Hmmm do you mean to say all three units have there own 20 amp breaker and all are on the same 30 amp service? If so All three units running at the same time would draw over 30amps, which would flip the main 30 amp circuit breaker, also any two units starting at the same time would again pull more than 30 amps and again also trip the circuit. At no time can you pull more than 30amps all together without tripping the main breaker if all you have is a 30 amp service, you may have been able to get away with it for a little with all brand new air con units but as they get older they will draw more amps just running just the way it is, nothing wrong or broken there. Soft start would fix the two units tripping the breaker when starting up together, but will not fix you running 3 units at the same time. Kinda an odd setup and don’t know many marine electricians that would ever consider setting it up like that because 1 30 amp service is just not big enough for running 3 16000btu units, and you are lucky your breaker is tripping, if it wasn’t you would be headed quickly towards a fire. You should pull one of the ac units off that 30 amp service and put it on your house load, also find a couple lower draw things on the house load and maybe put it on the air con service to distribute the load a bit better, that is if you have the extra amps not being currently used. Really don’t want to tax a 30 amp breaker to the full 30 amps 100% of the time. I try to aim for around 25 amps constant draw for my max. Other option would be upgrade to 50 amp 240v service. That would Definitly be enough to power 3 16000btu units as well as a rather large house load, like if you had a full electric galley. If you have a full electric galley now you would more than likely not be able to cook, and have that ac unit running while at the same time if you did pull one of those ac units to the house load.