrees
Commanded off-track limit (see Note 5), n.miles (unsigned)
Commanded heading-to-steer (see Note 6), degrees
Commanded rate of turn for heading changes, °/min
Commanded radius of turn for heading changes, n.miles
Commanded off-heading limit, degrees (unsigned)
Commanded rudder limit, degrees (unsigned)
Turn mode (see Note 3) R=radius controlled,
T=turn rate controlled,
N=turn is not controlled
Selected steering mode (see Note 2)
Commanded rudder direction, L/R=port/starboard
Commanded rudder angle, degrees
Override (see Note 1), A=in use, V=not in use
Note 1: Override provides direct control of the steering gear. In the context of this sentence override
means a temporary interruption of the selected steering mode. In this period steering is performed by
special devices. As long as field “override” is set to “A”, both fields “selected steering mode” and “turn
mode” should be ignored by the heading/track controller and its computing parts should operate as if
manual steering was selected.
Note 2: All steering modes represent steering as selected by a steering selector switch or by a
preceding HTC sentence. Priority levels of these inputs and usage/acceptance of related fields are to
be defined and documented by the manufacturer.
Selected steering modes may be:
M=Manual steering. The main steering system is in use.
S=Stand-alone (heading control). The system works as a stand-alone heading controller. Field
“commanded heading to steer” is not accepted as an input.
H=Heading control. Input of commanded heading to steer is from an external device and the system
works as a remotely controlled heading controller. Field “commanded heading to steer” is accepted
as an input.
T=Track control. The system works as a track controller by correcting a course received in the field
“commanded track”. Corrections are made based on additionally received track errors (e.g. from
sentence XTE, APB, ...).
R=Rudder control. Input of commanded rudder angle and direction from an external device. The
system accepts values given in fields “commanded rudder angle” and “commanded rudder direction”
and controls steering by the same electronic means as used in modes S, H or T.
Note 3: Turn mode defines how the ship changes heading when in steering modes S, H or T
according to the selected turn mode values given in fields “commanded radius of turn” or
“commanded rate of turn”. With turn mode set to “N”, turns are not controlled but depend upon the
ship’s manoeuverability and applied rudder angles only.
Note 4: Commanded track represents the course line (leg) between two waypoints. It may be altered
dynamically in a track-controlled turn along a pre-planned radius.
Note 5: Off-track status can be generated if the selected steering mode is “T”.
Note 6: Data in these fields should be related to the heading reference in use.
Note 7: This field is used to indicate a sentence that is a status report of current settings or a
configuration command changing settings. This field should not be null.
R=Sentence is a status report of current settings (use for a reply to a query).
C=Sentence is a configuration command to change settings. A sentence without “C” is not a command.
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