134 
DFD 5.1 
Determine 
own ship \ LATLONxy w 
position I ™ 
Determine \ rudder angle 
rudder angle 
5.1.1.8 
engine data 
\ SOGYx 
{ Determine \ 
-> 1 
engine data l 
V 5.1.1.9 J 
\ STWX 
— 
/ Determine \ 
ROT 
ROT 
5.1.1.10 
1: Determine primary state variables