Abstract: A control system provides steering control commands to a steering actuator of a steering device on a piece of towed marine equipment. A memory in the control system stores setpoint data including positional values for a desired position of the piece of towed marine equipment. A control module is configured to receive the setpoint data, receive process data representing a calculated actual position of the piece of towed marine equipment; and calculate a control command for the steering actuator of the steering device based upon the setpoint data and the process data. A disturbance adjustment calculation module is configured to combine a disturbance value based upon a measured disturbance with a value of the process data and output a disturbance adjustment value. A correction calculator module adds the disturbance adjustment value to the control command to create an adjusted control command for transmission to the steering actuator.

Abstract: A foil system is used with a towed marine cable array to provide downward, upward or lateral lift to the array. The foil system can be coupled with the cable and configured to bias the submerged payload toward a target position. The foil system can include a group of foil sections each having a leading edge collectively defining an angle of attack, and a group of through-cables supporting the group of foil sections within the foil system. A subset of through-cables of the group of through-cables are arranged through front halves of the group of foil sections. This subset of through-cables can be selectively tensionable, and manipulatable to define a tensioned one of the subset of through-cables as being offset from a chord that is defined between the leading edge and a trailing edge of any of the foil sections. The foil system can thus induce one or more angles of attack for the group of foil sections, based on a rotational constraint defined by the tensioned one of the through-cables.