Figure 5: Side and upper views of the FPSO and riser configuration. Global ( 𝐗 𝐆 , 𝐘 𝐆 , 𝐙 𝐆 ) and local ( 𝐗 𝐥 , 𝐘 𝐥 , 𝐙 𝐥 ) reference systems position and orientation are shown. The FPSO and riser catenary plane are considered as being aligned with the sea current, forming an angle 𝜙 c a t with the 𝐗 𝐆 direction in 𝑋 𝐺 𝑌 𝐺 plane.