A watercraft propulsion system includes a bow thruster to generate a lateral propulsive force, a propulsion device on a stern of a hull and having a variable steering angle, and a controller configured or programmed to control the bow thruster and the propulsion device to perform a fixed point holding control to maintain a position and an azimuth of the hull. The fixed point holding control includes a translation mode in which the hull position is maintained by controlling the propulsive force of the propulsion device with the steering angle set to a translation mode steering angle and the hull azimuth is adjusted by controlling the propulsive force of the bow thruster, and a bow turning mode in which the hull azimuth is adjusted by controlling the propulsive forces of the bow thruster and the propulsion device with the steering angle set to a bow turning mode steering angle.

A watercraft propulsion system includes a bow thruster, at least two propulsion devices, a translation operator to command a hull translation movement, and a controller configured or programmed to, in a translation watercraft maneuvering mode, control the propulsion devices so that propulsive force action lines thereof cross each other in the hull, and to drive one of the propulsion devices forward and drive another of the propulsion device in reverse. In a standby state, the controller is configured or programmed to prevent the bow thruster and the propulsion devices from generating propulsive forces, and set the steering angles of the propulsion devices to translation standby steering angles. In response to the operation of the translation operator, the controller is configured or programmed to cause the bow thruster and the propulsion devices to start generating the propulsive forces, and change the steering angles of the propulsion devices to translation steering angles.

A watercraft propulsion system includes a bow thruster, at least two propulsion devices, a translation/bow turning operator to apply a translation command to translate a hull and a bow turning command to turn a bow of the hull, and a controller configured or programmed to drive the bow thruster, and drive one of the at least two propulsion devices forward and another of the at least two propulsion devices in reverse while controlling the steering angles of the at least two propulsion devices so that propulsive force action lines of the at least two propulsion devices cross each other in the hull in a translation watercraft maneuvering mode to translate the hull in response to an operation of the translation/bow turning operator. The controller includes a calibration mode in which calibration is performed for the translation watercraft maneuvering mode.

A method for tracking divers, tracking status of diver tasks, and providing a diving jet propelled multihull vessel providing a water jetting unit, wherein the method uses an administrative server; downloading the specific lists to an onboard dive server; creating a payroll time sheet for the vessel crew and the dive team; downloading information from the administrative server to an onboard dive server; using onboard software in an onboard dive server to track; and using onboard software in an onboard dive server to create and present an executive dashboard of diver tasks, diver video and vessel information to users via a network.

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the iu marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

A method for controlling a marine vessel having first and second steering nozzles and first and second trim deflectors comprises generating at least a first set of actuator control signals and a second set of actuator control signals. The first set of actuator control signals is coupled to and controls the first and second steering nozzles, and the second set of actuator control signals is coupled to and controls the first and second trim deflectors. The acts of generating and coupling the first set of actuator control signals and the second set of actuator control signals result in inducing any of a net yawing force, a net rolling force, and a net trimming force to the iu marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second steering nozzles and the first and second trim deflectors. Also disclosed is a system for controlling a marine vessel.

A method and a system for controlling a marine vessel having first and second trim deflectors is disclosed. The first and second trim deflectors have a first surface having a first area and a second surface having a second area, wherein the second planar surface is coupled to the first surface. The method and system control the first and second trim deflectors to induce any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second trim deflectors.

A method and a system for controlling a marine vessel having first and second trim deflectors is disclosed. The first and second trim deflectors have a first surface having a first area and a second surface having a second area, wherein the second planar surface is coupled to the first surface. The method and system control the first and second trim deflectors to induce any of a net yawing force, a net rolling force, and a net trimming force to the marine vessel without inducing any other substantial forces to the marine vessel by controlling the first and second trim deflectors.

A watercraft is described herein. The watercraft comprises a body including an outer surface having at least one recess extending generally inward. The watercraft also comprises a cassette disposed at least partially within the at least one recess, the cassette housing a drive system including at least one electric motor and at least one impeller coupled to the at least one electric motor. The cassette further comprising a surface having a water intake and a water exhaust port, and wherein the cassette is disposed within the at least one recess such that the base surface of the cassette substantially matches the adjacent outer surface of the body around the recess to form a smooth body outer surface having water intake and exhaust ports therein.

A watercraft is described herein. The watercraft comprises a body including an outer surface having at least one recess extending generally inward. The watercraft also comprises a cassette disposed at least partially within the at least one recess, the cassette housing a drive system including at least one electric motor and at least one impeller coupled to the at least one electric motor. The cassette further comprising a surface having a water intake and a water exhaust port, and wherein the cassette is disposed within the at least one recess such that the base surface of the cassette substantially matches the adjacent outer surface of the body around the recess to form a smooth body outer surface having water intake and exhaust ports therein.