A system for controlling a marine vessel having at least first and second steering nozzles and corresponding first and second reversing buckets is disclosed. The system comprises a processor configured to receive a first vessel control signal and to provide a first set and a second set of actuator control signals. The first set of actuator control signals are to be coupled to and control the first and second steering nozzles and the second set of actuator control signals are to be coupled to and control the first and second reversing buckets. The processor is configured to provide the second set of actuator control signals so that the first reversing bucket and the second reversing bucket are each positioned in one of two discrete positions, in response to receipt of a translational thrust command having least one component in an athwart ship direction.