In this task, you are given a sentence or phrase in Xhosa. You must translate it to English in a way that is equivalent in terms of meaning and grammatically correct.

Ukulinganisa yona kumphakamo osezantsi bakhetha isitafu esinqumlayo.
For measuring it at lower altitudes, they preferred the cross-staff.

Imizamo yekusondela kumeya ehlayo okanye ngolwandle olulandelayo phantse rhoqo ibanye ungquzulwano.
An attempt to approach downwind or with a following sea nearly always results in a collision.

Izifakelo ezithiwe nca kwisakhiwo senqanawe okanye kumagxa akwintsika yesixhobo sokuqhuba ukuphelisa ukujinga kwe-"rudder".

Fittings attached to the ship structure or to shoulders on the rudder post to limit the swing of the rudder.