Forum: The Racing Rules of Sailing

Virtual Mark rounding

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David Dalli
Nationality: Malta
I was recently  involved in a race in which keel boats were required to round a coordinate a number of times. Not an actual physical Mark. This has me wondering. Given the definition of room and the meaning of touch. Is rule 18 applicable or enforceable in any practical way?
Created: 26-Mar-13 15:29

Comments

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John D. Farris
Nationality: United States
Did the Sailing Instructions explicitly call the coordinate a “mark” or define a rounding area/radius?

How did they define “round” the coordinate (e.g., “pass within ___ meters,” “leave to port,” “cross a line,” etc.)?

Created: 26-Mar-13 15:42
Satish Kumar Kanwar
David,
This is an interesting question as there is no mark on the water. I would be keen to know how the scenario pans out in such a case wrt rule 18.
Created: 26-Mar-13 15:49
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Jim Capron
Nationality: United States
Did the NoR and/or the SIs invoke WS Appendix WP? That appendix and the use of waypoints as marks of the course have been around for at least three rulebooks.
Created: 26-Mar-13 15:59
Mark Townsend
Nationality: United States
Did you invoke World Sailing Development Rules & Appendices to the Racing Rules of Sailing Appendix WP - Rules for Waypoints in the NoR?

www.sailing.org/inside-world-sailing/rules-regulations/racingrules/

Created: 26-Mar-13 15:59
Beau Vrolyk
Forum Moderator
Nationality: United States
I'd suggest a review of this document would be helpful.

https://www.sailing.org/tools/documents/OC13bRacingAroundWaypoints-%5B19446%5D.pdf
Created: 26-Mar-13 16:23
Eric Rimkus
Nationality: United States
As others have already commented there is a long standing WS appendix. 

It would be great if the OP could provide a copy of the regatta documents (NoR/SI) which could be quite helpful, or not. 
Created: 26-Mar-13 16:52
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Angelo Guarino
Forum Moderator
Nationality: United States
FWIW ... looking at Appx WP ..

WP1.2 Add new definition Waypoint:
Waypoint A geographic position on the surface of the water defined by WGS 84 latitude and longitude coordinates expressed in degrees decimal minutes (DDM).

WP1.3 The definition Zone is changed to:
Zone The area around a mark within a distance of three hull lengths of the boat nearer to it. The area of the zone at a mark that is a waypoint may be changed in the notice of race or sailing instructions. A boat is in the zone when any part of her hull is in
the zone.

The Appx does not define a min decimal-depth (sig-fig) for WGS84 location.  Therefore, the size of the location, depends upon the resolution.  
Created: 26-Mar-13 17:44
Mark Townsend
Nationality: United States
Just like using a regular mark! The clear ahead boat hails "no room" well before they reach the zone!
Created: 26-Mar-13 18:13
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Angelo Guarino
Forum Moderator
Nationality: United States
Created: 26-Mar-13 18:30
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Jim Capron
Nationality: United States
AG said: "Therefore, the size of the location, depends upon the resolution." I disagree. The waypoint 38 58N 76 28W is a dot on the surface of the water and is the same "size" as the waypoint 38 58.002N 76 28.005W. The zone is (likely) a 3 boat lengths circle around either of those dots.
Created: 26-Mar-13 18:55
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Angelo Guarino
Forum Moderator
Nationality: United States
Jim C ... look at the chart that I posted. A zero-decimal location has a resolution of >100km (can be located anywhere within a square-area with sides of that length).  Based on the chart I posted, for the purposes of being able to resolve entry into a 3 BL zone, a min on 5 decimal places should be described. 

Since we have a relative measure in the zone of 3 BL's, the zone's location needs to be specified to something substantially less than 1 BL for it to be usefully determined. 
Created: 26-Mar-13 19:02
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Angelo Guarino
Forum Moderator
Nationality: United States
Eric re: 3 decimal places ..

My point is that people should add the trailing zeros in the description to 5 places and IMO the Appx should state or at least guide to that location-resolution. 

Describing 5-places is not that onerous of a step (adding trailing 0's if required) to remove the ambiguity implied by their absence. 
Created: 26-Mar-14 11:49
Philip Hubbell
App WP does not answer the very good question.
Created: 26-Mar-13 18:46
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David Dalli
Nationality: Malta
The SI stated under Marks:
The Mark 3 will  be the coordinate....
APP WP was not invoked. I am happy that at least this sorts out the issue of wether it is possible to touch a coordinate. There is still the matter of given that  GPS location is accurate to between 2-8 m 95% of the time ( according to WS Judges Manual). How can one decide if room was given or when the zone was reached. 
Created: 26-Mar-13 19:06
Eric Rimkus
Nationality: United States
I think your event is fraught with issues if you are using waypoints and not involving Appendix WP. 
Created: 26-Mar-13 20:14
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Angelo Guarino
Forum Moderator
Nationality: United States
I know my point might sound like an old engineer/scientist geeking-out ... but it is basic to the sense of measurement and description. 

If I say something is 1 km away ... I'm describing something that has a less than 1/2km location resolution. 

Add a decimal .. 1.0km ... now it's a 0.05 location resolution.

If a location wants to be resolved for a 3 BL zone ... and 1 BL is 10-20m ... then the location should be located signicantly less than 10m.  1-2m should be fine ... so 5 decimal places.  
Created: 26-Mar-13 19:59
Eric Rimkus
Nationality: United States
The resolution is stated in the SI when the virtual mark is defined. If it uses WGS84 that usually is 3 decimal places, but if the mark is given with 2 or 1 decimal places that tells you the resolution applied. 
Created: 26-Mar-13 20:12
Beau Vrolyk
Forum Moderator
Nationality: United States

Mr. Hubbll raises a good point.

In direct response to the original post by Mr. Dalli: Yes, I do believe Rule 18 can be applied successfully. Let's assume there is an overlap as the two boats enter the zone around a GPS waypoint. The inside boat, using their GPS, asks for Room. The outside boat shall then provide Room, and if she feels that the inside boat was not entitled to Room she will Protest. If there is a debate, it gets sorted out in a protest hearing.

However, during that hearing various key facts need to be discovered. An important one will be: there are two types of GPS available today. The relevant points are covered in the quote below from this source: https://rtkdata.com/blog/rtk-vs-gps-accuracy-2026/

"RTK vs GPS Key differences

  • Accuracy: RTK provides centimeter-level precision (1-2 cm), while standard GPS provides meter level-accuracy (3-10m)
  • Correction Method: RTK uses a base station to transmit real-time correction data to a rover, correcting for atmospheric and satellite errors instantaneously. Standard GPS relies on direct satellite signals without real-time corrections.
  • Application: RTK is ideal for high-precision tasks like drone surveying, autonomous vehicle guidance, and construction. Standard GPS is used for consumer navigation (smartphones, cars).
  • Cost & Complexity: RTK systems are more complex and expensive ($8,000–$80,000). Standard GPS is inexpensive and found in common devices."

At this time both "RTK GPS" and "standard GPS" are in use aboard various competing boats. As is stated above, the RTK GPS supports accuracy of 1-2 centimeters, while the standard GPS accuracy is 3-10 meters. During any hearing, it would be wise to discover exactly which sorts of GPS was being used and consider this when trying to determine the Room to which the inside boat was entitled.

At this time both GPS and RTK GPS are being used within the commercial starting systems of Vakaros and Velocitek respectively, to provide a more accurate method of determining OCS at the start of a race. That has brought up the obvious question, is the position accurate enough. Extensive testing over the last three years has shown that the 1-2 centimeter accuracy of RTK GPS is better than human visual line sighting, while the regular GPS is not.

As a result, Rule 18 will work just fine at the 1-2 centimeter accuracy of RTK GPS, at least as well as humans rounding a visible mark. It will be more difficult to resolve the 3-10 meter accuracy during a mark rounding for regular GPS. The most difficult situation will be if the two boats have different types of GPSs.
Created: 26-Mar-13 20:18
Satish Kumar Kanwar
Reply to: 20797 - Beau Vrolyk
At this time both GPS and RTK GPS are being used within the commercial starting systems of Vakaros and Velocitek respectively, to provide a more accurate method of determining OCS at the start of a race. That has brought up the obvious question, is t...
This brings in another issue. The cost factor!! As the accuracy goes up, the cost of the system will also go higher. 
Created: 26-Mar-14 05:00
Philip Hubbell
I would rule, in a mark room situation, that the inside boat's GPS governs, regardless of its accuracy.
Created: 26-Mar-13 21:36
Christian Jensen
I think we are in the masturbating mosquito area.  Has there ever been any cases of any boat calling for room at a GPS mark???
Created: 26-Mar-14 04:16
Mark Townsend
Nationality: United States
Christian an interesting visual! However, I agree, when you add water to the situation waypoint marks are used in offshore and coastal races and multiple boats simply don’t round the marks together. 


Created: 26-Mar-14 04:51
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David Dalli
Nationality: Malta
I have to disagree. In my OP I made the point of repeated rounding and boats did round in proximity. Also boats were scored NSC for missing the mark making it more likely for a leeward boat to want to avoid this. It never happens until it happens.
Created: 26-Mar-14 08:21
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Angelo Guarino
Forum Moderator
Nationality: United States
Mark re: "Christian an interesting visual! However, I agree, when you add water to the situation waypoint marks are used in offshore and coastal races and multiple boats simply don’t round the marks together."

Ok ... so why bother defining "zone" in Appx WP?  2 boats meet in the middle of the ocean .. why not let them work it out without 18?

The issue is that we have a 3BL zone defined in the Appx and 18 is still there ...  locating both the WP and the zone in a functional way is a worthy topic driven by Appx WP's contents. 
Created: 26-Mar-14 11:55
Beau Vrolyk
Forum Moderator
Nationality: United States
Mark, I just watched a film of my friends racing IODs (quite like a 6-meter) over 25 miles to participate in a major classic yacht regatta. At the finish 3 of the 6 boats were overlapped. Films of finishes from the Sydney to Hobart race to this sort of local race tend to show that it is certainly possible for an overlap to exist at a rounding mark that is a GPS waypoint. Quite exciting stuff for the competitors.
Created: 26-Mar-14 16:03
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Angelo Guarino
Forum Moderator
Nationality: United States
What I'm saying is that Appx WP should be changed ... 

WP1.2 Add new definition Waypoint:
Waypoint A geographic position on the surface of the water defined by WGS 84 latitude and longitude coordinates expressed in degrees decimal minutes (DDM) [and resolved to 5 decimal places (appending trailing 0's if necessary)]. 

That describes and resolves to a location that is approximately the size of a physical mark. 
Created: 26-Mar-14 12:06
Lance Burger
I am with Jim Capron on the issue of whether it is necessary to add additional trailing zeros:  It is irrelevant, as the position is the same, whether you add the additional zeros or not.

I also think we should not get too side tracked about the accuracy of the GPS system.  We often have races going around waypoints (using WS Appendix WP).  If any GPX track carried on the boat shows the boat went around the mark, the boat gets the benefit of the doubt and the boat is scored as sailing the course.

Is see there are three separate issues:
1. Whether rule 31 is broken (no, it cannot, as there is no physical mark to touch).
2. How rule 18 applies to waypoints.
3. Whether a boat has sailed the course (whether the boat rounded the waypoint).

Recently I was close to a waypoint.  The chart plotter could not zoom in any further at the time.  I though we passed it on the correct side.  I downloaded the track after the race, and checked the GPX track and ascertained that the track was 4 m the wrong side of the mark, so I retired from the race.

For the purposes of rule 18 it will be difficult to decide a protest, but that would be up to the protest committee to decide after hearing all the evidence.  I would be inclined (as a protest committee) to accept the evidence of a track showing how close a boat was to a waypoint and whether the boat was in “the corridor” (in umpire speak) or not.

To digress: In our short handed series we also start races without a RC, where, if there is a question we ask a boat for a GPX track, to ascertain whether the boat is OCS or not.  We have  found that at times, where a rounding or finishing mark is a physical mark and a boat sailed the course correctly, the GPX track sometimes shows differently (by as much as 20m).  For this reason one should be give a boat the benefit of the doubt regarding whether she sailed the course instead of relying on a GPX track.  It is different where it is a waypoint as opposed to a physical mark:  There the boat must show, using its own GPS, that it has sailed the course.  Our sailing instructions requires every boat to record its own track (which can be done on a smartphone) with a frequency of 0.2 Hz (at least one data point every 5 seconds) and send the GPX track to the RC on request.  The requirement to record the track is a marked DP.

In short, I think it is not really practical to make decisions about rule 18 on the water watching a chart plotter.  However, if a protest committee is faced with a protest, it will have to do its best with the evidence presented to it, presumably in the form of GPS tracks (which I refer to above as a GPX track, as it is a common format).
Created: 26-Mar-14 14:04
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Jim Capron
Nationality: United States
Lance, do you change the size of the zone when you use WS Appendix WP? Why or why not, and have you changed that decision for any reason?  Jim
Created: 26-Mar-14 15:59
Lance Burger
 Hi Jim,
No, I did not change the size of the zone or contemplate doing so. When using a waypoint it is very hard/impossible to judge how far one is from a waypoint using a chart plotter or handheld GPS. My view is that for practical purposes the size of the zone is really irrelevant. 

In the end I decided to use the WS Appendix WP as is, rather than do something unusual. The thinking is that maybe the drafters thought through the issues better than I did.

The NoR and SI can be found here: https://www.sssa.africa/racing/.

Lance
Created: 26-Mar-15 04:51
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Jim Capron
Nationality: United States
With respect to the 5 decimal places, I asked Stan Honey for his opinion. Here is his reply:
"In my view, a waypoint defined by coordinates is mathematically a zero dimensional point.  It is a location with no physical size.  I don’t think it should matter whether it is defined in the SIs as 38 00.00000N 122 00.00000W, or 38N 122W.  Either way the location is defined exactly and the point has no dimensions and no uncertainty.  Although if folks writing the SIs want to specify the trailing zeros it does no harm but it doesn’t change the location or characteristics of the waypoint.  It still has zero dimensions and is mathematically a point."
Created: 26-Mar-14 22:59
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Angelo Guarino
Forum Moderator
Nationality: United States
Reply to: 20815 - Jim Capron
Jim .... anything that is measured has a resolution of measurement. The resolution of the measurement is determined by the units used and the significant figures of the value.  

What you and Stan are doing is assuming the zeros are there ... without writing them or acknowledging them.  That's ok as long as everyone agrees that's what's happening (unsaid). 

If I say the cost overrun by the govt was $6B ... I think most people understand that doesn't mean the cost overrun was exactly $6,000,000,000.00. 

One value has an sig-fig of 1 place with units of $B and the other of 12 places with units $1 resolved down to $1/100. $6B can have a large variation.  Say it was a $6.1B overrun ... you narrow the variation (a higher resolution of the value) as you know it down to a $100M.

The value $6B actually represents 100's of millions of possible exact amounts when resolved down to the penny. Like the dollar amount above, a location represented without decimals represents a large swath of possible locations within an area of ~50km along its side .. unless we all agree to assume the trailing-zeros are there without being actually described. 

Anyway ...I don't know how to say it any better than that. 
Created: 26-Mar-15 04:10
Christian Jensen
Reply to: 20815 - Jim Capron
I agree with Stan on this. However - different boats will have different accuracy GPS's and thus there is some gray area determining exactly where that point is. In my ocean racing experience, GPS marks are mostly used for offsets for depth (to make sure boats with varying draft sail the same course length) or ice marks to keep boats out of harms way and blatant disregard for those marks will potentially be discovered by looking at gps tracks. I have never even heard about a protest for mark room in an ocean race with gps marks. Have any of you? Please list the race and incident.
Created: 26-Mar-15 04:48
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John Allan
Nationality: Australia
I have the attached two documents from 2017 when Virtual Marks were being introduced.

The guidance document, 2.4 says:

(a) A waypoint is not a physical object, and

(d) RRS 18 and RRS 28.2 cannot apply unchanged because a mark is defined as an object.

Does anyone have any insights about the apparent philosophical change?

AppendixWPRulesforRacingAroundWaypoints-[19996].pdf 25.4 KB
GuidanceonRacingAroundWaypoints-[19997].pdf 373 KB
Created: 26-Mar-15 22:09
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