Ore Offshore Edgetech 4410AL0135 Manual 2021115101838

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4450MA0020 RV C
30 Apr 2010
OPERATION AND MAINTENANCE MANUAL

FOR THE
TRACKPOINT 3 USBL TRACKING SYSTEM
(Includes Models 4450A, 4451A and 4452B)
(Also, Models 4610B, 4211A & 4740A)
ORE Offshore, 4 Little Brook Road, West Wareham, MA 02576 USA
Phone: 508-291-0960 Fax: 508-291-0975 http://www.ore.com
Copyright ©2001 ORE Offshore
All Rights Reserved

Record TrackPoint System Configuration Data
Deck Unit Model: ____________________S/N: ___________________
Filter/Limiter S/N: ________________ (Portable Only)
Hydrophone Model: ____________________S/N: _________________
(Frequency Band: 8-14kHz [____]; 22-30kHz [____]; Other __________)
(NOTE: Filter/Limiter PCB’s and Hydrophone are calibrated as a matched set. An unmatched set
will operate but accuracy will be degraded. )
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
TABLE OF CONTENTS
TABLE OF CONTENTS ...................................................................... i

GLOSSARY OF TERMS ....................................................................iv
PRECAUTIONS ...............................................................................vi
SECTION PAGE
1. GENERAL INFORMATION............................................................................................ 1-1
1.1 LIST OF TYPICAL TRACKPOINT EQUIPMENT .......................................................... 1-2
1.2 SYSTEM SPECIFICATIONS .................................................................................. 1-7
2. INSTALLATION ......................................................................................................... 2-1
2.1 HYDROPHONE INSTALLATION ............................................................................. 2-1
2.1.1 4610B SUGGESTED HYDROPHONE MOUNTING ASSEMBLY ................................... 2-2
2.1.1.1 ATTACHING MOUNTING BRACKET TO PIPE.................................................. 2-4
2.1.1.2 ATTACHING HYDROPHONE TO MOUNTING BRACKET .................................... 2-4
2.1.2 4211A SUGGESTED MOUNTING INSTRUCTIONS................................................. 2-4
2.1.3 4740A VRU/AMPLIFIER SUGGESTED INSTALLATION ........................................... 2-8
2.1.4 CONNECTING DECK CABLE ............................................................................. 2-8
2.2 TRACKPOINT 3 CONSOLE ................................................................................. 2-11
2.2.1 LINE VOLTAGE (IEC CONNECTOR) ................................................................. 2-13
2.2.2 VIDEO........................................................................................................ 2-13
2.2.3 RS-232 CABLE WIRING (BETWEEN SIM & PM) ................................................. 2-13
2.2.4 HYDROPHONE CABLE ................................................................................... 2-16
OPTIONAL INTERFACE INTER-CONNECTS…................................................................. 2-16
2.2.5 SIM - COM#2 COMPASS NMEA INPUT............................................................. 2-16
2.2.6 SIM - SYNCHRONIZATION INTERFACE ............................................................ 2-17
2.2.6.1 SIM - REMOTE-IN TRIGGER .................................................................... 2-17
2.2.6.2 SIM - TRIGGER-OUT .............................................................................. 2-18
2.2.7 SIM - HDG/VRU/DEPTH ANALOG INTERFACE ................................................... 2-18
2.2.7.1 DEPTH INPUT ....................................................................................... 2-19
2.2.7.2 ANALOG COMPASS INPUT....................................................................... 2-19
i
TABLE OF CONTENTS
2.2.7.3 GYRO INTERFACE (OPTIONAL) ................................................................ 2-19
2.2.7.4 ATTITUDE SENSOR................................................................................ 2-20
2.3 HYDROPHONE OFFSETS ................................................................................... 2-21
2.3.1 BEARING OFFSET ........................................................................................ 2-21
2.3.2 HYDROPHONE X AND Y OFFSETS AND HYDROPHONE DEPTH.............................. 2-25
2.3.3 HYDROPHONE-VRU OFFSET .......................................................................... 2-28
2.4 SOFTWARE INSTALLATION ............................................................................... 2-30
2.4.1 INSTALLATION FROM CD .............................................................................. 2-30
3. OPERATION ............................................................................................................. 3-1
3.1 “TRACKMAN” SOFTWARE PHILOSOPHY................................................................. 3-4
3.2 “TRACKMAN” MAIN WINDOW .............................................................................. 3-9
3.3 “TRACKMAN” MAIN & SUB-MENUS ..................................................................... 3-13
3.3.1 FILE MENU.................................................................................................. 3-13
3.3.2 VIEW MENU ................................................................................................ 3-16
3.3.3 SETUP MENU............................................................................................... 3-18
3.3.4 USBL MENU ................................................................................................ 3-45
3.3.5 WINDOW MENU........................................................................................... 3-52
3.3.6 HELP MENU................................................................................................. 3-53
3.4 TRACKING TRANSPONDERS, RESPONDERS AND PINGERS .................................... 3-54
3.4.1 TRANSPONDER MODE .................................................................................. 3-55
3.4.2 RESPONDER MODE ...................................................................................... 3-56
3.4.3 FIXED (ARTIFICIAL) TARGET ......................................................................... 3-57
3.4.4 CONSECUTIVE VS SIMULTANEOUS................................................................. 3-58
3.5 ERROR AND WARNING CODES .......................................................................... 3-70
3.6 TROUBLESHOOTING ACOUSTIC PROBLEMS ........................................................ 3-75
3.6.1 TRANSPONDER MODE .................................................................................. 3-75
3.6.2 ACOUSTIC PROBLEMS IN RESPONDER MODE................................................... 3-77
3.7 RS-232C INTERFACE ....................................................................................... 3-78
3.7.1 GENERAL.................................................................................................... 3-78
ii
TABLE OF CONTENTS
3.7.2 HARDWARE ................................................................................................ 3-79
3.7.3 USBL DECK UNIT TO PC COMMUNICATIONS .................................................... 3-80
3.7.4 TRACKMAN (PC) RS-232 DATA OUTPUT FORMATS ............................................ 3-80
3.7.4.1 “PORE” DATA OUTPUT PARAMETER DESCRIPTION...................................... 3-81
3.7.4.2 “POREB” DATA OUTPUT FORMAT ............................................................. 3-83
3.7.4.3 “POREG” DATA OUTPUT FORMAT ............................................................. 3-86
3.7.4.4 “TTM” DATA OUTPUT FORMAT ................................................................. 3-90
3.7.4.5 “STANDARD” DATA OUTPUT FORMAT ....................................................... 3-91
3.7.4.6 “STANDARD-EC” DATA OUTPUT FORMAT .................................................. 3-92
3.7.4.7 “STD W/PR” DATA OUTPUT FORMAT ........................................................ 3-94
3.7.4.8 “STD-EC W/PR” DATA OUTPUT FORMAT.................................................... 3-95
3.7.4.9 “NCSC” DATA OUTPUT FORMAT ............................................................... 3-97
3.7.4.10 “REV-4” DATA OUTPUT FORMAT .............................................................. 3-98
3.7.4.11 “NUWC-1” DATA OUTPUT FORMAT ..........................................................3-100
3.7.4.12 RS-232 PARAMETER DESCRIPTION .........................................................3-103
3.7.4.13 TRACKMAN REMOTE INTERFACE.............................................................3-105
3.7.4.14 NCSC COMMAND STRUCTURE ................................................................3-105
3.8 SHUTDOWN ..................................................................................................3-113
4. PRINCIPLES OF OPERATION ....................................................................................... 4-1
4.1 HYDROPHONE/VRU ASSEMBLIES......................................................................... 4-6
4.2 TARGET ACQUISITION MODULE ........................................................................ 4-10
4.3 DETECTION CIRCUITRY.................................................................................... 4-10
4.4 DATA TRANSFER ............................................................................................. 4-10
4.5 TRANSMIT SIGNAL .......................................................................................... 4-10
5. SYSTEM MAINTENANCE ............................................................................................. 5-1
5.1 SIGNAL INTERFACE MODULE MAINTENANCE......................................................... 5-1
5.1.1 HYDROPHONE CALIBRATION FILES .................................................................. 5-1
5.1.2 DOWNLOADING OF CODE tO SIM DSP .............................................................. 5-3
5.1.3 FUSE REPLACEMENT ...................................................................................... 5-5
iii
TABLE OF CONTENTS
5.1.4 PRINTED CIRCUIT BOARD (PCB) REMOVAL/REPLACEMENT .................................. 5-5
5.1.5 PCB HANDLING ............................................................................................. 5-6
5.2 PROCESSOR MODULE ........................................................................................ 5-6
APPENDIX-A CARE OF CABLES .......................................................................................... 1
APPENDIX-B ELECTROSTATIC DISCHARGE (ESD) ................................................................ 1
APPENDIX-C WARRANTY STATEMENT................................................................................. 1
APPENDIX-D DRAWINGS .................................................................................................. 1
iv
GLOSSARY OF TERMS
NAME DESCRIPTION
Azimuth Typically used when referencing a target position with respect to North or a
compass heading. (Could also refer to a compass heading referenced to
north.)
Beacon Any underwater sound source. Sometimes abbreviated as "BCN".
Bearing Typically used when referencing target position with respect to local coordi-
nates, for example with respect to the hydrophone or vessel bow.
Consecutive Tracking of more than one target by alternating (cycling through) the inter-
Tracking rogation signals between all of the targets.
Depression An- The downward angle measured from the plane of the hydrophone receive
gle elements to the target. (0 deg. to 90 deg.)
EPROM Erasable Programmable Read-Only Memory. Nonvolatile memory in which

data can be read from.
Horizontal The distance from the hydrophone or offset point to the target on the X, Y
Range plane. (plan view)
Hydrophone An underwater listening device.
Interrogate To cause a response from an underwater device such as a transponder.
IPS IPS is a Windows® based program that interfaces to DGPS and Trackman
for lat/long positioning. (Integrated Positioning System)
Pinger An underwater sound source which transmits at a fixed preset rate, asyn-
chronously to a tracking device.
RS-232 Inter- A standard interface for serial communications.

face
Responder An underwater sound source which responds to an electrical signal (interro-

gated via a hardwired link) and returns with an underwater acoustic reply.
Sometimes abbreviated as "RSPDR".
Simultaneous Ability to track more than one target at the same time, either by triggering
Tracking synchronously or asynchronously as long as the replies do not arrive at the
hydrophone at the same time.
Slant Range The range from a target to the listening hydrophone. (Computed by the
travel time from target to hydrophone multiplied by the speed of sound in
water.)
Telemetering Can either be a transponder or a responder. It outputs two replies in re-
v
GLOSSARY OF TERMS
Beacon sponse to an interrogation. The first reply is the navigation pulse for the
TrackPoint 3 and the second reply is the telemetry pulse. The time delay
between the two replies is proportional to the sensor output on the teleme-
try beacon.
Trackman ORE’s Windows based TrackPoint Interface Software. Communicates with

the TrackPoint Deck Units to allow modification of the target & system pa-
rameters and also outputting of processed data to Navigation packages.
TrackPoint 3 ORE Offshore’s Model 4450A USBL Tracking System. A high accuracy survey
quality acoustic navigation system.
Transponder An underwater sound source which responds to an underwater signal (de-

vice is interrogated acoustically) and returns with an underwater acoustic
reply. Sometimes abbreviated as "XPDR".
Turn Around A preset time delay, built into a transponder or responder, between when a
Time device is interrogated and when it replies. The delay is calibrated at the
xponder to compensate for variations in receiver propagation delays.
USBL Ultra Short BaseLine - A type of acoustic navigation system which utilizes an
array of receiving elements spaced very close together (within inches). (As
opposed to Long Baseline Systems)
VRU Vertical Reference Unit - Used to compensate for pitch and roll motion of the
ship.
X The port (-) to starboard (+) direction which the target is referenced to
(e.g., bow of vessel or north).
Y The aft (-) to bow (+) direction which the target is referenced to. (e.g., bow
of vessel or north)
Z The targets depth. Referenced from the plane of the hydrophone elements
or offset point to the target.
vi
PRECAUTIONS
A "NOTE" message is used to emphasize a certain operation or condition.
NOTE: "____________________________________________________________."
A "CAUTION" message is noted where an operational hazard to the equipment could exist.
CAUTION
A "WARNING" is used where an injurious or life threatening condition to an operator, installer or

troubleshooter could occur.
************* WARNING *** *********
NOTE: Routinely this system is a commercial target tracking system and should not be used as a
life saving device with manned submersibles.
ORE Offshore, 4 Little Brook Road, West Wareham, MA 02576 USA
Phone: 508-291-0960 Fax: 508-291-0975 http://www.ore.com
Copyright ©2001 ORE Offshore
vii
PRECAUTIONS
viii
SECTION ONE
GENERAL INFORMATION
TRACKPOINT 3 GENERAL INFORMATION
1. GENERAL INFORMATION
The TrackPoint 3 top-side Command/Display Module consists of three 2U chassis’ (3.5 inches high
each). See Figures 1-1 and 1-2. A 2U TrackPoint Signal Interface Module (Pre-Processor) a 2U
TrackPoint Processor running Windows® software along with ORE’s “Trackman” (TrackPoint Man-
ager) Software and a 2U Keyboard & LCD monitor. The TrackPoint 3 system is compatible with the
existing TrackPoint II components such as the Hydrophone Model 4610B, 4740A/4211A combina-
tion Filter/Amplifier & Hydrophone and the deck cable Model 4110B. If upgrading from an older
TrackPoint II System, the top-side Command/Display Module (Model 4410) is replaced with this set
of rack mounted electronics that fit into the existing space.
The heart of the system is the ORE TrackPoint Model 4450A Signal Interface Module. It is an in-
tegrated, Ultra-Short BaseLine (USBL) acoustic signal processor designed to operate with up to
four targets simultaneously (Model TP3-S) for a wide range of subsea navigation and relocation
tasks. It is contained in a 2U rack mount chassis and interfaces to the Hydrophone and also the
Processor Module (running Windows software). It contains the CPU & Signal Processor Cards, Trans-
mitter and power supplies. This module receives signals from the Hydrophone’s three listening ele-
ments and also Transmits signals to its interrogation transducer.
The Signal Interface Module interfaces to the ORE USBL Hydrophone Model 4610B via its deck ca-
ble Model 4110B. (It can also interface to the Models 4740A VRU/Amplifier and 4211A Hydrophone
for improved pitch/roll performance and faster vessel operation (Through-Hull Installation).) The
Signal Interface Module receives the signals from the Hydrophone and sends the raw data to the
Processor Module for calculation of target position. The target types consist of transponders, re-
sponders or free running pingers.
The Keyboard & LCD Monitor (Model 4452A) are an integrated unit packaged in a 2U (3.5 inch
height) rack mount chassis. It allows the separate use of either device. The keyboard can be pulled
out and used to setup TrackPoint parameters, slid back in place and then locked with key to prevent
tampering with software/setup. The LCD monitor can be folded down and slid back inside rack if
setup or grid display is not required or kept vertical for continuous target viewing.
The Processor Module (Model 4451A) is a 2U rack mount chassis containing a P3 Processor (mini-
mum), Windows XP operating system and the new TrackPoint MMI (Man Machine Interface) soft-
ware, “Trackman” (TrackPoint Manager - ORE’s Windows based TrackPoint Interface Software.
Communicates with the TrackPoint Deck Units to allow modification of the target & system parame-
ters and also outputting of processed data to Navigation packages.). The Processor Module com-
municates with the Signal Interface Module (Model 4450A) via one of its RS232 ports. The Proces-
sor sends commands / parameter setup data to the Signal Interface Module and receives raw bea-
con-positioning data from the Signal Interface Module. The Processor sends the formatted beacon
data out another of its other RS232 ports to interface to a Navigation System. It sends video sig-
nals to the LCD Monitor to display the target position on the screen. The Keyboard/Mouse provide
user interface to the Trackman program.
1-1
The TrackPoint 3 Signal Interface Module can also be operated from a laptop instead of the Models
4451A and 4452A. Laptop requires a minimum of one built–in RS232 communications port.
1.1 LIST OF TYPICAL TRACKPOINT EQUIPMENT
A typical Rack Mount TrackPoint 3 system consists of the following equipment. See Figure 1-3.
ITEM PART NUMBER DESCRIPTION QTY
Shipboard:
1. TP3 CONSOLE (1) MODEL 4450A TRACKPOINT USBL SIGNAL INTER- 1

FACE MODULE
(1) MODEL 4451A PROCESSOR MODULE
(1) MODEL 4452A KEYBOARD/LCD MONITOR
(1) RACK ENCLOSURE
2. 4610B MODEL 4610B HYDROPHONE (22-30 kHz) 1
3. 4110B MODEL 4110B DECK CABLE 1
Subsea:
4. 4330B MODEL 4330B MULTIBEACON 1
5. 4324C MODEL 4324C CHARGER 1
or… System configured as a desk top unit with customer furnished Laptop or PC.
ITEM PART NUMBER DESCRIPTION QTY
Shipboard:
1. TP3 CONSOLE (1) MODEL 4450A TRACKPOINT USBL SIGNAL INTER- 1

FACE MODULE
2. 4610B MODEL 4610B HYDROPHONE (22-30 kHz) 1
3. 4110B MODEL 4110B DECK CABLE 1
Subsea:
4. 4330B MODEL 4330B MULTIBEACON 1
5. 4324C MODEL 4324C CHARGER 1
1-2
TRACKPOINT 3 CONSOLE - FRONT VIEW

FIGURE 1-1
1-3
Monitor folds down and slides

inside chassis when not in use or
when Trackpoint is sending data to 3.4 inches
Navigation system directly via
RS232 and local display is not
required.
Trackpoint Processor
Status PWR
LED’s ON
10.5 inches
0
Trackpoint Interface Module
Keyboard can be
stored (slid inside rack
so as not to protrude)
once system is set up.
Keyboard / Monitor
19 inches
TRACKPOINT 3 CONSOLE, VIEW WHEN IN OPERATION

FIGURE 1-2
1-4
TRACKPOINT 3 SYSTEM COMPONENTS

FIGURE 1-3
1-5
FIGURE 1-4
1-6
1.2 SYSTEM SPECIFICATIONS
TRACKPOINT 3 SYSTEM SPECIFICATION:
SYSTEM ACCURACY SYSTEM
Pinger - Dep angle >45° from Horizontal. Abso- +/- 0.75% RMS of Slant Range
lute Accuracy in Horizontal Position
Transponder/Responder - ± 0.5% RMS of Slant Range

Absolute Accuracy in Horizontal Position (over
entire hemisphere)
Repeatability Accuracy ± 0.3% RMS of Slant Range
Slant range accuracy ± 0.5meter RMS (assuming correct speed of sound)
Slant Range Resolution 0.2 meters
HYDROPHONE
VRU (STATIC CONDITIONS - NO ACCELERATION)
Range ± 40°
Accuracy 0-10° ± 0.1°
Accuracy 10-45° ± 1% of angle
RECEIVE SIGNAL SPEC
Frequency 22-30kHz in 500Hz increments
Pulse Duration 1.33ms min; 10ms typ
Signal to Noise Ratio >40dB @ WB filter
SIGNAL INTERFACE MODULE MODEL 4450A
Processor: TMS320CV5402
RS232 Ports: 3
Chassis: 2U rack Height, Black
Dimensions: ≈ 18.9” (W) x 3.46” (H) x 20” (D)
Weight: 21 lbs (9.5kg)
Power: 100-240 VAC, 50-60Hz, 50 W
Sub-assemblies: CPU, Target Acquisition Module (1), Peripheral Interface

Card, Transmitter & Power Supply
1-7
Sequential or Consecutive Tracking Up to 4 Targets
DIFF KEY INPUT – RESPONDER (4)
Via rear panel Synchronization connector Accepts single ended or differential signal input to an opto-
coupler.
pulse widths min = 200 micro-seconds
pulse width max = up to the width of the transmit-out burst
TRIGGER OUT
Via rear panel Synchronization connector Sync for Responder operation;

Differential Output (0-5VDC) Either side can be used as a
positive or negative TTL pulse when used with GND.
ANALOG INPUTS
Analog Voltage input for Depth Uni-polar 0-6VDC
Analog Voltage input for Compass Uni-polar 0-6VDC
Analog Voltage input for Pitch & Roll ±10VDC input
Absolute Accuracy (±10VDC, -10° to 50°C) 0.27%
Resolution of A/D Converter A/D converter = 16-bits
SIGNAL INTERFACE MODULE RS-232

PORTS
Comport #1 Used for Communications with Processor Module for setup

of parameters and sending of target data.
Comport #2 Compass Input, typically
Comport #3 GPS Input for timing, typically
1-PPS INPUT
Via rear panel BNC Accepts a 1-PPS trigger from GPS ; Opto-coupler input. (fu-
ture)
SIGNAL INTERFACE MODULE TRANS-

MITTER SPECS
Frequency 8 - 30kHz in 500Hz increments
Pulse Width 1-15ms in 0.1 ms increments
Repetition Rate 0.5 to 20 seconds
Output Power 100 or 400 Watts into 300Ω Load
Sound Pressure Level 17-20kHz, @ 400W - Nominal 192dB re 1µPa @ 1m
1-8
(Hydrophone Interrogator)
SLANT RANGE COUNTER
Slant Range Counter 0.2 meter resolution
KEYBOARD / LCD MODULE MODEL 4452B
LCD Panel: 17” LCD Panel
Display type: TFT/LCD active matrix color
Display Area: 337.9mm (H) X 270.3mm (V)
Viewing angle: 160 o (H) 160 o (V)
Resolution: 1280 X 1024 (60/70/75Hz)
Contrast ratio: 1000:1 typical
Brightness: 280cd/m cd/m2 typical
Pixel pitch: 0.264mm (H) x 0.264mm (W)
Panel color: 16.2 million display colors
Back Light: 4 CCFTs (Cold Cathode Fluorescent tube)
Storage temp.: -25ºC to 60ºC
Operating temp.: 0ºC to 50ºC
MTBF: 50,000 hours
Video Input Signal: Analog RGB 0.7Vp-p
Video Input Conn: 15-pin D-Sub connector
Chassis: 2U rack Height, Black
Dimension: 19.0 (48.3cm) (W) X 3.5” (8.9cm) (H) X 13.25” (33.7cm)

(D)
Weight: 39 lbs (17.7 kg)
Power supply: 100-240V 2A, 50-60Hz, 12V 5A Output (≈75W)
PROCESSOR MODULE MODEL 4451A
Power Supply: 300 Watt ATX Power Supply
Processor: Minimum: Intel P3 or P4 - 1GHz + Socket 370
Single Board Computer: Socket 370 Single Board Computer, P3, 100MHz FSB, w/
1-9
AGP Video, Ethernet, 2-RS232 ports, 1-Parallel port, PS2-

Key\Mouse
Memory: Minimum: 256MB PC133, 32x64 DIMM
Hard Drive: Minimum: 40 GB IDE Hard Drive, 7200 RPM
Floppy Drive: 1.44 MB, 3 1/2"
CD ROM: 56X CD-R0M
RS232 Ports: 4 total
Comport #1 Used for command/setup of TrackPoint and output of data

to PINS. Baud Rates adjustable from 2400 to 115k
Comport #2 Used for Communications with Signal Interface Module

(19,200 typical)
Parallel Port: 1
Operating System: MS Windows 2000 Professional SP3
Ethernet Port: 1
Chassis: Industrial 2U Rack Height, Black, Fan & Filter, Front door
protects disk drives Front panel supports keylock and power
switch, reset button & keyboard connector Automatic fan-
failure detection
Dimensions: 18.9” (W) x 3.4” (H) x 17.1” (D)
Weight: ≈ 25 lbs (11.4 kg)
Power: 115/230 VAC, 200 W
Shock: 10 G acceleration peak to peak (11 ms)
Vibration: 5~17Hz, 0.1 ”double amplitude displacement; 17~640Hz,

1.5 G acceleration peak to peak
MISCELLANEOUS
CONSOLE PHYSICAL SPECIFICATIONS NOT INCLUDING RACK ENCLOSURE
Height 10.5 inches (26.7cm)
Width 17 inches (43 cm)
Depth 20 inches (51 cm)
Weight Estimate : 95 lbs (43kg)
1-10
CONSOLE PHYSICAL SPECIFICATIONS INCLUDING RACK ENCLOSURE
Weight (including 6U Rack Enclosure, 4450A, 107 lbs (48.5kg)

4451A & 4452A)
ENVIRONMENTAL SPECS
TP3 Console Temperature Rating Operating: -0° to 50° C
Storage: -25° to 60° C
Hydrophone Temperature Rating Operating: -4° to 40° C
Storage: -40° to 70° C
POWER REQUIREMENTS
Voltage 115-230 AC (auto switching)
Frequency 50-60 Hz
Power 300 Watts
TrackPoint Processor to Signal Interface Module S/W Requirement Spec
Set up of parameters for the TrackPoint 3 is via Windows based software. Command and configura-
tion via a menu driven parameter listing. This Windows based software will perform many of the
functions the TrackPoint II does today, including data display and plotting, command and configu-
ration setup, and beacon position output to a Navigation Processor. The software receives the raw
phase / timing data from the Signal Interface Module, processes it to determine the final X, Y & Z
position of each target. This calculated position is typically sent to a Navigation software package /
processor for positioning of targets in latitude /longitude coordinates.
1-11
1-12
SECTION TWO
INSTALLATION
TRACKPOINT 3 INSTALLATION
2. INSTALLATION
This section includes instructions for designing and implementing a 4610B hydrophone mounting
assembly, making proper attachment of the deck cable and back panel interconnects. It also in-
cludes suggested mounting arrangements for the Model 4211A (3" Hydrophone) and Model 4740A
VRU/Amplifier Assembly. The Model 4211A Hydrophone and Model 4740A VRU/Amplifier are cali-
brated as a set and perform the same function as the complete Model 4610B Hydrophone assem-
bly. Both configurations have the same performance specifications.
Hydrophone bearing, X, Y, Z offsets and pitch/roll offsets are generally determined at the time of
installation. This section includes sample procedures for determining those offsets.
2.1 HYDROPHONE INSTALLATION
The manner and location in which the hydrophone assembly is mounted on the vessel is the single
most crucial element in the overall performance of the tracking system. In choosing a mounting
location, the operator should keep in mind that the TrackPoint II is by nature an extremely sensi-
tive acoustic system. The hydrophone assembly must be in a position to "hear" the acoustic pulses
coming from the pinger, transponder, or responder in use. Mount the hydrophone as far as possi-
ble from noise sources, such as, thrusters, echo-sounder transducers, main engines, generators
and other acoustic systems.
Ideally, the hydrophone should be mounted far enough from the nearest reflector to allow the di-
rect arrival of a signal from the acoustic source before a reflected signal arrives. The minimum
recommended distance between the hydrophone array and the nearest reflector (which is usually
to the vessel's hull or keel) is one meter*. It is also important to keep the hydrophone below the
level of the vessel's keel for 360-degree coverage.
System performance can be degraded by "multi-path," or underwater signal reflections and rever-
beration. To minimize the possible effects of multi-path, choose a hydrophone location that is as far
away as possible from any surface that would make a good reflector of an acoustic pulse. Any hard
plate or structure near the hydrophone has the potential to reflect pulses into the hydrophone. The
air-water interface is also an extremely efficient acoustic reflector. Avoid any mounting locations
that would place the hydrophone in the proximity of bubbles.
* 1 meter = (1.33 milliseconds x 1500 meters/second) ÷ 2 way travel time
Consult the nearest ORE representative for additional information on a specific installation.
2-1
2.1.1 4610B SUGGESTED HYDROPHONE MOUNTING ASSEMBLY
The main function of the mounting assembly is to support the hydrophone vertically in the water.
Mount it at reasonable distance from the vessel's hull and below the level of the keel. The mount-
ing should be rugged enough to withstand the expected forces during the planned operation, and
easy to raise and lower. The type and size of the mounting recommended for the TrackPoint 3
hydrophone varies with the size of the surface vessel and the intended application.
The Model 4610B Hydrophone is supplied with a universal mounting bracket. The mounting
bracket attaches to the end of a suitable length of pipe. Choose the size and material of the pipe
according to the application. With the system in operation and underway at several knots, a five or
six-inch schedule 80 steel pipe with angle-iron fairings is recommended. On small vessels, the
TrackPoint 3 has been used with the hydrophone mounted to a two-inch aluminum pipe. Figure 2-1
illustrates a suggested mounting arrangement typical for slow-speed operation. Refer to drawing
100909 for mounting flange dimensions.
In the suggested mounting illustrated in Figure 2-1, a length of pipe with an inner diameter slightly
greater than 3 inches is permanently attached to the deck. A length of pipe with a 3-inch outer di-
ameter, permanently attached to the mounting pole, is fitted into the larger pipe and secured with
a locking pin. This secures the mounting pipe to the vessel for use, but allows the pipe to be re-
moved if necessary.
A support plate near water level helps secure the pipe in a vertical position. The angle iron on the
underwater portion of the pipe adds stiffness and reduces vibration.
The mounting bracket and hydrophone are attached to the lower end of the pipe with eye bolts.
The pipe has forward and aft guys leading from the point of attachment and secured on deck to
prevent bending or swaying.
In general, consider the following when designing the hydrophone mounting.
1. The mounting pipe should be long enough to position the hydrophone below the vessel keel
when in the vertical position.
2. The pipe used should be stiff enough to prevent vibration or strumming when the vessel is
underway.
2-2
FIGURE 2-1
3. Attach the pipe to the side of the vessel so that the pipe and hydrophone assembly can be
easily removed and set on board, if required, to tie the vessel up alongside other vessels or
at dockside.
4. The entire assembly should be easy to raise and lower with available manpower or winches.
5. Hydrophone heading (appointed by the index mark) should align with vessel heading.
6. Forward and aft guys are used to hold the mounting pipe in vertical position.
2-3
7. A cradle or stop should be used to ensure that the hydrophone returns to the same position
each time it is deployed.
2.1.1.1 ATTACHING MOUNTING BRACKET TO PIPE
The hydrophone mounting bracket typically attaches to the mounting pipe by drilling two 1/2-inch
(13-mm) holes through the end of the pipe. Space the holes six inches (15.3 cm) apart, and align
parallel to the centerline of the vessel. The fore and aft alignment is important in determining
hydrophone offsets (section 2.3).
When drilling the lower hole, keep in mind that you need enough space between the end of the
pipe and the connector on the top of the hydrophone itself to connect and disconnect the cable. For
this reason, we recommend that the lower mounting hole be no more than two inches (5 cm) from
the end of the pipe.
If you are using a mounting pipe with a sufficient inside diameter to allow the hydrophone cable to
be fed through to the hydrophone, remember to run the cable through the pipe before placing the
1/2-inch (13-mm) bolts in the mounting holes, as the connector will not pass when the bolts are in
place.
2.1.1.2 ATTACHING HYDROPHONE TO MOUNTING BRACKET
The index mark on the hydrophone assembly (see Figure 2-2) indicates the hydrophone heading.
The "spine" of the mounting bracket should be aligned with the index mark on the hydrophone. The
face of the mounting bracket fits over the hydrophone end cap and is bolted on as shown.
2.1.2 4211A SUGGESTED MOUNTING INSTRUCTIONS
The model 4211A Hydrophone is intended for installation through a hull mounted gate valve. The
hydrophone is first installed in a mounting staff and the mounting staff is projected through a gate
valve. This allows for ease of deployment, recovery and maintenance of the hydrophone. An exam-
ple of a gate valve type installation is shown in Figure 2-3. For information on the Model 4630D
Motorized Gate Valve System contact ORE Offshore.
Figure 2-4 (4211AE0008) shows the suggested machining dimensions necessary for mounting the
hydrophone to a staff.
NOTE: The hole next to the alignment slot in the staff is the BOW reference point.
2-4
FIGURE 2-2
2-5
FIGURE 2-3
2-6
Hydrophone Mount Machining Diagram
FIGURE 2-4
The hydrophone mounting staff must extend the hydrophone far enough from the nearest reflector,
allowing the direct arrival of a signal from the acoustic source before a reflected signal arrives. This
2-7
distance is a minimum of 1 meter. It is also important to keep the hydrophone below the level of
the ship's keel for good 360 degree coverage.
When designing the hydrophone mount/deployment system keep in mind that the shaft be keyed
to allow a repeatable bearing orientation. This ensures that the bow reference always returns to
the same fixed position when the hydrophone is deployed.
The gate valve/mounting staff assembly should be installed in as close to a vertical position as pos-
sible.
The hydrophone mount can be installed offset from the centerline of the vessel. An X and Y offset
can be input to the C/DM to correct for these offsets. Refer to section 2.3.
2.1.3 4740A VRU/AMPLIFIER SUGGESTED INSTALLATION
The Model 4740A VRU/Amplifier should be installed as close to the pitch and roll center of the ves-
sel as possible. This reduces positional errors introduced by the VRU due to the horizontal accelera-
tion the unit experiences. It is typically mounted to an interior bulkhead or other convenient verti-
cal structure. The normal installation configuration is with the 4740A mounted on a bow (forward)
facing bulkhead. Refer to Figure 2-5. If the 4740A cannot be mounted in this configuration then it
can be mounted 90°,180° or 270° offset from it. The menu parameter VRU/ORIENTATION com-
pensates for this offset by switching between NORM (bow facing bulkhead mtg), STARBOARD, AFT
or PORT. Refer to section 2.3.
Keep in mind that the deck cable lengths are typically 100ft. This allows the C/DM to be mounted a
maximum of 100ft from the VRU/Amplifier and the VRU/Amplifier mounted 100ft from the hydro-
phone.
2.1.4 CONNECTING DECK CABLE
Before connecting the deck cable to the hydrophone end cap, check that both the O-ring in the end
cap and the O-ring in the connector are in place. Clean thoroughly both the end cap and the cable
connection with a cotton swab or tissue, and lubricate the O-rings. Refer to Figure 2-6, Deck Cable
Diagram.
A barium-based O-ring lubricant* is supplied for this purpose and is recommended over silicone-
based lubricants. Exercise care to avoid contamination of the hydrophone by any type of grease or
oil.
2-8
MODEL 4740A INSTALLATION
FIGURE 2-5
2-9
FIGURE 2-6
CAUTION
2-10
DO NOT use silicone grease to lubricate the O-rings. Should silicone come in contact with
the hydrophone potting, proper sound transfer from water to hydrophone will be pre-
vented. Attempting to remove silicone from the hydrophone can damage the potting ma-
terial.
The cable connection fits into upper and lower guides in the end cap, tighten securely by hand.
NOTE: To ease Cable-to-Hydrophone connector mating, once guides line up, apply force
with one hand on the Cable potted section while threading the stainless steel locking
sleeve over the Hydrophone connector. This is to prevent overstressing the molded
threads, thus stripping the connector or galling of the stainless threads (if applica-
ble).
* Parker O-ring lubricant.
Parker Seal
P.O. Box 11751
Lexington, KY 40512
2.2 TRACKPOINT 3 CONSOLE
The convenience and comfort of the operator are the primary considerations for installing the rack
mounting console. The system consists of three separate 2U enclosures (3.5 inches high each);
Model 4450A Signal Interface Module, Model 4451A Processor Module and Model 4452A Key-
board/Display Module. Place the unit where it is most conveniently operated and protected from
foul weather and sea spray. E.g., Indoors in a 19 inch rack mounting enclosure. If space permits
the Keyboard/Display can be configured as shown in Figure 2-7, with the Display at the top. This
allows the Display to be locked into position to keep from sliding and also allows operator to view
the Signal Interface Module’s LED’s. For an alternate configuration see Figure 1-2; the Display is on
the bottom which has the least impact on equipment mounted above the system, but requires a
hold-down bracket to keep Display from sliding with the motion of the vessel.
The system requires the following inter-connections along with a suitable power source and free
access for connecting the deck cable.
2-11
13.9"
Monitor folds down and slides

inside chassis when not in use or
when Trackpoint is sending data to
Navigation system directly via
RS232 and local display is not
required.
Keyboard / Monitor
10.5"
Trackpoint Processor
COM PORTS TARGET POWER

1 PPS 1 2 3 1 2 3 4
GPS XMT TRIG IN +24 -12 +12 +5
RCV INTERR I
SELF TEST
RECEIVE
ORE Offshore Trackpoint III
19 inches
TRACKPOINT 3 CONSOLE WITH DISPLAY AT TOP

FIGURE 2-7
2-12
Inter-module connections:
♦ Video out from Processor Module to Keyboard/Display

♦ Keyboard Input from Keyboard/Display to Processor
♦ Mouse Input from Keyboard/Display to Processor
♦ RS232 from Processor to Signal Interface Module
♦ Hydrophone Deck Cable to Signal Interface Module
2.2.1 LINE VOLTAGE (IEC CONNECTOR)
The TrackPoint 3 Module’s line voltage can be in the range of 98 to 132 or 170 to 264; 50 or 60 Hz.
The unit automatically switches to the higher range when the voltage is sensed. If the voltage goes
below the high range minimum or 170, the system does not automatically switch to the lower
range, it must be turned off and on again. Connect the three modules to a suitable power source.
2.2.2 VIDEO
Connect the “Y” cable from the Processor K/M Combo connector to the Keyboard/Display Mouse
connector and Keyboard connector. The Green Keyboard/Display cable goes to the Mouse connec-
tor on the Processor’s K/M Combo cable and the Blue goes to the Keyboard connector on the Proc-
essor’s K/M Combo cable. See Figure 2-8.
2.2.3 RS-232 CABLE WIRING (BETWEEN SIM & PM)
Connect the Processor Module’s 9-pin COM1 connector to the Signal Interface Modules 9-pin COM1
connector. Refer to Figures 2-9, 2-10 and 2-11. The TrackPoint (SIM) RS-232 interface is designed
to act as a "DCE" (Data Communication Equipment) device. It does NOT require a NULL modem to
connect between the two units. This communication link configures the Signal Interface Module
(target & system parameters using SPC packets) via commands from the Processor’s Trackman
(Windows® program) and also sends target data to the Processor Module for further processing.
NOTE: Connect the RS-232 cables between each device before turning on the TrackPoint or
the terminal. If the RS-232 cable is connected after Signal Interface Module is turned
on, the unit may experience microprocessor malfunctions. Turn power off and then
on again to reset unit. The cable wiring is shown in Figure 2-11.
2-13
GREEN P U R P LE K V M C A B LE C O N N E C TIO N
C O N N E C TO R TO C O N N E C TO R TO AT REAR PANEL OF
M OUSE KEYBOARD PROCESSOR
P R O C E S S O R M O D U LE M O D E L 4451A
K V M C A B LE IN S TA LLA TIO N
FIGURE 2-8
KEYBOARD & MOUSE COM2 - TO REMOTE

INPUT FROM CONTROL / NAV INTERFACE
KEYBOARD/LCD
MONITOR VIDEO OUTPUT TO PM COM1 - TO
KEYBOARD/LCD 4450A - COM1
MONITOR
TRACKPOINT PROCESSOR MODULE MODEL 4451A REAR PANEL

FIGURE 2-9
2-14
COM #1 COMMAND 1PPS DGPS

SPARE ANLG SENSOR INPUTS HYDROPHONE
(HDG/VRU/DEPTH)
COM #2
TARGET
SYNCHRONIZING
COM #3
ACC.
ANALOG
COMPASS
EXTERNAL
COM1 - CONNECTS TO INPUT
TRIGGER I/O
PROCESSOR’S COM1 ANALOG
0 to 3-12VDC IN
5V DIFF OUT PITCH/ROLL
FAN/FILTER AC INPUT ANALOG DEPTH INPUT
& GUARD (115-230 VAC) INPUT 0-6VDC
(50/60Hz) COM2 - COMPASS HYDROPHONE
FUSE - 3A SB INPUT FOR NMEA INPUT
5mm X 20mm
TRACKPOINT SIGNAL INTERFACE MODULE REAR PANEL CONNECTIONS
FIGURE 2-10
2-15
RS232 CABLE CONFIGURATION

MODEL 4451A MODEL 4450A SIGNAL
PROCESSOR MODULE INTERFACE MODULE
9-Pin Connector Pin #’s Signal Direction 9-Pin Connector Pin #’s
Data Transmitted
PIN 2 - TD PIN 2 - TD
TO Trackpoint
Data Transmitted
PIN 3 - RD PIN 3 - RD
FROM Trackpoint
PIN 5 - GND PIN 5 - GND
TRACKPOINT COM#1 INTERFACE
FIGURE 2-11
2.2.4 HYDROPHONE CABLE
Connect the Hydrophone Deck Cable Model 4110B from the Hydrophone to the Signal Interface
Module, Model 4450A.
OPTIONAL INTERFACE INTER-CONNECTS…
2.2.5 SIM - COM#2 COMPASS NMEA INPUT
The Signal Interface Module (Model 4450A) COM #2 I/O port is wired the same as a PC ("DTE",
Data Terminal Equipment). It is used for the input of NMEA compass data. See Figure 2-10 for
Rear Panel location and Figure 2-12 for wiring.
COM#2 RS232
CABLE CONFIGURATION
NMEA COMPASS MODEL 4450A SIGNAL
OUTPUT INTERFACE MODULE
Typical 9-Pin COM#2's 9-Pin

Connector Pin #’s Signal Direction Connector Pin #’s
Data Transmitted
PIN 2 - TD PIN 3 - RD
TO Trackpoint
Data Transmitted
NC PIN 2 - TD
FROM Trackpoint
TRACKPOINT COM#2 INTERFACE
FIGURE 2-12
2-16
2.2.6 SIM - SYNCHRONIZATION INTERFACE
2.2.6.1 SIM - REMOTE-IN TRIGGER
The TrackPoint can be externally triggered via the rear panel SYNCHRONIZATION connector (MS-
3102A-20-29S). A mating connector (MS-3106A-20-29P) can be connected between an external
key source (trigger source can range from TTL to +15V) and the TrackPoint Interface Module. See
Figure 2-13. Each Target Acquisition Module (4) can be triggered independently of the other. Con-
nect the external trigger between the IN-LO and the IN-HI.
NOTE: The REMOTE-IN trigger is optically coupled.
J1 - SYNCHRONIZATION
A TRIG-IN1-LO
B TRIG-IN1-HI
C TRIG-IN2-LO
D TRIG-IN2-HI
E TRIG-IN3-LO
F TRIG-IN3-HI ( EXAMPLES OF TRIGGERS )
P TRIG-IN4-LO
R TRIG-IN4-HI DIFFERENTIAL
M TRIG-OUT1
L /TRIG-OUT1
K TRIG-OUT2 NC SINGLE ENDED
J /TRIG-OUT2
H TRIG-OUT3
G /TRIG-OUT3
T TRIG-OUT4
S /TRIG-OUT4
N COMMON
TRACKPOINT REAR
PANEL CONNECTOR
TRACKPOINT TRIGGER SYNCHRONIZATION INTERFACE
FIGURE 2-13
2-17
2.2.6.2 SIM - TRIGGER-OUT
The TRIGGER-out is a differential TTL-compatible pulse occurring at the time of interrogation for a
transponder or a responder. This TRIGGER out pulse is present simultaneously with the leading
edge of each interrogation pulse. The output can be configured as either differential or positive /
negative single ended when used the COMMON line.
2.2.7 SIM - HDG/VRU/DEPTH ANALOG INTERFACE
The ANALOG SENSOR input connector is a 16-pin MS/AN type, P/N MS3102A24-5P, and is labeled
"HDG/VRU/DEPTH". This connector allows input of both the synchro and reference signals from
an external gyro compass, an analog signal from a compass, the pitch and roll analog signals from
an external dynamic motion sensing system, such as the ORE Model 4414A, and also the depth
signal from an underwater vehicle. The mating connector required is a MS3106B24-5S with
AN3057-16 strain relief (not supplied). The connector pin designations are shown in Figure 2-14.
NOTE: The +/-12 VDC accessory output has limited current capabilities. If this supply is utilized
maintain current drain at these pins below 0.350 Amperes each.
P1 - HDG_VRU_DEPTH
A R1
OPTIONAL GYRO INTERFACE
B R2
C PWR_COM
D +12V ACCESSORY VOLTAGES
E -12V
F S1
G S2 OPTIONAL GYRO INTERFACE
H S3
J COMPASS RANGE = 0-6VDC INPUT
K DEPTH-1 RANGE = 0-6VDC INPUT
L PITCH RANGE = +/- 10VDC INPUT
M SIGNAL_COM COMMON FOR DEPTH & COMPASS
N DEPTH-2 RANGE = 0-6VDC INPUT
P PITCH_COM
R ROLL_COM
S ROLL RANGE = +/- 10VDC INPUT
TRACKPOINT REAR
PANEL CONNECTOR
TRACKPOINT HDG/VRU/DEPTH INTERFACE
FIGURE 2-14
2-18
2.2.7.1 DEPTH INPUT
The analog output voltage from a depth sensor (typically located on a vehicle being tracked) con-
nects to the HDG/ VRU / GYRO DEPTH input connector (MS3102A-24-5P) located on the rear panel
(See Figure 2-14). The TrackPoint converts this analog voltage (0 - 6 VDC maximum) to a target
depth. A mating connector MS-3106A-24-5S with AN3057-16 strain relief (not supplied) can be
connected between an external analog depth input and the TrackPoint Interface Module.
2.2.7.2 ANALOG COMPASS INPUT
The analog output voltage from a compass (0 - 6 VDC maximum) connects to the COMPASS input
pin “J”. The TrackPoint converts this analog voltage to a vessel heading in degrees.
2.2.7.3 GYRO INTERFACE (OPTIONAL)
The gyro interface consists of a PC Board, P/N 4410-0049, mounted inside the TrackPoint SIM.
This PC board converts the gyro's synchro signals to an analog voltage, 0 - 5VDC (zero volts repre-
sents a bearing of 0° and 5 volts represents a bearing of 359.9°). The analog voltage is input to
the Signal Processor board where an A/D is sampled at the time of target signal detection. This en-
sures that the heading information coincides with the target's reply. Connections to the rear panel
gyro compass interface are shown below.
NOTE: The analog signal from the synchro converter is connected in parallel with the COM-
PASS input at pin “J”. See the "CAUTION" note below.
CAUTION
DO NOT apply voltage to the rear panel COMPASS INPUT CONNECTOR with the gyro modification
on the TrackPoint. This may damage the internal GYRO converter or the external compass.
NOTE: Make sure the gyro signals are compatible with the converter installed within the
TrackPoint SIM. I.e., check that the synchro voltage and frequency matches the
TrackPoint's installed option.
2-19
CAUTION
Before wiring gyro confirm that the REFERENCE voltage sent from the gyro to the C/DM is within
tolerance of the S/AC specified, e.g., an option 114 S/AC requires the reference voltage be less
than 28.6 VAC. This voltage can be measured with a DVM.
The gyro's synchro output and its reference voltage connect to the TrackPoint's rear panel
GYRO/VRU connector. Refer to the gyro manufacturer's Technical/Installation Manual for connec-
tion to its synchro output and reference voltage. The type of cable used to connect the gyro to the
converter is typically a five conductor #22 AWG with an overall shield (not supplied) (An example
of a mil-spec shipboard cable for use with gyro signals up to 400 Hz is the 1XMSO-7 (MIL-C-
24640/7), which has seven (7)-#22 gauge conductors with an overall shield). Connect the S1 ter-
minal of the gyro to pin-F of the GYRO/VRU interface connector. Connect S2 and S3 to pin-G and
pin-H respectively. Connect the reference voltage Rl and Rh to pin-A and pin-B.
********** WARNING ***********
MAKE CERTAIN ALL POWER TO THE GYRO/SYNCHRO IS TURNED OFF BEFORE MAKING CONNEC-
TIONS TO THE TP-II. HIGH VOLTAGES ARE PRESENT AT THE SYNCHRO AND REFERENCE (LINE)
TERMINALS.
2.2.7.4 ATTITUDE SENSOR
ANALOG: The VRU input of the GYRO/VRU connector accepts PITCH and ROLL analog signals from
an external dynamic motion sensing system, such as the ORE Model 4414A. The pitch and roll sig-
nals compensate target position for vessel motion. The analog inputs can accept voltages up to +/-
10 VDC. The normal vessel motion for a positive voltage pitch is BOW UP and the normal vessel
motion for a positive voltage roll is PORT UP. The polarity of the analog input signals to the SIM can
be reversed and compensated for in the USBL ATTITUDE SENSOR menu. Normal polarity for pitch-
ing bow up is (+) and for rolling port side up is (+). The VRU scaling can also be modified under
the USBL ATTITUDE SENSOR menu. Normal scaling is 0.222 V/degree (+/- 10VDC = +/-45°). For
Model 4414B set scaling to 0.2V/Degree.
NOTE: For a Remote VRU the normal Voltage polarity for pitching BOW UP is [+]. The nor-
mal voltage polarity for rolling PORT UP is [+]. The RS232 Format STD W/PR (stan-
dard format with pitch and roll at end of data string) also outputs data with this
2-20
same protocol. The RS232 Format NMEA ORE (NMEA 0183 type format string that is
proprietary to ORE Offshore and includes pitch and roll data at end of string) is dif-
ferent in that it outputs data in the same polarity as its incoming voltage. This allows
pass-through of signals from remote VRU to integrated navigation system without
modification of polarities.
Refer to section 2.4.3 for description of Hydrophone/VRU offset.
On the mating connector to the HDG/GYRO/VRU connector, wire the pitch signal to pin-L and the
roll signal to pin-S. Connect the analog commons to pin-P and/or pin-R.
RS232: The Pitch and Roll data can also be RS232 and in various formats. The data can either be
input to the TP3 Deck Unit or the Trackman PC. Typically, the pitch and roll data is input the RS232
port on the Trackman PC. If a port is not available then connect the Pitch and Roll to the TP3 rear
panel of the Trackpoint (USBL) DB-9 connectors, either COM2 or COM3. See section 3.3.3, Setup
Attitude Sensor Setup, for setup of the Attitude Sensor Data.
2.3 HYDROPHONE OFFSETS
TrackPoint 3 computes range and bearing relative to the hydrophone, unless the system is in-
structed to add or subtract corrections (offsets) which relate range and bearing to some other ref-
erence point on the vessel. The hydrophone centerline, or zero bearing, is indicated by the index
mark (see Figure 2-2), and is generally aligned so that it corresponds to the vessel heading.
It is difficult and time consuming to fabricate a mounting in which the hydrophone heading is
aligned to within a degree of the vessel centerline, unless the vessel is in drydock. If you have the
facilities to perform an exact mechanical alignment, or if the installation is to be permanent, con-
sider fabricating a mount that will repeatedly return the hydrophone to the same physical location
aligned to within 0.5 degrees of the vessel centerline.
Most operations requiring a portable tracking system will be on various vessels of opportunity, and
require a quick and temporary mounting. In this case align the hydrophone with the vessel center-
line as closely as possible. Use some variation of the following procedure to determine hydrophone
offsets.
2.3.1 BEARING OFFSET
The bearing offset must be determined before X, Y and Z offsets can be measured.
1. Measure the distance (d) from the vessel centerline to the hydrophone location as shown in
Figure 2-15.
2-21
NOTE: Almost all vessels have a centerline weld or plank that runs down the deck that can
be used for alignment purposes. If your vessel has a seamless deck, you have to
measure the vessel beam and determine the true centerline.
2. Weight a line to suspend the acoustic tracking source vertically in the water.
3. As far forward on the vessel as possible, hang the weighted acoustic beacon over the side at
the same distance from the vessel centerline as the hydrophone. (position B1 in Figure 2-
15.) It may be necessary to use a length of pipe or a boathook to extend the weighted line
the required distance. The beacon should be slightly deeper than the hydrophone.
4. Turn the System on and set it up to track the beacon in use. If you have aligned the mount-
ing bracket correctly, the system will track the beacon at or very near a 0.0-degree bearing.
5. If you have designed a mounting that can rotate while in the vertical position, you can ro-
tate the hydrophone until you obtain the correct reading. If you cannot rotate the pipe it will
be necessary to enter a bearing correction at the time of operation. Bearing Offset can be
entered under the USBL HYDROPHONE PARAMETER menu.
The bearing value is the number of degrees that you need to add or subtract to the dis-
played target bearing to bring it to 0.0 degrees. For example, a minus 5 degrees would
subtract 5 degrees from the target (beacon) bearing while a positive 5 degrees would add to
the present target bearing. See Figure 2-16.
6. To check the bearing value determined in step 5, take the weighted beacon line to the stern
of the vessel and again hang it straight down at the same distance from the vessel center-
line as the hydrophone (position B2 in Figure 2-15).
The target bearing should now be 180 degrees on the TrackPoint II display.
7. A further cross check can be performed by taking the weighted beacon to a position directly
across the vessel from the hydrophone (position B3 in Figure 2-15). The target bearing dis-
play should now read either 090 or 270 degrees, depending on which side of the vessel the
mounting is located.
2-22
FIGURE 2-15
2-23
FIGURE 2-16
2-24
2.3.2 HYDROPHONE X AND Y OFFSETS AND HYDROPHONE DEPTH
Hydrophone Offsets are used to reference the target position to the pitch / roll center of the vessel
and also to correct for the hydrophones dynamic motion. Hydrophone motion is due to the pitching
and rolling of the vessel when it is not on the pitch or roll center of the vessel. ( It is assumed the
hydrophone is rigidly mounted to the vessel. ) The hydrophone, when mounted offset from the
vessel’s pitch / roll center, swings in an arc about the pitch / roll center causing variations in the
hydrophone depth, X and Y offsets as the vessel experiences dynamic motion. These variations
cause the target to appear at a different depth, depression angle and bearing than it actually is.
By entering in X, Y and Z offsets the system can correct for this dynamic motion if a survey grade
Motion Sensing System is interfaced to the TrackPoint. See ORE Model 4414B Motion Sensing Sys-
tem. Connect the analog outputs from the Motion Sensor to the rear panel Gyor/VRU input connec-
tor.
Hydrophone X and Y offsets are entered with respect to the pitch / roll center of the vessel. ( It is
assumed that the vertical reference for the pitch / roll center is the water-line of the vessel or the
entered “DEPTH OFFSET”. )
NOTE: The TrackPoint outputs the target position (X & Y) with respect to the pitch / roll cen-
ter of the vessel graphically in the Display, numerically in the Status Block and also
on the RS-232 serial communications port.
In Figure 2-16, horizontal distance and bearing (X & Y) for the beacon are determined relative to
the pitch / roll center of the vessel (C). (Note that the slant range remains relative to the Hydro-
phone.) Determine the Hydrophone X and Y offsets as follows:
A. Measure the distance between the hydrophone (H) and the pitch / roll center of the vessel
(C) in terms of X and Y coordinates on a horizontal plane at water level.
The X coordinate is the distance perpendicular to the centerline (dxH in Figure 2-17). The Y
coordinate is the distance parallel to or along the centerline (dyH in Figure 2-17).
Distance along the X-axis from the centerline towards a starboard direction has a positive
value. In this example, the X offset is 7 meters. Distance towards the port side of the ves-
sel has a negative value.
The hydrophone's distance along the Y-axis, forward of the pitch / roll center, is a positive
value. In Figure 2-17, the hydrophone is aft of the pitch / roll center, and the Y offset is -10
meters.
B. Enter the offsets at the Trackman and observe the display to verify that the hydrophone is
being offset in the proper directions. Figure 2-17 illustrates the tracking window display as
the X and Y offsets determined above are entered.
2-25
The hydrophone is represented in the tracking window by a small H. Note that the H shifts
to the right along the X-axis when the positive X offset (7 meters) is entered. The H moves
down, parallel to the Y-axis, when the negative Y offset (-10 meters) is entered.
The target continues to be tracked and now displays X and Y data in relation to the pitch /
roll center of the vessel.
C. Hydrophone Depth is the depth of the hydrophone below the surface of the water. (Refer to
Figure 2-17.) Depth is entered as a positive value.
The TrackPoint 3 is ready for operation when the hydrophone is in position and the necessary off-
sets have been determined, and the acoustic sources to be tracked are active and in the water.
NOTE: If a pinger is at a depression angle of less than 20 degrees, the measured depression
angle and, therefore, the horizontal range of the beacon are impossible to measure
accurately. Consequently, the bearing of the source, relative to some offset position,
is impossible to determine. If this combination of circumstances occurs (pinger; de-
pression angle less than 20 degrees; and hydrophone offsets entered), TrackPoint
ignores the entered X and Y offsets so that it can display a correct bearing relative to
the hydrophone. Refer to section 3.6, error code 51.
2-26
FIGURE 2-17
2-27
2.3.3 HYDROPHONE-VRU OFFSET
The VRU offset is the difference in angle between the installed hydrophone and vertical (static off-
set). (It can also represent the offset between the Remote Dynamic Motion Sensor and the Hydro-
phone.) Offsets can occur either due to a mis-aligned hydrophone or from changes in trim to the
vessel. The system allows for either manual entry of attitude error corrections or auto correction
via the hydrophone's internal VRU for offsetting the static tilt of the hydrophone/staff. The attitude
(pitch/roll) offsets are error constants that subtract from the remote or external dynamic motion
sensing system data to compensate for the non-vertical installation of the Hydrophone shaft (or
difference between DMS and Hydrophone).
ENTERED OFFSETS: For manual entry the operator must measure the angle of the shaft with re-
spect to vertical and enter the data in the PITCH-ROLL ERROR menu. The vessel should be in a
harbor or at dock to perform this measurement. Pitch and roll errors are entered in degrees. The
system accepts and displays data
with a precision of 0.01 degrees.
ORIENTATION: Change the VRU ORI-

ENTATION if the Model 4740A
VRU/Amplifier is mounted on a sur-
face other than bow facing. For ex-
ample, if the arrow at the top of the
unit is pointing towards starboard
then change the ORIENTATION pa-
rameter to starboard.
2-28
ENTERING X AND Y OFFSETS
TRACKING WINDOW
GRID SPACING 25yd
Y
X X OFFSET = 0yd
Y OFFSET = 0yd
STD. DISPLAY, NO OFFSETS
X X OFFSET = 7yd
H
Y OFFSET = 0yd
X OFFSET ENTERED
X X OFFSET = 7yd
Y OFFSET = -10yd
H
Figure 2-10
Y OFFSET ENTERED
= REFERENCE POINT
= BEACON
H = HYDROPHONE
FIGURE 2-18
2-29
2.4 SOFTWARE INSTALLATION
The TrackPoint control and display software, “trackman”, is provided on a cd. The minimum hard-
ware requirements are…
Operating System WindowsR 98SE, ME, Win-2000 and XP (XP recommended)
Hardware Platform A PC with Pentium-2 or better processor, SVGA graphics (the

software will run on 640 x 480 VGA, but this is not
recommended) and at least 128 Megabytes of RAM is required
as a minimum or 256 Megabytes recommended for optimal
performance of the TRACKMAN software. One available RS-232
serial (COM) port at 19.2k baud. A CD ROM drive in order to
install the software.
2.4.1 INSTALLATION FROM CD
Boot up pc and insert the “trackman” cd into cd-rom drive.
The “TRACKMAN” CD contains the following files for installation.

_SETUP.1
_SETUP.DLL
_INST32I.EX_
_ISDEL.EXE
SETUP.EXE
DISK1.ID
AUTORUN.INF
SETUP.INI
SETUP.INS
SETUP.ISS
_SETUP.LIB
SETUP.PKG
As long as the CD drive recognizes the “auto-
run.inf” file the installation program will begin
automatically. If not, then from the “RUN” line in
Windows, type in the drive letter of the CD ROM
drive and the file name “setup.exe”. E.g., E:
setup.exe.
Once the installation program has started you will

see the following dialog boxes.
Welcome screen with note on exiting all programs
prior to installation.
2-30
Readme information on the Packer used to com-

press the files.
Hit Next button to continue.
Destination of the files to be installed. You can

either use the default folder of C:\PROGRAM
FILES\ORE OFFSHORE\ TRACKPOINT MMI or the folder
of your choice. Hit Browse button to select dif-
ferent folder.
(Note: MMI = Man Machine Interface)
Hit Next Button to continue.
The name for the Program Folder that the

Trackman application will be installed under is
shown next. The Default Folder name is TRACK-
POINT MMI. Type in a new folder name under the
Program Folders: edit box to change the Pro-
gram Folder name. (The default name is rec-
ommended for ease of upgrading in future.)
HIT NEXT BUTTON TO CONTINUE.
2-31
The installation program displays the Tar-

get Folder path that it will create and in-
stall program into. If these settings are OK
then hit the Next button to continue.
Once installation begins you still have the

option to cancel the install prior to it finish-
ing. Click the Cancel button to stop the in-
stall. You then have the option of Resuming
the install or Exiting the install program.
The installation program creates a TrackPoint

MMI item under the Programs menu.
2-32
SECTION THREE
OPERATION
TRACKPOINT 3 OPERATION
3. OPERATION
Once all cables are connected as per section 2;
Open up display panel and keyboard. Turn on Display/Keyboard from rear of unit.
Turn on Signal Interface Module from front of unit.
Turn on Processor from rear of unit and then open up front panel access with key. Press momen-
tary switch at left. See Figure 3-1.
MODEL 4451A “ON” SWITCH
FIGURE 3-1
The Windows® operating system will boot-up and start the ORE Offshore TrackPoint Interface
(TRACKMAN) program. The program queries the status of the TrackPoint’s Signal Interface Module
Model 4450A to obtain its present parameters (NOTE: This takes a while to transfer all data). (Also,
see “Get TrackPoint Config” under SETUP menu)
NOTE: It takes approximately 35 seconds for the Signal Interface Module to boot-up. Wait at least
30 seconds after booting the Processor before setting parameters within TRACKMAN.
NOTE: The Hydrophone calibration data is stored in FlashROM on the DSP board located within the
Signal Interface Module (4450A). Changing of Hydrophone calibration data requires that the two
files that comprise the data be sent down to the Signal Interface Module. See Section 5.
3-1
NOTE: If power is removed from the units, the PC automatically starts and boots into the TRACK-
MAN program without operator intervention. It automatically sets up the SIM from its previous pa-
rameters.
The TrackPoint Model 4450A Signal Input Module (SIM) Front Panel is shown in Figure 3-2. It con-
tains an ON/OFF switch and LED indicators for troubleshooting system. The LED indicators are de-
scribed as follows…
POWER
+5 When illuminated, indicates that the +5V supply is operational.

-12 When illuminated, indicates that the -12V supply is operational.
SELF TEST
When illuminated, indicates when performing its internal self test function.
TARGETS
TRIG IN (1,2,3,4) When illuminated (yellow), indicates that a trigger has been received from an
external source for the indicated Target Acquisition Module (1, 2, 3 or 4).
INTERR (1,2,3,4) When illuminated (green), indicates when a beacon has been interrogated,
either Internally or Externally, from the indicated Target Acquisition Module
(1, 2, 3 or 4).
RECEIVE (1,2,3,4) When illuminated (red), indicates when a beacon reply has been received
from the indicated Target Acquisition Module (1, 2, 3 or 4).
COM PORTS
XMT (1,2,3) When illuminated (yellow), indicates that the Model 4450A has Transmitted
data from its COM PORT #1, 2 or 3.
RCV (1,2,3) When illuminated (green), indicates that the Model 4450A has Received data
in to its COM PORT #1, 2 or 3.
1PPS GPS When illuminated (yellow), indicates that the Model 4450A has received the 1
PPS signal from a GPS timing sync module. (future)
3-2
LED INDICATORS
COM PORTS TARGET POWER
SPARES (3) 1 2 3 1 2 3 4
1 PPS GPS
XMT TRIG IN +24 -12 +12 +5
RCV INTERR
SELF TEST I
RECEIVE
ORE Offshore Trackpoint III
ON/OFF SWITCH
MODEL 4450A FRONT PANEL
FIGURE 3-2
3-3
3.1 “TRACKMAN” SOFTWARE PHILOSOPHY
I know from experience that sometimes you can just run a program and everything seems intuitive
from the start. Other programs you struggle through and nothing makes sense as far as the menu
structure. I am going to give a brief overview of our design philosophy and how and why it was de-
veloped this way. So, when you are plucking through the menus saying to yourself “What was that
person thinking?” maybe this will help! If not, send us an email. Criticism accepted! NOTE: This
software has been designed and tested on various computers and operating systems. It can run
under WindowsR 95, 98, ME, NT, 2000, and XP. Even given all our testing, I am sure there are
some combinations of hardware and software that will cause some quirks in its operation, but for
the majority of machines it is stable. See section 2 for recommended hardware and operating sys-
tems.
The “Trackman” (TrackPoint Data/Control Manager) software evolved from ORE’s earlier Track-
Point II USBL system. It was designed to allow an interface between any of our new or future USBL
products. It also has a means to communicate with Navigation software (e.g., IPS) on the same PC
using UDP, that is sending the USBL data to a software port and having the Navigation software
read it directly without having to go through hardware ports. This Trackman program can then be
hidden once the USBL System has been setup and the Navigation software run as the primary dis-
play. NOTE: There is a feature that allows the Trackman software to not update the plotting while
hidden. This saves a lot of processing power for use in other programs such as the Integrated
Navigation programs. Trackman’s main function is then to just collect and process data and pass it
on to an Integrated Navigation Software package. See SETUP menu. The basic menu structure is
shown below.
File Menu Similar Window environment FILE pull down menu. Controls typical PC
interface items such as disk services and printer, etc. Exit also.
View Menu Having to do with the viewing of the screen either plotting or setup.
Setup Menu This is for system setup not related to the USBL system or TrackPoint 3
Deck Unit. Beacons, PC, etc.
USBL Menu Allows setup of items pertaining to the USBL Deck Unit.
Test Menu Built-in test or simulated target.
Window Menu Allows various modes of tiling (Tile Custom & Auto Tile Custom) the win-
dows, Tracking, Project, etc.
Help Various Help Topics
3-4
Menu Structure:
File Menu
Create New Job Creates a new job configuration
Open Existing Job Opens an existing job configuration
Disk Services Open Disk Services dialog
Printer Services Open Printer Services dialog
Exit Exits the application
View Menu
Display Options Open Display Options dialog
Project Brings the Project Tree into view when not docked
Clear Grid Clear the Plotting Grid
Clear Status Bar Clear all Status Bar messages
Setup Menu
Beacon List Opens the Beacon List
Devices List (ports) Open the Device List
Data Output Opens to Output section of Device List
Attitude Sensor Setup Opens up the Pitch/Roll Sensor Setup dialog
Compass Setup Opens the Compass Setup dialog
Reset Devices/Ports Shuts down and re-enables all Devices
Reset Grid/Graphics Clears the graphics in the Grid Area
Audio (Ping) Enable/Disable Audio
Hints (Tool Tips) Enable/Disable Tool Tips
Update While Hidden When Trackman is hidden (tool bar) shuts down the graphics to
reduce processing overhead and sends only updates out its
communications ports.
USBL Menu
GPS/TimeSync Open GPS/TimeSync dialog
Hydrophone Open Hydrophone dialog
Acoustic Data Open Acoustic Data dialog
Get TrackPoint Config Gets current config from TrackPoint (use carefully)
Send TrackPoint Config Sends configuration to TrackPoint
Get Sensor Data Retrieves Sensor Data from TrackPoint 3
Get Status Obtains the Status of the TrackPoint 3 Deck Unit
Download Code Downloads new software to TrackPoint 3 Console
Download CAL Downloads CAL data to TrackPoint 3 Console
Speaker Volume Adjusts TrackPoint 3 audio volume
Window Menu (All) Enhanced Windows MDI 'Window' menu
Help Menu
Contents Display Help File contents page
Error Codes Display Error Code info
About Display the About Box
3-5
Other items of interest…
Jobs: Stores all the setup parameters to a “Jobs” folder/file.
Project Tree: A Project Tree was developed as a graphical view of the parameters that normally
would change via the standard menus. It is a drag & drop window that can be moved or hidden.
The Computer icon is shown at the top as the primary unit. This is the hardware platform that runs
this software. Under the Computer are it peripherals, display, disk services, printer, etc. The Device
List shows all the peripheral ports that communicate with the PC including the USBL System
(TrackPoint 3). A device can be any peripheral associated with the USBL System. It can communi-
cate via its serial ports or TCP, UDP or UDP Broadcast. NOTE: When the table is displayed the
“Trackman” GUI is minimized. The Data Output icon brings up the same Device table but goes di-
rectly to the Device output line within the table. Just click on the line or hit Enter and the setup
dialog box will be displayed to allow setup of a port to output the tracking data. (We could have left
this out and just showed the Device List but felt this brings attention to the operator to make sure
the Data Output port is setup for the job.) The “to USBL Interface” is only for graphical representa-
tion of a port going to a USBL device (COM port). The “TrackPoint 3” is only for graphical represen-
tation of the Deck Unit. Under the “TrackPoint 3” are the items associated directly with it. It shows
the typical items that the operator should setup for USBL operation; GPS/TimeSync (format of data
input), Hydrophone parameters, Acoustic Data (Speed of sound in water, temperature, etc.). The
GPS is used for time syncing only. It does not reference the data to Latitude /Longitude. Typical
ZDA sentence received uses the first character in sentence as the sync pulse for the time received
in the sentence. This sets the clock within the Deck Unit to better than 50ms accuracy. The time
that is on each beacon’s output sentence is the time that each reply was received.
Sensor Setup: This is a system input setup dialog. Sensor inputs can be either from Heading Sen-
sor (an analog or serial input to the Deck Unit or serial only to the PC) or an Attitude Sensor (in-
ternal to TrackPoint Hydrophone if applicable or a remote analog sensor input to the Deck Unit).
Beacons: Clicking on the Beacon(s) icon brings up a table for beacon entry. It also provides a
quick view of the Beacon parameter settings. Click on any line within the Beacon Setup Table to
bring up its dialog setup box.
ORE ICON: Right clicking on the ORE icon on the task bar brings up a menu to allow closing of
Trackman, showing the About box, or disabling the screen saver. For example, disabling the screen
saver can be useful when tracking your ROV and the screen saver decides to start the starfieldR
display just when you are trying to see where your ROV is with respect to the boats prop! Click on
“Disable Screen Saver” to prevent screen saver from turning on.
3-6
Device List Status Blocks:
The communication function within

Trackman is an ActiveX module. Internal
to Trackman it is called the “TrakComX”
module (TrakComX.ocx). It is used for
communication with various "devices"
over Serial (COM) Ports or TCP_IP Sock-
ets. Each "device" (TrackPoint, depth sen-
sor, compass, gyro, GPS, etc.) that
Trackman connects to creates a 'copy' of TrakComX for that "device". (See Technical Note below.)
A “Status Block” for each of the devices is shown in the lower right corner of the screen (Trackman
Status Bar). It shows the Device number along with a simulated “LED” that blinks with the input or
output of data. For example, two of these are shown above, one for “device” 1 and one for “device”
4: The two small green rectangles on the right side of each window act as transmit and receive in-
dicators (left is transmit, right is receive) that ‘flash’ to indicate activity. The yellow background
behind a number indicates an error has occurred on that device. Left-clicking on the number brings
up the Error/Data Viewer window which can be used to display a running list of errors of the re-
ceived data. Putting cursor
over the device number
shows a tool tip for that
device giving device name,
port number and baud
rate.
Error/Data Viewing Window
Technical Note:
A software function within Trackman called TrakComX (aka a 'WinPort'), handles both Serial Ports
and Sockets, each WinPort can handle a single Serial Port or Socket. Due to hardware constraints
in Windows, if a Serial Port is already in use by an existing copy of WinPort an attempt to create a
3-7
new copy using the same Serial Port will fail. This means that two copies of WinPort can NOT share
a Serial Port!
Unfortunately, since many of the "devices" that we want to connect to are in fact individual pieces
of hardware, they often share a common serial or network "bus" with many different style packets
from the different "devices" running down the same wire. This means that some of the different
"devices" we are trying to connect to may be on the same Serial Port such that if we were to try
and use a separate copy of WinPort for each copy of TrakComX on that Serial Port all but the first
one will fail.
Our way around this is to manage a 'pool' of WinPorts that allow copies of TrakComX, that require
the same Serial Port, to share a copy of WinPort. Each time a TrakComX copy is created, the "pool"
is checked to see if an existing copy of WinPort is already handling the new TrakComX copy's de-
sired Serial Port, and if so, the existing WinPort is 'shared' by the new copy of TrakComX.
3-8
3.2 “TRACKMAN” MAIN WINDOW
Application Overview
The TrackPoint TrackMan Windows application provides a user-friendly interface for managing ORE
TrackPoint USBL (Ultra Short Base Line) underwater navigation systems. It can interface with both
TrackPoint 3 and TrackPoint II+ systems.
The interface to the TrackPoint system may be a COM (serial) port connection or a TCP/IP socket.
This interface is handled by the TrakComX ActiveX control.
From the application, the user can enter parameters by clicking on items displayed on a convenient
tree diagram (the Project Tree) on the left side of the main screen. Data is displayed in one or
more MDI child windows, such as the Plotting Grid, on the right side of the main screen.
If the application is being used only as an interface between TrackPoint and another navigation ap-
plication, it can be hidden from view via a left-click on the Tray Icon (the ORE icon in the System
Tray area at the right end of the Task Bar). When hidden, a left-click on the Tray Icon will bring it
back into view. Right-clicking the Tray Icon brings up a menu providing the ability to view the un-
docked Project Tree, view the About Box, or close the application.
From the PC, start the Trackman application by navigating to the Program Folder [TrackPoint
TRACKMAN] and clicking on the TrackMan appli-
cation button. The main window is displayed. See
figure below. It shows the Project Tree diagram on the left. The tree provides quick access to vari-
ous configuration information. Clicking on most items will pop up a dialog window associated with
that item.
Trackman starts running the previous “Job” that was saved. The Trackman software is a Windows
based application that provides a remote interface from a PC to the TrackPoint Deck Unit (SP/IM)
providing target display and data output.
Project Tree Window
The Project Tree Window provides the user with a tree-oriented view of the system. The tree's
nodes indicate the relationships of the various components. Most of the nodes provide direct access
(via the keyboard or via mouse double-clicks) to related setup dialog windows.
Computer Node - This node displays various sub-nodes (Display Options, Disk Services, etc.) that
provide access to basic system services as well as sub-nodes for access to the USBL Interface dia-
logs.
3-9
TRACKMAN BOOT-UP SCREEN
Sensor Setup Node – Displays setup paths for the various input sensors such as Compass and
Pitch/Roll.
Beacon Node - The Beacon node provides access to the Beacon List window (via the 'Beacon(s)'
entry) as well as individual access to the Beacon Setup dialog window for previously defined bea-
cons whose names show as sub-nodes to the Beacon Node.
The Project Tree window can be undocked from the Main Window making the entire client area of
the Main Window available for MDI Child Windows (such as the Plotting Grid). To undock hold down
the right mouse button while over the Project Tree, move the mouse pointer outside the Main Win-
dow's boundary, and release the mouse button. To re-dock hold down the right mouse button while
over the Project Tree, move the mouse pointer inside the Main Window's boundary, and release the
button. The undocked ('floating') Project Tree window can be brought into view at any time via the
'Project' entry of the Main Menu's ' View' menu, or via the System Menu's or Tray Menu's 'View Pro-
ject' entry.
3-10
Project Tree: Press and Hold right mouse button. Drag

Project Block off to the side. The Block can then be closed
out by clicking on the U or hidden by changing the Track-
man main screen to full . It can be viewed again by se-
lecting View from main menu and then “Project”. Dragging
Project Block back over grid area using right mouse button
and releasing will cause block to re-position itself next to the
grid. The project block menu is a quick way to access many
of the setup parameters required within the USBL system.
The Computer refers to the PC which can have many periph-
erals (shown as sub-sets) such as; Display, Disks, Printer,
Data Output (Device List) and an interface to configure the
USBL parameters (TrackPoint 3). The TrackPoint sub-set pa-
rameters consist of heading sensor, Hydrophone and Acous-
tic Data. Separate from the Computer and TrackPoint are the
Beacons.
Plotting Window: The Plotting

Window shows the vessel sym-
bol, all target positions and also
the Hydrophone position. The
grid Full Scale and Spacing is
settable via the View / Display
Options menu along with vessel
height and width. The Plotting
Window can also be re-sized
within the constraints of the
main window area or minimized
, expanded or zoomed
out to full screen .
3-11
Plot Screen Options:
Right click on Plotting Window

to bring up the Grid Customi-
zation dialog box. This allows
entry of the main title of the
grid area, Viewing Style, Font
Size, Grid colors, Styles, etc.
NOTE: Some functions are not

available within the Track Plot
Customization window.
TrackPoint/Target Status: This block shows the processed USBL data for each target. This Block
can be re-sized to show any number of targets at one time by right clicking on edge of window and
dragging up or down. The Status Parameters consist of Target Symbol/ Number, Bearing, Horizon-
tal Distance, X, Y, Depth, Warning Code and Quality Factor. If you right click on the Horz Rng
header the field will toggle to Slant Range. Right clicking again changes it back to Horz Rng.
3-12
3.3 “TRACKMAN” MAIN & SUB-MENUS
The Trackman main menu Pull-Down Lists are shown above. The sub-menus are displayed once
the main menus are selected with mouse or keypad. When using keypad… press and release the
Alt key and the main menu is selected with the primary character underlined for each menu. For
example, the File menu has the “F” underlined. Pressing the “F” key selects that menu. View = V,
etc.
3.3.1 FILE MENU
File Create New Job Folder
The Job entry dialog window is used to define

a new job or to access and/or modify an ex-
isting job. Each job has it’s own complete set
parameter files saved in a separate sub-
folder.
As a ‘Job Name’ is typed in, the ‘Job Descrip-

tion’ entry and the ‘Job Folder’ entry auto-
matically update with the ‘Job Folder’ using
the ‘Job Name’ as it’s sub-folder name. A
more complete Job Description can be typed
in if desired.
To select an existing job, simply browse to

it’s folder in the folder tree at the bottom of
the dialog and hit the OK button.
3-13
File Open Existing Job Folder
The Job entry dialog window is used

to define a new job or to access
and/or modify an existing job. Each
job has it’s own complete set of pa-
rameter files saved in a separate
sub-folder.
As a ‘Job Name’ is typed in, the ‘Job

Description’ entry and the ‘Job
Folder’ entry automatically update
with the ‘Job Folder’ using the ‘Job
Name’ as it’s sub-folder name. A
more complete Job Description can
be typed in if desired.
To select an existing job, simply

browse to it’s folder in the folder tree
at the bottom of the dialog and hit
the OK button.
The Job Description of the active job will appear in the Title Bar of Trackman’s Main Window.
3-14
File Disk Services
The Disk Services dialog controls the ‘Record

and Play’ operations for saving and playing
back an ORE specific data files. If a device is
active then it will show up in the pull-down
menu at right. If no devices are active then a
Dialog box as shown below will be displayed.
The system then prompts for display of the
Device List, allowing operator to enable vari-
ous I/O devices/RS232 port data. Once en-
abled the devices will be shown in the pull-
down menu at the right. See Setup/Device
List (ports) for setup of ports. Only one de-
vice can be enabled for saving to disk.
Click on “Open File” and the standard Win-

dows® dialog box pops up. Enter in File
name and click “Open”. The data present on
that port will now be saved to disk once the
RECORD button is pressed. (Save Optional
Data will be a future item.) At any time the
saving to disk can be paused by clicking on the “Pause”
button. “Resume” re-starts logging to disk again. The file
is saved with a “.ore” extension. It is saved in the same
directory that the “Job” was created under. To Playback
target position, go into the DEVICE LIST and set the
TrackPoint device to PLAYBACK mode. Go back into the
DISK SERVICES and click on “Open File” under the Play-
back Beacon Data and select file. Click Open and then set
Playback Rate. The data will be read at that rate and dis-
played in the grid.
File Printer Services
This dialog is used to select and set up a printer as

well as to choose what information is to be printed. It
calls the standard Windows Printer Selection and
Setup dialogs.
3-15
3.3.2 VIEW MENU
View Display Options
The Display Options dialog is used to

control the Plotting Grid parameters.
This dialog pops-up to the left of the
Grid (if possible) such that the user can
see the changes as they are being
made.
Grid/Auto Scale: Select “Auto Scale”

to have the system automatically ad-
just to changes in the Full Scale Spac-
ing. The scale is dependent on the
Horizontal Distance to the farthest tar-
get.
While in Auto Scale mode, the Full

Scale Spacing value is updated such
that the user can ‘freeze’ its value by
shutting Auto Scale off when the Spac-
ing looks right.
Grid/Style: Select the Grid Style ei-

ther Relative X-Y Rectangular or Rela-
tive X-Y Polar.
Grid/Units: Select from the pull-down

menu the units that you want the scale
to be referenced to; either meters,
feet, yards or fathoms.
3-16
Grid/Scaling, Spacing & Zoom: To manually select the Grid and Full Scale Spacing use the scroll
bar arrows next to each of the parameters. To move the bar/value quickly point to the bar with the
mouse, then click and hold the left mouse button down while ‘dragging” bar right or left. Use the
“fine” adjustment buttons as a vernier. Use the Zoom buttons to change the Full Scale and Grid
Spacing values by 2 or 1/2.
Grid/Offsets: The X-Offset parameter moves the grid center position to the right or left and the
Y-Offset parameter moves the grid center position up or down. This is useful when tracking a tar-
get in only one quadrant of the vessel. Click on the buttons to change the percentage of move-
ment about the center of the grid.
Grid/Vessel Dimensions: The outline of a ship/boat can be dis-

played in the center of the grid using the Vessel Dimension set-
tings. Move the scroll bar or click the buttons to vary the Length
and Width values. Select from the pull-down menu the units that
the vessel is to be referenced to; either meters, feet or yards. Se-
lect the vessel symbol line color using the color button.
View Project
Brings up the Project Tree (if hidden).
View Clear Grid
Clears the target trails in the Plotting Window.
View Clear Status Bar
Clears Status Bar at bottom of page.
3-17
3.3.3 SETUP MENU
Setup Beacon List
The Beacon List window displays all beacons at once, in a grid layout, showing their parameters of
primary interest. (Clicking on the Beacon’s icon within the Project Tree is a quick key to displaying
the Beacon List. ) Having a single window that allows the user to see the
operating frequencies and parameters of all the available beacons makes it possible to compare
parameters and change any that may conflict. Double-clicking on an entry in the list (or using the
arrows keys to move to the desired entry and hitting 'Enter') displays up the Beacon Setup dialog
for that entry. If the entry in the list was 'empty', the Setup dialog comes up in 'Adding a New Bea-
con' mode. Entries may be moved to a new position in the list (thereby obtaining a new beacon
number) by cut-and-paste (Ctrl-X / Ctrl-V) keyboard operations. Cut-and-paste operation only
available within beacons 1-4 or within beacons 5-7. (Cannot copy simultaneous to consecutive
tracked beacons or vice versa.) Refer to Section 3.4 for Beacon List examples.
The 4450A can have up to 4 programmed beacons. All four can be active at any one time.
3-18
Adding a new beacon, Dialog Box
Setup Tab
Name: This is the operators

name for the beacon being
tracked, e.g. Towfish. (NOTE:
Cannot have two beacons
with same name.)
Serial Number: Serial Num-

ber of the beacon as a record
of use.
Symbol: Scroll bar allows se-

lection of a symbol to repre-
sent the beacon in use.
Beacon Status: Selects ei-

ther Active, Disabled or Fixed
Target. For a fixed target to
be displayed in the grid also
enter in bearing and horizon-
tal distance of the target. Enter in the position with respect to the center of the vessel (assumed
f/roll center also).
Beacon Offset: If the beacon is mounted offset from the center of the vehicle being tracked or the
center of a sonar array that is collecting image data then an offset position can be entered. Enter in
X and Y offset position. (Not available in this version.)
Trail: The target positions are plotted and a line drawn from point to point. Select the color of the
“trail”, the line type and the number of points to store. To clear the trail click on the “Clear Trail”
button. To have no trail then set to one.
3-19
Acoustic Parameters Tab
Type: Selects target type, ei-

ther Transponder (acoustic),
Transponder (Hardwired), Re-
sponder or Pinger. If the Trans-
ponder or Responder has Time-
Decode Telemetry then click on
the Telemetry box. If a Pinger
is not received an error code #6
is displayed after 12 seconds.
NOTE: When a target is desig-

nated as a Pinger it is the only
target that can be enabled at
one time. Disable any other tar-
gets.
Reply Parameters: This is the

Reply Frequency of the beacon.
Enter value in kHz or use the
scroll bar to select from a preset list. Enter the Burst Turn Around Time for a Transponder or a
Pulse Turn Around Time for a Responder in milliseconds. Enter the Pingers Repetition rate in milli-
seconds.
Interrogation Parameters: Enter in the Interrogation Frequency of the Transponder in kHz or

select from a preset list on the scroll bar. Enter in the Interrogation Interval (based on the slant
range to the target) in seconds and the Pulse Width necessary to interrogate the beacon in milli-
seconds. (In high multi-path environments it may be beneficial to decrease pulse width to prevent
multiple triggering of the transponders.) Select whether the beacon is being triggered internally by
the TrackPoint or by an external source. If external then select the edge that the TrackPoint should
synchronize the timing with (+) or (-). If multiple targets are enabled then a specific Beacon can
be set as a “Priority” which alternates interrogations between all the other active targets.
Trigger Source: Select either Internal or External trigger source.
NOTE: Cannot use Depth Telemetry if in External Trigger Mode.
NOTE: The Internal Interrogation Interval must be set to a slower rate than the External Trigger
Interval or an Error Code #6 will be displayed.
NOTE: Only one target can be enabled when in External Trigger mode.
External Key-In Polarity: Select either (+) or (-) edge external trigger source.
3-20
Sequential Tracking/Priority Sequence: Select Normal to sequence through the enabled tar-
gets one after the other or select Priority to sequence back to this target on every other cycle.
NOTE: Only one target can be enabled as a Priority.
Depth Tab
The Depth Tab configures

the target depth function.
Select the Mode in which the
depth is input from; Teleme-
try, Analog, Serial Port (PC),
Manual. If the Beacon is a
(time-proportional) Depth
Telemetry version then se-
lect “Telemetry“ and then
under “Depth Mode Setup”
configure the Beacon’s Te-
lemetry parameters. If depth
is via an analog sensor, e.g.,
an ROV or SSS vehicle, then
select “Analog” and then un-
der “Depth Mode Setup” con-
figure the Beacon’s Analog
parameters. The analog port is available at the GYRO connector on the rear panel of the Unit. If the
target’s depth is available via a serial port, select “Serial Port” and then under “Depth Mode Setup”
configure the Beacon’s Comport parameters. Select the Depth Input sentence, DBS, DBT, PEIV1 or
DPT. (See formats below.) This Serial port is
available only at the PC’s serial input not the
Deck Units.
NOTE: If the entered depth is in-correct the cal-

culated horizontal range will also be incorrect.
In the TELEMETRY mode the depth is taken from

a depth telemetering transponder. The trans-
ponder sends two replies to the TrackPoint 3 per
interrogation. The first reply signal is used to
determine slant range and bearing, while the
second reply (whose delay from the first is proportional to depth) is used in the depth calculation.
Given these three parameters a three-dimensional position fix is calculated. The “Telemetry Depth
Setup” menu is used in conjunction with “Telemetry Mode”. It contains parameters to allow the op-
erator to change the telemetry reply frequency, and also to change the zero delay, full-scale delay
3-21
and span. When Telemetry Depth is selected, a 'T' appears next to the depth value in the Status
Block when the telemetered value is being used in the horizontal range calculations. If the system
is using a calculated1 depth then a `C' appears next to the depth value. If the depth telemetry re-
plies are not received, the last valid telemetry reply is used for the depth. If telemetry replies re-
turn, system reverts back to depth telemetry. If not using a Telemetry Beacon then depth should
be changed to Manual or Analog.
Serial Port Depth Input - DBS, DBT, PEIV1, DPT
DBS - Depth Below Surface

1 2 3 4 5 6 7
| | | | | | |
$--DBS,x.x,f,x.x,M,x.x,F*hh<CR><LF>
Field Number:
1) Depth, feet (Referenced to Water surface)
2) f = feet
3) Depth, meters
4) M = meters
5) Depth, Fathoms
6) F = Fathoms
7) Checksum
DBT - Depth below transducer
1 2 3 4 5 6 7
| | | | | | |
$--DBT,x.x,f,x.x,M,x.x,F*hh<CR><LF>
Field Number:
1) Depth, feet (Referenced to Water surface)
2) f = feet
3) Depth, meters
4) M = meters
5) Depth, Fathoms
6) F = Fathoms
7) Checksum
NOTE: The DBT format is referenced to the water surface.
1
The System can only calculate depth when the depression angle is greater than 45° (Depression
Angle is defined as 0° at surface and increases to 90° directly below the hydrophone.) When target
is not within this 90° cone below the hydrophone an alternate depth must be used; Analog, Te-
lemetry or Manual.
3-22
PEIV1 - Depth of Target (EIVA Navipak)

1 2 3
| | |
$PEIV1,x.x,yy*hh<CR><LF>
1) Depth, meters (Referenced to Water surface)
2) Target Number 01-99
3) Checksum
DPT - Depth - Deviation & Variation
1 3 4
| | |
$--DPT,x.x,x.x*hh<CR><LF>
Field Number:
1) Depth, meters (Water depth below TP3 Hydrophone)
2) Offset from transducer, Positive means distance from transducer to water line nega-
tive means distance from transducer to keel
3) Checksum
NOTE: Offsets are not used. TrackPoint uses Depth to the transducer in its calculations.
Filtering Tab
The “Filtering Tab” allows each

beacon to have individual filtering
parameters, configuring each bea-
con for its own tracking scenario.
Select Filter Level for the beacon
in use. In the case of a fast mov-
ing target set the level between 1
and 5 with 1 being for minimal
filtering and 5 being for moderate
filtering. For slower moving tar-
gets set level between 6 and 10
with the filtering parameters in-
creasing to maximum at 10. To
set limits on known target loca-
tions modify the Slant Range and
Bearing parameters.
When OK is selected the Trackman program sends the parameters to the TrackPoint 3 Deck Unit.
This delay causes the dialog box to remain on screen for a few seconds following the command.
3-23
FILTERING provides operator a choice of various combinations of averaging, filtering, threshold

settings and also limits on certain parameters. Filtering includes averaging, target velocity check-
ing, range gating, signal threshold, minimum xponder range, maximum xponder range and signal
rejection via signal quality checking. The filtering parameters are individual per target.
Averaging: The Averaging parameter is variable from 0 (off) to 10. It is independent of the Filter
Level setting in that you can select the buffer size in which to average a number of replies over (1-
10). This setting corresponds to the number of replies that are averaged along with the present
reply. The averaging routine is used in conjunction with the QF (Quality Factor) and the Filter
Level. With a high quality factor the target position is weighted heavily both on the present reply
and on the previous replies in the averaging buffer. If the present reply has a high QF and the pre-
vious reply had a low QF then the position with the high QF remains heavily weighted within the
averaging buffer. As new replies are received the high QF positions maintain their heavier weight
while the positions with lower QF’s have very little weight. The weights of the target positions are
reduced as the newer replies are received. This approach biases the target position towards the
better QF and also towards the most recent reply providing a better representation of target posi-
tion than by using a mean or average of the target positions. At the higher filter levels (8-10) the
averaging is almost linear across all replies while at the lower filter levels the weight is higher on
the most recent reply. Averaging occurs on the target's position only (X, Y or HD, BRG), not on the
displayed slant range. The slant range displayed in the status block and sent out the RS-232 is the
actual value. Because of this there may be an apparent discrepancy between the displayed posi-
tion and slant range.
Filter Level: The Filter Level setting is variable from 1 to 10. A Filter Level setting of 1-5 is rec-
ommended for most dynamic applications (e.g., ROV tracking). The higher settings of 6-10 are
appropriate for static applications such as station keeping. The parameter settings for the range
blanking gate and velocity filter “tighten up” as the Filter Level is increased with the premise that
dynamic targets such as AUV’s can change position quickly with respect to the vessel while static
targets such as a tow fish or other moored targets do not. Filter settings 6-10 cause the analog or
telemetry depth to average the last three readings. Filter settings 1-5 do not average the input
depth. Also see error code #5.
The table below shows the relationship between the range gate, velocity filter and averaging
weight Vs the Filter Level setting.
FILTER LEVEL/RANGE (blanking) GATE (Transponders & Responders Only)
If there is more than one sequential target the range blanking gate value is multiplied by the num-
ber of targets (e.g., filter level 2 with 4 targets enabled equates to a blanking gate of 80 meters
before the average target range). If the blanking gate exceeds the current range average then it is
set to a minimum (1m). The range average for each target is weighted based on the number of
good replies for that target. If there are no recorded good replies then the routine uses 100%
weight on the current value and is scaled down for up to 4 replies (e.g., if there have been 4 or
3-24
more consecutive good replies each new reply contributes 25% to the average). As replies are
missed, more weight gets added to the new reply. If there are more than 2 missed replies, the
blanking gate opens up by a factor of 2, until we exceed a maximum (currently 4) where it is wide
open.
TARGET FILTERING FUNCTION
Filter Blanking Gate opens prior to av- Velocity Filtering Average Weighting
erage reply (meters)
Level (based on 1500m/s speed of sound) (4.5 m/s = 10 knots; Ratio of the weight of the
2.3 m/s = 5 knots) previous reply to the 10th
reply Vs Filter Level 3
1
1 -25 meters (-16 ms) x # Active targets OFF 4.0:1
1
2 -20 meters x # Active targets OFF 3.3:1
3 -15 meters x # Active targets 1 OFF 2.8:1
1 2
4 -10 meters x # Active targets 4.5 m/s + X % SR 2.5:1
1 2
4 2
4 2
4 2
4 2
4 2
10 -5 meters (-3.3 ms) x # Active targets 2.3 m/s + X % SR 1.8:1
NOTE 1: For Range Gate description see Transponders and Responder below. Pingers utilize a Time Gating
system, see Pingers below.
NOTE 2: Total velocity = Target Velocity plus 5% (X) of the Slant Range if external compass is used; Plus 10%
of Slant Range if not used. Used for both Xponders and Pingers.
NOTE 3: At the higher filter levels the averaging is almost linear across all replies (up to 1.8:1 depending on
number of replies smoothed) while at the lower filter levels the weight is higher on the most recent
reply (up to 4.0:1 depending on number of replies smoothed). The QF also contributes to the weight
in the smoothing buffer. See chart and also QF FILTERING below.
NOTE 4: Settings 6-10 affect the auto-depth readings (analog or telemetry) by averaging the last three read-
ings. Settings 1-5 do not affect these depth inputs.
3-25
Weight on the Target’s Position Vs the Quality Factor as used in the smoothing
QF 1 2 3 4 5 6 7 8 9 10
Weight 0 0 .04 .08 .12 .16 .2 .4 .6 1
RANGE GATE AND TELEMETRY (Transponders & Responders Only)
When telemetry is enabled the system also blank-gates on the telemetry reply. On the primary or
navigation reply the TrackPoint accepts only the first signal arriving at the hydrophone following
the opening of the blanking gate and ignores signals for ≈ 80 milliseconds following it. When the
telemetry gate opens the TrackPoint accepts the first signal at the telemetry frequency and all
other signals are ignored until after the next interrogation. This is advantageous when operating in
a high multi-path environment, insuring that the system locks on to the correct reply.
FILTER LEVEL/TIME GATE (Pingers Only)
For pingers the system uses a Time Gating system based on the targets entered repetition interval
instead of the slant range as used in the range gating. Time gating eliminates any unwanted signal
detections that occur at a time when no response is expected. Since the pinger repetition rate is
entered and the reply interval is known, TrackPoint II can determine, within some short time inter-
val, when the next signal is expected and only allows signals which fall within their time window to
be accepted for further processing. It depends upon accurate entry of repetition rates in the TAR-
GET sub-menu for proper tracking. The time gate is a function that compares the time between re-
plies against the entered repetition value. It accepts the first reply that arrives in a window 50 ms
prior to the expected arrival of the signal (beginning of time window) and up to 50 ms after the ex-
pected arrival. It then ignores replies later than 50 ms after the calculated time gate window. If no
replies are detected within a certain period, an error code #2 is flagged and the window opens up
to find the reply.
FILTER LEVEL/VELOCITY FILTER
Velocity filtering is a technique of rejecting any target position changes that are unlikely due to an
assumed maximum target velocity and elapsed time since last update. It is based on the differ-
ence between the previous X and Y position (averaged, if smoothing is enabled) and the present
targets X and Y position. If the present calculated position passes the velocity filter test it is then
sent to the smoothing function. If after a certain period of time there is no reply within the ex-
pected area then an error code #5 is flagged and the system opens up to find the reply.
NOTE: A fast-turning ship can cause the target to appear to be traveling at excessive
speeds and be rejected by the velocity filter, when the compass option is not in use.
Threshold: The Threshold key steps through five threshold settings for each target: As the thresh-
old level is increased, only stronger signals are accepted, and weak signals, which could be caused
3-26
by multi-path or extraneous noise in the water, are ignored. The lowest threshold setting increases
the sensitivity of detection by recognizing smaller signals. In a high-noise environment this can
lead to erratic readings. In a high-multi-path environment, lower settings result in earlier detec-
tion, reducing the inclusion of multi-path signals with the original signal. Higher threshold settings
decrease the possibility of detecting on noise, but can lead to occasional missed valid signals and
also late detections causing erratic bearings. A lower threshold setting is usually the best choice,
but trial will lead to the optimum threshold setting for a given application. The default setting is
Med-Low but can range from Low to Extra High depending on the ambient noise. If the RED detect
LED is continuously illuminated on the front panel for that target then the threshold setting is too
low and must be raised.
Threshold Settings: Low, Med-Low, Med-Hi, High, Extra-High
NOTE: Use the lowest possible threshold setting that will prevent noise from falsely trigger-
ing the detector. Med-Low is the default setting.
Target Limits: The Slant Range Limit (Minimum Transponder or Responder Range) function works
in conjunction with the range gating (blanking) system based on the target slant range. The range
(blanking) gate is a hardware lockout that “opens up” and allows signals to be detected from the
hydrophone. The time that the blanking gate opens is based on the Filter Level and the time the
last reply was received. If a condition occurs where the blanking gate end time is less than the
Slant Range Limit’s (from value) then the blanking gate overrides the Slant Range Limit’s (from
value). This in effect locks-out all signals from the hydrophone prior to the end of the blanking
gate. If the system loses tracking due to the Slant Range Limit (from value) being greater than the
actual slant range from the target the system shows an error code #7 (SR < Min Range). After 5
interrogations without a reply the system opens up the blanking gate and accepts the reply on the
sixth (6th) interrogation (EC #6 may appear briefly prior to reception of signal). If the Slant Range
is less than the Slant Range Limit’s (from value) then the error code #6 is changed to #7. The
Slant Range Limit’s (from value) can vary from 1 to 1000 meters.
NOTE: If you are operating with a known minimum range, for example with an ROV near the
bottom in 500 meters of water, then the Slant Range Limit’s (from value) could be set
for 450 meters. This would provide an effective "range gate" without the attendant tar-
get acquisition and re-acquisition time of the normal range gate. Of course, as you re-
cover the ROV you will have to reset the Slant Range Limit’s (from value) to track the
ROV to the surface.
The Slant Range Limit’s (to value) (Maximum Slant Range) function compares the reply’s slant
range against this value. If the slant range is greater than the entered value the last good reply
remains on the display (target position on the screen doesn’t change) and the status block shows
an error code #14. If the RS232 Format is set to an “EC” format it also outputs the last good posi-
tion and tags it with an error code #14. The Slant Range Limit’s (to value) can vary from 0 m
which is OFF to 10 to 10000 meters.
3-27
QF Filtering: QF Filtering is a toggle function that turns QF Filtering on or off. The Quality Factor
(QF) is a value (1-10) determined by the system on each reply that is detected. The system uses
the phase or time counts from each of the hydrophone elements to determine the quality of the
signal. If the phase counts are consistent throughout the reply burst the quality factor is very high.
If the phase counts have jitter or are inconsistent then the quality factor is low. The QF FILTERING
function filters the data depending on the Quality Factor of the signal received. It compares the
Quality Factor of the signal received to its previous five (5) average Quality Factors. The QF FIL-
TERING function toggles Quality Factor checking on or off.
This function filters the data depending on the Quality Factor of the signal received. When “QF FIL-
TERING” is “ON” and the Quality factor is less than the average of the last five QF’s the data is not
plotted and causes an error code #4 to be displayed. In this case the error is considered a “fatal”
error (similar to all other error codes under 20) and the reply is not added to the smoothing buffer.
The target position is not updated on the screen and the positional data is not sent out the RS232
port unless the “EC” formats are chosen. If “EC” formats are chosen then a post processing naviga-
tion system could be used to determine if the reply was good or bad by searching for a 4 at the EC
location within the data string. When “QF FILTERING” is “OFF” and the Quality factor is less than
the average of the last five QF’s the data is plotted on the screen and sent out the RS232. The data
is tagged with an error code #64 on both the display and RS232. In this case the error is consid-
ered a “warning” error (similar to all other error codes greater than 50). The data is still smoothed
but its “weight” within the averaging buffer is decreased. Again, a post processing navigation sys-
tem could then be used to determine if the reply was good or bad by searching for a 64 at the EC
location within the data string.
3-28
Setup Device List (Ports)
When selected, the Device List dialog box is displayed and the main window minimizes. (This is the
same as double-clicking on the Device List within the Project Box.) When closing the Device List
window, the main window is displayed again.
The Device List shows the list of all peripherals or I/O to the Processor. (FYI: The Device List is
read from a “devices.ini” file stored under the ORE TrackPoint folder within the Program Files
folder. These are ORE configured files and should not require modification.)
Device (ports) Setup dialog box: This box allows setup of the various I/O to the Processor.
Double-clicking on an entry in the list (or using the arrows keys to move to the desired entry and
hitting 'Enter') brings up the Device Setup dialog for that entry.
TrackPoint 3:
Click on the TrackPoint 3 “Device List” line and then dou-

ble click to bring up the Setup Dialog Box.
Setup this dialog as listed below. This port is required to

communicate with the TrackPoint 3 Deck Unit.
The “Sentence Input to Trackman” is the data format

that is coming from the TrackPoint USBL Deck Unit to
the PC. The “Sentence Output from Trackman” is the
data format that is sent from the PC (on this same port)
to the TrackPoint 3 Deck Unit.
3-29
The setup parameters for the TrackPoint 3 Device are…

• Connection Type COM Port
• COM port settings Your PC’s available comport
• Baud Rate 19,200
• Parity None
• Data Bits 8
• Stop Bits 1
• Advanced Settings Default
• Sentence Input to Trackman TP_SPC (TrackPoint Signal Processor Console)
• Use Checksum Yes
• Sentence Output from Trackman TP_SPC
Remote Interface:
Not common. The Remote Interface port is typi-

cally for an output to a navigation system that also
communicates with Trackman. Setup the Remote
Interface device to output the format that will be
compatible with the navigation software. The Con-
nection Type can be either “COM Port” or “IP
(net)”.
The Sentence Input to Trackman can either be

“NCSS” or SPC. This is the data format that is
coming from the Remote Control Module (another
PC) to this PC or laptop. These are not typical and
are only used for special applications. Leave as “---
-“. For data output only see Data Output below.
The Sentence Output from Trackman is the
data format sent from the PC to the Navigation
System. The list of formats available are; PORE,
POREB, POREG, SNTTM, STANDARD, STANDARD-
EC, STD W/PR, STD-EC W/PR, NCSS, NCSS-EC,
NUWC, NUWC-EC, REV 4 & REV 4-EC.
3-30
Setup Data Output
Data Output Setup is similar to the Remote

Device Setup. A separate COM port can be
configured to only output data (no control in-
put). There is no Sentence Input to Trackman
as in the Remote Interface Setup.
Setup the Data Output dialog to output the for-

mat that will be compatible with the navigation
software.
The Connection Type can be either “COM Port” or

“IP (net)”.
TCP/IP & UDP Protocols
The global network we all know as the Internet

transfers information between computers using a
protocol (a set of rules) known by the acronym
TCP/IP which stands for Transmission Control Pro-
tocol/Internet Protocol.
All Internet transfers use IP (Internet Protocol) as

the basic underlying method of 'packaging' data to be transferred.
Above that underlying packaging 'layer' of operation there are two general methods of transferring
data.
The first method, which is the one most of us know from 'surfing the Web', involves making a
point-to-point connection when transferring data. This point-to-point connection uses the TCP
(Transmission Control Protocol) part of TCP/IP. It's a lot like making a phone call, when the other
person answers the phone your connection is acknowledged and you can transfer data back-and-
forth (talk) point-to-point.
The second method, called a datagram or connection-less interface, is a simple 'pack it up and ship
it out' technique that essentially works like mailing a letter. With a datagram you don't make a
connection with the receiver, you simply send your data and assume that it will get where you're
sending it. In the Internet world a protocol known as UDP (User Datagram Protocol) is used to
transfer data in this way.
One of the advantages of UDP is that you can send data to more than one receiver at a time since
there's no need to establish a point-to-point connection. This technique is known as UDP broadcast
mode. Using UDP broadcast mode an application acts much like a radio station, it broadcasts data
on a specific IP port and anyone who wants to 'listen' to the data 'tunes in' to that port. There's no
3-31
need to make a point-to-point connection so there's no connection to break when a listener stops
listening.
The Sentence Output from Trackman is the data format sent from the PC to the Navigation
System. The list of formats available are; PORE, POREB, POREG, SNTTM, STANDARD, STANDARD-
EC, STD W/PR, STD-EC W/PR, NCSS, NCSS-EC, NUWC, NUWC-EC, REV 4 & REV 4-EC.
3-32
Setup Attitude Sensor Setup
This is the System Level Attitude Sensor setup. (Same

as clicking on the Attitude Sensor line in the Project
Tree.)
The pitch and roll signals compensate target position

for vessel motion. The analog inputs [Trackpoint
(USBL)] can accept voltages up to +/-10 VDC. The
normal vessel motion for a positive (+) Voltage pitch is
BOW UP and the normal vessel motion for a positive
(+) Voltage roll is PORT UP. The polarity of the analog
input signals into the TP3 can be reversed and compen-
sated for in the USBL ATTITUDE SENSOR POLARITY
dialog box. Normal polarity for pitching bow up is (+)
and for rolling port side up is (+). The VRU
scaling can also be modified under the USBL
ATTITUDE SENSOR menu. Normal scaling is
0.222 V/degree (+/- 10VDC = +/-45°). This
dialog also allows the selection of the Compass
Sensor Input to be either from Trackman (PC)
or (TrackPoint (USBL)).
NOTE: For a Remote VRU the normal Voltage

polarity for pitching BOW UP is [+]. The nor-
mal voltage polarity for rolling PORT UP is [+].
The RS232 Format STD W/PR (standard for-
mat with pitch and roll at end of data string)
also outputs data with this same protocol. The
RS232 Format NMEA ORE (NMEA 0183 type
format string that is proprietary to ORE Off-
shore and includes pitch and roll data at end of
string) is different in that it outputs data in the
same polarity as its incoming voltage. This al-
lows pass-through of signals from remote VRU
to integrated navigation system without modi-
fication of polarities.
The three types of Attitude Sensors that can be interfaced to the system are; Internal, Analog or
Serial.
3-33
Select INTERNAL when the Trackpoint is interfaced to either an ORE Model 4610B or 4211A/4740A
Hydrophone/VRU-Amplifier combination. This connects the analog input directly to the Hydrophone
and defaults the scaling to 0.222 Volts/degree. (+/- 10VDC = +/-45°)
Select ANALOG when using an external sensor with an analog output. The scaling can then be
modified to be compatible with the external sensor. For example, a Model 4414B Pitch/Roll sensor.
Select SERIAL when using a sensor that outputs the data serially. For example, an NMEA format
from an ORE Model 4760A MRU. The various formats available at the Trackpoint (USBL) COM ports
2 or 3 are…
• TSS1
• TSS HHRP
• PRDID
• CDL/MDL
• PSXN (Seatex)
• POREM
Configure the Port Settings by selecting the COM Port
that the data is input to the Trackpoint device. (COM
2 or COM3) Next select the Port #, Baud Rate, Parity,
Data Bits and Stop Bits. Note that the baud rate is
limited to 38400 and the data rate is limited to
12Hz on these ports.
NOTE: The SERIAL attitude data can be input ei-

ther into the Trackpoint 3 Deck unit (Trackpoint
USBL) or the PC that the Trackman software is
installed (Trackman (PC).
If the data is input via the Trackman PC then se-

lect from the Attitude Sensor Setup box the
Trackman (PC) button. The Attitude Sensor Input
Setup box is displayed. Select COM Port button at
the top and then select the COM Port settings.
Port #, Baud Rate, Parity, Data Bits and Stop Bits.
Next select the format from the Sentence Set-
tings. The various formats available are…
• POREM
• POREI
• TSS1
• PRDID
• PSXN
3-34
The data on these ports can typically be up to 115,000 baud and rates greater than 100Hz.
Sentence Formats:
POREM – Pitch, Roll and Heading
1 2 3 4 5 6 7 8
| | | | | | | |
$POREM,+xxx.xx,+xxx.xx,+xxx.xx,+xxx.xx,xxx,+xx.xxx*CS<CR><LF>
Field Number:
1) Pitch (degrees)
2) Roll (degrees)
3) Temperature (degrees C)
2
4) Heading (degrees)
5) Error Code
6) Heave (meters)
7) “*” end of sentence delimiter
8) CS = CheckSum
TSS1 – Heave, Roll, and Pitch

1 2 3 45 6 78 9 11 1
| | | || | || | 01 2
| | | || | || | || |
:XXAAAASMHHHHQMRRRRSMPPPP<CR><LF>
Field Number:
1) Start Character “:”
2) Horizontal Acceleration
3) Vertical Acceleration
4) Space Character
5) Space if positive, Minus if negative
6) Heave (centimeters) (N/A) (positive is above datum)
7) Status Flag
3
9) Roll X 100 degrees
10) Space Character
1
12) Pitch X 100 degrees
2
If using heading also, make sure to check the “Use Heading From Attitude Sensor” box.
3
Roll and pitch measurements are in degrees in the range –99.99° to +99.99°. Positive roll is port-
side up, starboard down. Positive pitch is bow up, stern down.
3-35
TSS HHRP2 –Heave, Roll, Pitch and Heading

1 2 34 5 67 8 91 1 1
| | || | || | |0 1 2
| | || | || | || | |
:DDDDSMHHHHQMRRRRSMPPPPM<CR><LF>
Field Number:
1) Start Character “:”
4
2) Heading X 100 degrees
3) Space Character
5) Heave (centimeters) (N/A) (positive is above datum)
6) Status Flag
5
8) Roll X 100 degrees
9) Space Character
2
11) Pitch X 100 degrees
12) Heading Status (N/A)
PRDID - Pitch, Roll and Heading

1 2 3 4
| | | |
$PRDID,+xx.xx,+xx.xx,xxx.xx*CS<CR><LF>
Field Number:
1) Pitch (+ or -)
2) Roll (+ or -)
3
3) Heading
6
4) CS = CheckSum
4
5
Roll and pitch measurements are in degrees in the range –99.99° to +99.99°. Positive roll is port-
side up, starboard down. Positive pitch is bow up, stern down.
6
The TSS MAHRS and others may not use the Checksum field. Uncheck the “Use Checksum” box
as required.
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PSXN - Pitch, Roll, Heading and Heave

1 2 3 4
| | | |
$PSXN,23,-xx.xx,-xx.xx,xxx.xx,,*CS<CR><LF>
Field Number:
1) Message 23
2) Roll (degrees) (Positive Port Side Up) (N/A)
3) Pitch (degrees) (Positive Bow Up) (N/A)
7
4) Heading, True (Degrees)
5) Heave (meters) (Positive Up) (N/A)
6) CS = CheckSum
7
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Setup Compass Setup
This is the System Level Heading sensor setup.

(Same as clicking on the Heading Sensor line in the
Project Tree.)
The heading data can be set to off (None), Grid Only,

Data Output Only or Both Data Output and Grid. If for
example, the Navigation System was to correct for
compass heading and not TrackPoint then set the
North Reference to Grid only. The RS-232 data would
not be corrected for North but the Target position on
the grid would be. The Compass Correction can either
be…
• None
• Data O/P Only
• Grid Only
• Both Data O/P & Grid
Enter in the magnetic variation in degrees.
This dialog also allows the selection of the Com-

pass Sensor Input to be either from Trackman
(PC) or (TrackPoint (USBL)).
Clicking on the “TrackPoint (USBL)” button brings

up the “USBL Heading Sensor (Compass)” dialog
box. Select None (to turn off) or the interface re-
quired, either Analog as input Trackpoint 3 Desk-
top unit ‘s rear panel ANLG SENSOR INPUT con-
nector or the Serial port which accepts NMEA
compass sentences. The Serial input goes into the
DB-9 connector located on the rear panel of the
unit.
When the compass is enabled (either Analog or

Serial, Trackman (PC) or TrackPoint (USBL) Deck
Unit), the RS-232 target position data is auto-
matically switched to north referenced. This
means that the target data (bearing, X, Y) output
to the RS-232 port is referenced to North instead
of the bow of the vessel. The operator can override this by selecting Compass Setup from the main
Setup Menu. Click the pull-down menu of the dialog box and select where the Compass Correction
should be applied; None, Data O/P Only, Grid Only, Both Data O/P & Grid. The “Grid Only”
3-38
function is used in situations where the TrackPoint is interfaced to a navigation system and the
navigation system already interfaces to a heading sensor such as a flux gate compass or gyro-
compass. In this case, the TrackPoint’s RS-232 data does not need to be corrected for North refer-
ence. However, the TrackPoint requires a compass input to compensate for vessel motion within its
filtering algorithms. By selecting “Grid Only“ the target data on the TrackPoint screen remains ref-
erenced to North while the RS-232 data is referenced to the bow of the vessel thus allowing both
the TrackPoint II and the navigation system to function properly. To have the TrackPoint Heading
correction applied along with the RS-232 Data Output then select “Both Data O/P & Grid”.
NOTE: When the Compass Correction function is set to “Data O/P Only”, the RS-232 data is
averaged (when Smoothing is enabled). However, the positional data on the screen
of the TrackPoint is only smoothed or averaged prior to the target’s compass correc-
tion resulting in positional changes directly related to the change in compass head-
ing. When the Compass Correction function is set to “Grid Only” the target position
is averaged after the compass has corrected the data for North Reference resulting in
a more “smoothed” target position on the TrackPoint screen.
Analog: For the Analog Heading Sensor electrical interface see Installation, Section 2 above. The
TrackPoint converts the analog Voltage to a ship’s heading in degrees.
In the “Zero degree Voltage” box enter the minimum Voltage that corresponds to zero degrees.
(Range 0 - 5.99VDC) In the “360 degree Voltage” box enter the maximum Voltage that corre-
sponds to 359.99 degrees. (Range 0.1 - 6.0VDC)
When in analog compass mode the heading data is displayed at the top left of the screen and has a
suffix “A” attached to indicate that the data is from the analog input.
Serial: See section 2 (Installation) for wiring the compass to the Deck Unit COMMS connector.
Click on “Port Settings” to select the TrackPoint
3 Deck Unit comport that the compass connects
to. (COM2 or COM3) Set the baud rate, Parity,
Data Bits and Stop Bits to agree with the com-
passes serial port protocol. Refer to section 2 for
COM Port wiring for the COMMS connector.
Format: The Input Format allows selection of

either “HDT”, “HDM” or “HDG” NMEA formats or
the Precision Navigation (PNI) TCM-2 format. Press OK to use the set parameters or Cancel to ig-
nore.
3-39
For further information on the NMEA standard contact; NMEA, 7 Riggs Ave., Severna Park, MD 21146 U.S.A.,
Tel: 410-975-9425, http://www.nmea.org, E-Mail: [email protected]
For further information on the TCM-2 format contact; PNI Corporation 133 Aviation Blvd, Suite 101 Santa
Rosa, CA 95403 USA, Tel: 707-566-2260, Fax: (707)566-2261, http://www.pnicorp.com/, E-Mail:
[email protected]
The following describes the format of each of the NMEA and the TCM-2 compass sentences. If the
“Use Checksum” is checked, and the checksums do not agree, the data is ignored. If the “Use
Checksum” is not checked then the data is accepted even if the checksum does not agree or is
missing from the string. (The checksum is the 8-bit exclusive OR (no start or stop bits) of all char-
acters in the sentence, including “,” delimiters, between both, but not including, the “$” and the “*”
delimiters.) On the RS-232 target output data sentence there is no compass heading identifier to
distinguish between True and Magnetic heading information except on the NMEA ORE format.
The Heading data is continuously received from the ComPort but only updates when a valid target
has been detected. If the compass heading has not changed by at least 0.1° in 10 seconds then an
error code 55 is displayed. The maximum rate that the TrackPoint can receive the heading data is
8Hz at 4800 baud or 16Hz at 9600 baud.
If the RS232 output format (COM port #1 parameter) is set either to STD-EC or STD-EC W/P-R,
and an error code #6 is encountered, the heading data from the NMEA device is sent out the Com-
Port #1. The TrackPoint waits approximately 16 seconds, after loss of replies, before generating an
error code #6. The rate at which the RS232 is output is set by the COM1 Interval (minimum of
two-second interval). If the NMEA sentence received on COM port#2 is from a Precision Navigation
TCM-2 Compass Module and the sentence format is set to the standard TCM-2 format then the
TrackPoint outputs the pitch and roll data also. This is only valid with the ComPort #1 output for-
mat, STD-EC W/P-R. The TrackPoint outputs the data as it is read from the sentence. That is to
say, the remote VRU polarity switches have no affect on the RS232 data.
The various formats the system can receive are shown below;
HDT - Heading, True

1 2 3
| | |
$--HDT,x.x,T*CS<CR><LF>
Field Number:
1) Heading, degrees True
2) T = True
3) CS = CheckSum
The TrackPoint displays the heading data on the screen and adds a suffix ”T” to indicate heading is
True.
3-40
HDM - Heading, Magnetic

1 2 3
| | |
$--HDM,x.x,M*CS<CR><LF>
Field Number:
1) Heading, degrees Magnetic
2) M = Magnetic
3) CS = CheckSum
The TrackPoint displays the heading data on the screen and adds a suffix ”M” to indicate heading is
Magnetic.
HDG - Heading, Deviation and Variation

1 2 3 4 5 6
| | | | | |
$--HDG,x.x,x.x,a,x.x,a*CS<CR><LF>
Field Number:
1) Magnetic sensor heading, degrees
2) Magnetic variation, degrees, E/W
3) E = east, W = west
4) Magnetic variation, degrees, E/W
5) E = east, W = west
6) CS = CheckSum
The TrackPoint calculates magnetic heading by adding Easterly deviation to, or subtracting West-
erly deviation from, the magnetic sensor reading. It calculates true heading by adding Easterly
variation to, or subtracting Westerly variation from, the magnetic heading. If the sentence struc-
ture only contains magnetic heading information then the TrackPoint displays an “M” after the
heading data on the display screen. If the sentence contains variation information it calculates the
true heading and the TrackPoint displays a “T” after the heading data indicating True heading.
TCM-2 is a proprietary sentence from Precision Navigation. Sentence consists of the following pa-
rameters;
$C <COMPASS> P <PITCH> R <ROLL> X <BX> Y <BY> Z <BZ> T <TEMP> E <ERROR CODE> * CHECKSUM <CR> <LF>
Example: $C328.3P28.4R-12.4X55.11Y12.33Z-18.43T22.3E001*CHECKSUM<CR><LF>
The TrackPoint reads the compass, pitch and roll data from the sentence. All other data is ignored.
NOTE: Any parameters not enabled in the TCM-2 Compass module are not included in the out-
put word. For example, setup the unit to only output compass, pitch & roll. See follow-
ing;
$C328.3P28.4R-12.4*CHECKSUM<CR><LF>
3-41
The pitch and roll received from this string can be used for either dynamic or static offsets depend-
ing on the Hydrophone - Offset - Status Command within the TrackPoint.
To setup a Compass Sensor that is input to the PC,

(Trackman Software is installed on this PC) click on
the “Trackman (PC)” button. (This is the same as
clicking on the Device List and selecting Compass
Setup.) A dialog box labeled “Compass Sensor Input
Setup” is displayed. This only allows input via
RS232 serial port or an IP socket. No Analog func-
tion. Setup the port to agree with the compass’ pa-
rameters. See Setup Data Output above for IP
(net) description.
COM Port Settings: See section 2 (Installation) for

wiring the compass to the Deck Unit COMMS con-
nector. Select the TrackPoint 3 Deck Unit comport
that the compass connects to (COM2 or COM3). Set
the baud rate, Parity, Data Bits and Stop Bits to
agree with the compass’ serial port protocol.
Sentence: The Input Format allows selection of ei-

ther “HDM”, “HDT”, “HDG”, “PRDID” or “PSXN”
NMEA formats. Press OK to use the set parameters or Cancel to ignore.
PRDID - Pitch, Roll and Heading

1 2 3 4
| | | |
$PRDID,+xx.xx,+xx.xx,xxx.xx*CS<CR><LF>
Field Number:
1) Pitch (+ or -)
2) Roll (+ or -)
8
3) Heading
9
4) CS = CheckSum
8
This is typically a Pitch and Roll sentence with an optional Heading output. The data string will
include gyro heading information only if it is available. If there is no heading information available,
the heading field will be null.
3-42
PSXN - Pitch, Roll, Heading and Heave

1 2 3 4
| | | |
$PSXN,23,-xx.xx,-xx.xx,xxx.xx,,*CS<CR><LF>
Field Number:
1) Message 23
2) Roll (degrees) (Positive Port Side Up) (N/A)
3) Pitch (degrees) (Positive Bow Up) (N/A)
4) Heading, True (Degrees)
5) Heave (meters) (Positive Up) (N/A)
6) CS = CheckSum
9
The TSS MAHRS and others may not use the Checksum field. Uncheck the “Use Checksum” box
as required.
3-43
Setup Reset Devices /Ports
Resets the COM and TCP/IP ports within the Trackman PC.
Setup Reset Grids/Graphics
Resets the graphics “engine” within the Trackman PC.
Setup Audio (ping)
This provides an audible ping when a reply is detected on the COM port. Toggles on or off. Plays
sound through the PC’s speaker (Not supplied).
Setup Hints (Tool Tips)
Enables the tool tips. Toggles on or off.
Setup Update While Hidden
When the Trackman application is minimized it can either continue plotting so that the data can be
seen once it is resumed ( Update While Hidden) or the application can stop plotting the data and
when resumed the screen will have no data points shown. This saves processing time when inter-
facing to a navigation program that is running on the same PC.
3-44
3.3.4 USBL MENU
Pertains to functions/parameter settings on the TrackPoint 3 Deck Unit.
USBL GPS/Time Sync
From the USBL main menu select GPS/Time Sync to bring up the USBL GPS/Time Sync setup pa-
rameter dialog box.
Select the USBL Comport, that the

“Time” sentence is interfaced to by
clicking on the “Port Settings” button.
Select either the ZDA format or the

GGA format.
When ZDA or GGA is selected the Time coming

from the SPC packet is ignored so that it does not
update from the PC. “Time” on the Deck Unit will
be synchronized with the GPS time. The Deck Unit
synchronizes all sensor data and target detection
to this time. For example, when the target reply is
detected the raw data is automatically time-
stamped to within 50ms of the GPS time. The same for all the analog sensor data and the compass
serial port data.
Example of ZDA sentence.
$--ZDA,hhmmss.ss,xx,xx,xxxx, xx,xx*hh
Example of GGA sentence.
$GPGGA,174007,4131.4511,N,07040.3336,W,1,6,01.0,000003.1,M,-00033.7,M*hh
All serial sensor data into the USBL or TrackPoint interface is time tagged and the closest point to
the reply detection is used for motion compensation.
3-45
USBL Hydrophone
From the USBL main menu select Hydrophone to bring up the USBL Hydrophone setup parameter
dialog box.
Hydrophone Offsets are

used to reference the tar-
get position to the pitch /
roll center of the vessel.
The system uses the
hydrophone offsets to re-
position the target with
respect to the pitch/roll
center of the vessel and
also to correct for the
hydrophone’s dynamic mo-
tion. Hydrophone motion is
due to the pitching and
rolling of the vessel when it
is not on the pitch or roll
center of the vessel. ( The
system assumes the hydrophone is rigidly mounted to the vessel. ) The hydrophone, when
mounted offset from the vessel’s pitch / roll center, swings in an arc about the pitch / roll center
causing variations in the hydrophone depth, X and Y offsets as the vessel experiences dynamic mo-
tion. These variations cause the target to appear to be at a different depth, depression angle and
bearing than it actually is. By entering in X, Y and Z offsets the system can correct for this dynamic
motion if a survey grade Motion Sensing System is interfaced to the TrackPoint 3. See ORE Model
4414B Motion Sensing System.
At the time of installation, the hydrophone should have been oriented as nearly as possible in par-
allel with the centerline of the ship, and any remaining bearing offset determined (Refer to section
2).
Bearing Offset: The Bearing Offset is the rotational offset between the hydrophone’s acoustic
zero-degree line and the vessel’s centerline. See section 2.4.1 for this installation setting. Enter the
Bearing Offset as determined in Section 2.4.1.
X & Y Offsets: Determine X and Y offsets for the hydrophone in relation to the pitch / roll center
as explained in section 2.4.2. To enter hydrophone offsets, select HYDROPHONE from the Project
Tree. A dialog box consisting of X, Y, DEPTH and BEARING offsets are displayed. Enter the X and Y
Offsets as determined in Section 2.4.2.
3-46
Hydrophone X and Y offsets are entered with respect to the pitch / roll center of the vessel. It is
assumed that the vertical reference for the pitch / roll center is the water-line of the vessel or the
entered “DEPTH OFFSET”. Once the X and Y Offsets are entered and the dialog box closed, a small
"Hydrophone" symbol appears in the Plotting Window and moves in relation to the X and Y offsets
that are input. This "Hydrophone" symbol represents the actual position of the hydrophone. The
ships reference point remains in the center of the tracking display.
NOTE: The TrackPoint outputs the target position with respect to the pitch / roll center of
the vessel graphically in the Display, numerically in the Status Block and also on the
RS-232 serial communications port.
Depth Offset: Manually enter the depth offset as determined in section 2.4.2. This is the Depth of
the hydrophone from the water surface (which is assumed to be on the same plane as the pitch/roll
center of the vessel) to the tip of the hydrophone. Manual mode only. Auto Offset is used only in
special cases, not applicable with TrackPoint Portable.
Attitude Offset: This is the (static) vertical offset of the hydrophone in degrees.
Enter the hydrophone attitude error corrections in degrees. It is used to offset the static attitude of
the hydrophone/staff. The attitude (pitch/roll) offsets are error constants that compensate for the
non-vertical installation of the hydrophone shaft and/or vessel trim. The operator must measure
the angle of the shaft with respect to vertical and enter the data in this menu. Pitch and roll errors
are entered in degrees. Maximum range is +/- 45°.
The attitude (pitch/roll) offset errors follow the polarity convention of; vessel Bow up = [+], Port
up = [+]. For example, if the combined hydrophone shaft and vessel trim causes the Hydrophone
(4610B or 4211A) mounted on the end of the staff) to tilt towards the port side (has the same af-
fect as tilting so that the port side of the vessel is up), the roll error is entered as a positive value.
And, if the Hydrophone is tilted towards the aft of the vessel (vessel attitude = bow down) the
pitch error is entered as a negative value. Also, refer to section 2.4.3.
Pitch and Roll have also been referred to as Tip (fore/aft) and Tilt (port/starboard).
Units: Sets the units that the dimensional offsets are relative to; Meters, feet or Yards.
Orientation: If an ORE remote Pitch and Roll sensor is used, such as the Model 4730A, or 4740A
the system can allow for different mounting configurations of these VRU assemblies. In some in-
stances, when attempting to mount the VRU assembly as close to the pitch and roll center of the
vessel as possible, a convenient (bow facing) mounting surface is not always available. The soft-
ware can compensate for four different mounting arrangements. The VRU ORIENTATION function
allows the VRU assemblies to be mounted in the NORMAL position with the assembly's directional
arrow facing towards the bow, or mounted to STARBOARD, AFT or PORT.
3-47
USBL Acoustic Data
Brings up Acoustics Data dialog box.

(Same as Acoustic Data in Project Tree)
This data is used within Trackman to
correct positional data based on the
acoustic parameters. Enter the average
water column Speed of Sound in me-
ters/ second or feet/ second or click the
Use Sound Velocity (SV) Profile check
box to enter in the profile or import a
file containing the profile. The default
value is 1500 m/s. The slant range is
calculated using this value and the
acoustic travel time. Enter the Water
Salinity at the hydrophone in part per
thousand. Default is 35 ppt. The TrackPoint hydrophone measures the temperature automatically.
This box should be checked. If not available then a manual temperature at the hydrophone can be
entered in degrees Celsius or Fahrenheit.
NOTE: When WATER TEMP-AUTO mode is selected the system only updates water temperature
upon receipt of a valid acoustic signal.
NOTE: The WATER TEMPERATURE and SALINITY parameters do not affect speed of sound cal-
culations. It is used for phase correction (depression angle) at the water / hydrophone
interface.
Sound Velocity Profile
A single velocity profile can be entered by hand or loaded from a file. At each depth there is a
sound velocity value. The data is being assumed to represent the sound velocity layers for the en-
tire region within which you are operating. Therefore, it is assumed that there is no effect on bear-
ing in this model. A non-direct sound wave segment could not be re-directed to the receive point
(from a bearing point-of-view) since the effect is only on z-axis. The only two parameters that re-
quire correction are the slant-range (SR) and depression angle (DA).
If the SVP data is available in a printout then manually enter the data within the Sound Velocity
Profile chart below. For example, in layer #1 enter in the Depth and the Velocity associated with
that layer. Continue entering data, filling in the chart down to the depth required. If the data en-
tered for the Velocity is between 1400 and 1700 then it is assumed the data is in meters/second. If
the Velocity values are between 4592 and 5576 then the data is assumed to be in feet/second.
3-48
The data entered will be shown in the corresponding Graph. The data entered will be saved as a
csv file under the current Jobs folder. For example, ..\Jobs\TP3\CurrentSvp.csv.
If the profile is available in a csv formatted file then it can be imported, in most cases. Trackman
makes some assumptions when importing the SVP files. If there are only 2 fields separated by
commas (prior to a carriage return line feed), it assumes the data is in the format of Depth, Veloc-
ity. If there are 3 fields then it assumes the data is in the format of Index, Depth, Velocity
3-49
USBL Get TrackPoint Config
This synchronizes the Trackman/PC with the parameters from the TrackPoint Signal Interface Mod-
ule. (Takes a while!)
CAUTION
Do not use this unless you are swapping out topside processors and you want to maintain previous
setup. No parameters are saved in the TrackPoint II Deck Unit when power is turned off. The unit
starts up in a default mode when power is applied each time.
USBL Send TrackPoint Config
Synchronizes the TrackPoint SP/IM using the Trackman saved parameters.
USBL Get Sensor Data
Queries the Deck Unit to read the analog sensor inputs and display their values. The A/D data is
read once per command. It is possible to repeat the command while leaving the box on the screen.
Heading Time: The time the heading was received from the RS232 port.
Heading: The Heading value as received.
Heading ID: The heading reference, either Magnetic or True.
A/D Time: The time that the A/D read the values as shown. The A/D reads all sensor
data within 0.2ms.
Pitch/Roll: The analog pitch value in degrees.
Compass: The analog compass in degrees.
Depth 1: The analog depth value in meters.
Depth 2: The analog depth value in meters.
Temperature: The temperature of the Hydrophone in degrees C.
3-50
USBL Get Status
Obtains the Status of the TrackPoint 3

Deck Unit. Displays the Time, System Type
(TP3P = LX3), Revision of the Software,
DSP Serial Number, Filter/Amp & Hydro-
phone Serial Numbers, the calibration fre-
quency band, the number of TAM’s and a
Self Test indication.
USBL Download Code
Refer to Section 5.2 for downloading Application Code to the SP/IM’s DSP.
USBL Download CAL
Refer to Section 5.1 for downloading Hydrophone calibration data to SP/IM.
USBL Volume Control
Sends command to SP/IM to set volume of internal speaker.

Move slider over with mouse and press send.
3-51
3.3.5 WINDOW MENU
WINDOW Tile Horizontally
Tiles the Plotting Window and Status Block Horizontally.
WINDOW Tile Vertically
Tiles the Plotting Window and Status Block Vertically.
WINDOW Tile Custom
Tiles the Plotting and Status Blocks (child windows) to optimally fit the main window (client win-
dow).
WINDOW Cascade
Places Plotting Window and Status Block one behind the other.
WINDOW Arrange Icons
Not available.
WINDOW Auto Tile Custom
A check box to enable the Custom Tiling. If not checked, when main window is re-sized the plotting
and status blocks will have to be re-sized manually to fit in the main window again.
3-52
3.3.6 HELP MENU
HELP Contents
HELP About
Shows the Trackman version number and the Processor’s

Physical Memory (RAM) in % used.
3-53
3.4 TRACKING TRANSPONDERS, RESPONDERS AND PINGERS
The TrackPoint 3 has the capability to track up to 4 targets sequentially (“consecutively”) using
a single receiver/detector channel. "Multiple Target Tracking" consists of a maximum of any of the
following combinations of target types that can be enabled at one time (each transponder or re-
sponder can also include telemetry):
4 Transponders
1 Responder
1 Responder and 3 Transponders
1 Pinger
1 Externally Triggered Responder or Transponder
To track multiple targets the TrackPoint sequences through the various reply frequencies while in-
terrogating on one frequency, or it can sequence through the interrogation frequencies and receive
the same reply frequency, or a combination of the two. This capability provides the operator with
the versatility to track various combinations of targets.
Example #1:
Transponder #1 - Interrogation Freq.: 17 kHz, Reply Freq.: 23 kHz
In the example above, a potential problem exists if any transponders are very close to one an-
other, i.e., less than 2 meters (at a normal pulse width of 1.3 msec). This would cause acoustic in-
terference resulting in erroneous position data. It would also decrease battery life as it would in-
terrogate the beacons when their replies were not being tracked.
NOTE: If the repetition interval is set to 2 seconds, the TrackPoint updates each transponder
position every 8 seconds.
Example #2:
Example #3:
3-54
3.4.1 TRANSPONDER MODE
Acoustic Transponder Mode
To establish tracking in the Transponder mode, you must have the proper interrogation trans-
ducer and transponder(s) must be operational and in the water.
NOTE: The interrogation transducer inside the Model 4610B hydrophone has an optimal fre-
quency range of 17 to 20 kHz.
From the Beacon dialog box select the SETUP tab and then select Active target. Select the target
symbol that you want the target to be represented by. Enter a name for the target. From the Bea-
con ACOUSTIC PARAMETER Tab set target type to Transponder, assign a Receive Frequency,
Burst Turn Around Time, Interrogation Frequency, Interrogation Interval and Pulse Width. (This
information is found the Multibeacon Label, 4330X, 435X) Select Trigger source, internal or exter-
nal. From the DEPTH tab select depth mode or enter in depth manually.
Interrogation Interval for a transponder should not be less than 2 seconds; most transponders
have a 1.5- to 1.75-second lock-out time built in to prevent interrogation echoes from retriggering
the transponder. If interrogating two transponders at different frequencies then it’s possible to de-
crease the Interrogation Interval to less than two seconds as the Interrogation Interval for a single
target will be the total of the intervals. E.g., interrogate #1 at 17kHz every 1.5 seconds and #2 at
19kHz every 1.5 seconds, the sequence interval for the two targets is 3.0s which is still greater
than the lockout time of the transponders. Also keep in mind that when using telemetering trans-
ponders the second (telemetry) reply may come in up to one second later than the primary (navi-
gation) reply. Increase Interrogation Interval accordingly.)
NOTE: With ORE Model 4330 series of transponders, pulse widths of less than 5 msec may
not properly interrogate the transponder. For Model 4350 transponders use a pulse
width of 10 ms.
At a XMIT INTERVAL of 2 seconds, a transponder turnaround time of 15 ms and a speed of sound

input of 1500 meters/second the maximum range the system could track the transponder would be
about 1400 meters. [(1500m/s * (2s - .015s)) / 2 = 1489 m] If a telemetry transponder were used
at its maximum range (telemetry delay of 1 second from primary reply) then the maximum range
would be reduced further to about 700 meters. [(1500m/s * (2s - 1s - .015s)) / 2 = 738.75m]
Input Speed Of Sound
The correct speed of sound in the water column between the transponder and the hydrophone
must be entered for accurate tracking in the transponder mode. From the Project Tree select
“Acoustic data”. Input the sound speed in meters per second or feet per second or yards per sec-
ond, depending on the current unit of measure.
The speed of sound in the water column is used to determine the transponder range. The average
water column temperature is usually different than near-surface temperature (the temperature
3-55
measured by the hydrophone), and therefore, this speed of sound generally differs from that com-
puted by the operator from a reading of the hydrophone temperature. (The hydrophone tempera-
ture is used only to determine the target depression angle correction.)
Target Depth
The target depth parameter can either be manually entered, telemetered or input via analog-in
Depth BNC. Choose the method used to update the depth parameter.
The system is now tracking in the transponder mode, and you should observe the following:
• Target position displayed in the tracking window, represented by the target designated as the
transponder.
• The chosen target symbol shown in the status block with position data agreeing with the target
position on the grid.
• Range and bearing information being updated for that target in the status block.
• The Target #1 green Interrogate LED flashing for each interrogate signal transmitted, and the
red Receive LED flashing for each signal received.
• With a transponder at close range the Quality Factors should typically be 9’s or 10’s.
Hardwired Transponder Mode
The Hardwired Transponder mode feature is used where a burst or tone from the transmitter trig-
gers a transponder via an umbilical. A high level transmit burst from a transmitter can be attenu-
ated and impressed on an umbilical to trigger a hardwired transponder. This is useful in situations
where there are not enough conductors available to trigger with the normal responder key out
pulse or there is excess noise causing false triggers. When a target is set up as a Hardwired Trans-
ponder, the transmitter is enabled and the slant range is compensated for the one-way acoustic
travel time. Set the Target Interrogation Frequency to the correct value for the hardwired trans-
ponder’s receiver.
NOTE: The transponder lock-out time can be reduced in these circumstances to allow for a
faster interrogation rate than the normal 2 seconds.
3.4.2 RESPONDER MODE
To establish tracking in the responder mode, the proper cable connection must be made at the
Deck Unit. Connect the Trigger out signal from the SYNC connector of the Deck Unit to the Re-
sponder or Responder umbilical cable. To output a differential signal to the Responder connect the
TRIG-OUT1 (pin-M) and /TRIG-OUT1 (pin-L) lines to the Responder. To send a positive going pulse
connect the TRIG-OUT1 (pin-M) and COM (pin-N) signals to the Responder and to send a negative
going pulse connect the /TRIG-OUT1 and COM signals to the Responder. The TRIG-OUT signal lev-
els can either be +5 TTL or +12VDC, as selectable on the internal Peripheral Interface Card (PIC)
within the Deck Unit. Default setting is +5V or TTL compatible.
3-56
The TRIG-OUT pulse NOT ISOLATED and it occurs on both the transponder (transmit) and re-
sponder trigger cycles.
The responder itself must be operational and in the water. Refer to the instruction manual for the
particular responder in use. Follow the steps outlined in the TRANSPONDER section, 3.3.2, to
choose a target, set the frequency, turn tracking on for that target and enter depth. The target
TYPE must be designated as a responder and the Pulse Turn Around Time must be entered.
It is not necessary to set a transmitter frequency for a Pulse Mode responder. The Interrogation
Interval must be set for the maximum range encountered to the responder. E.g., @ 1500 me-
ters/second velocity of sound and an Interrogation Interval of 2 seconds, the maximum range is
about 3000 meters. The Pulse Width must be set to be compatible with the responder in use. Se-
lect Trigger Source, either Internal or External.
3.4.3 FIXED (ARTIFICIAL) TARGET
From the Beacon Parameter dialog box select SETUP Tab and choose a target number/symbol. Un-
der Beacon Status select Fixed Target. In the box below it enter in the target’s bearing and hori-
zontal distance. Select BEARING and enter a value between 0° and 359°, select HORZ RANGE and
enter a value between 1 and 10000 meters.
The total number of targets allowed is six, therefore if two targets are actively being tracked then
up to four Artificial targets can be enabled. A horizontal range and bearing to a target (with respect
to the pitch/roll center of the vessel) is sent to the RS-232 port or entered from the keypad. The
position information obtained for an artificial target could be from a sonar or radar system which
detects a target (underwater or surface) and determines the range and bearing to it. The range
and bearing information has to be corrected for the differences in position between the TrackPoint
hydrophone and the sonar/radar transducer (E.g., an offset must be applied so that the data is
relative to the vessel’s pitch/roll center). This corrected data is then sent to the TrackPoint via the
RS-232 port or manually updated from the keypad/mouse.
If the TrackPoint has an external compass input, the artificial target data is corrected for NORTH.
For example, if the vessel heading is 30° and the bearing of the artificial target, relative to the bow
of the vessel is 90°, then the artificial target is compass corrected and plotted at 120°.
NOTE: The compass heading is only updated if a xponder or pinger is being tracked other-
wise the last compass heading received is displayed.
The artificial target data is shown in the Status Block at the bottom of the screen and also sent out
the RS-232 port just as if it were a tracked target.
3-57
3.4.4 CONSECUTIVE VS SIMULTANEOUS
Consecutive Tracking VS Simultaneous Tracking:
The Model 4450A (aka TP3) contains only one Target Acquisition Module (TAM) and tracks up to
four Beacon in sequence (“consecutively”) while the Model 4450A-S (aka TP3-S) has four Target
Acquisition Modules and tracks up to four Beacons simultaneously or consecutively or a combina-
tion of simultaneously/consecutive targets. There are stipulations in simultaneous tracking mode to
prevent cross talking or multiple interrogations. For example, if a reply arrives within 20ms of a
previous reply then the second reply will not be processed. When tracking simultaneously there is a
chance of the beacon replies arriving at the hydrophone at the same time. In these cases the data
will be corrupt and the result is typically a low quality factor which causes that errant data point to
be filtered out. In a dynamic tracking environment this usually occurs sporadically and does not
disturb the tracking of the targets. If it is a problem, and it’s individually triggered, change the
trigger interval on one or more of the targets . E.g., 2.0 seconds to 2.5 seconds. See examples be-
low. In the Beacon List, Beacon numbers 1-4 are reserved for consecutive (sequential) tracking
and Beacon numbers 5-7 are reserved for simultaneous tracking.
Consecutive Tracking (Sequential) (TP3)

Acquisition Module Channel 1 only. Beacons 1-4 (Consecutive tracking)
Front panel LED’s Beacon Interrogation and Receive LED’s 1-4 represent Beacons 1-4.
External Trigger Only one Beacon can be enabled when using an external trigger input.
(If external trigger is negative going, the LED will be on constantly.
E.g., a 10ms off pulse will not be seen.)
Internal Trigger Four separate interrogation Intervals, individual for each Beacon.
Telemetry No limitation. All Beacons, except pingers, can have their telemetry
enabled. (ECR-874 and later)
Beacon Interrogation Freq For consecutive (sequential) tracking all Beacons must be interrogated
at different frequencies. E.g., 17, 18, 19 & 20kHz.
Beacon Reply Frequencies For consecutive (sequential) tracking all Beacons can either reply with
all the same frequencies or different. E.g., all can reply at 23kHz (as
long as the interrogation frequencies are different) or individually at
23, 24, 25 & 26kHz. (best if all different)
Simultaneous Tracking (TP3-S)

Acquisition Modules Channel 1 = Beacons 1-4 (Consecutive tracking); Channel 2-4 = Bea-
cons 5-7 (Simultaneous tracking) NOTE: Channel 1 can also be config-
ured to only track one Beacon, thus providing four separate (simulta-
neous) tracking channels. When tracking more than four beacons then
channel one multiplexes beacons 1-4 while beacons 5-7 are simulta-
neous. When set to internally triggered each acquisition module trig-
gers asynchronously (not in sync) with the others.
3-58
Front panel LED’s Beacon Interrogation and Receive LED’s 1-4 represent TAM’s (chan-
nels) 1-4. TAM1 can represent up to 4 Beacons (1-4).
External Trigger Each channel has its own trigger input for Responder tracking. Channel
1 can also be externally triggered either as a Responder or as a Trans-
ponder in single target mode. (If external trigger is negative going, the
LED will be on constantly. E.g., a 10ms off pulse will not be seen.)
Internal Trigger Channel 1: Four separate interrogation Intervals, one for each beacon
when consecutively tracking but the Trigger Out on rear panel is on
Channel 1 only. The Channels 2, 3 & 4 each have their own internal
triggers but is limited to Responder mode only as Channel 1 controls
the Transmitter for acoustic interrogation.
Telemetry No limitation. All Beacons, except Pingers, can have their telemetry
enabled. (ECR-874 and later)
Beacon Interrogation Freq. For simultaneous tracking all the beacons must be interrogated at the
same frequency. E.g., beacon #1 interrogates the field of beacons all
at 17kHz. For consecutive (sequential) tracking then all Beacons (on
Channel 1 only) must be interrogated at different frequencies. E.g.,
17, 18, 19 & 20kHz.
Beacon Reply Frequencies For simultaneous tracking all the beacons must reply with different
frequencies. E.g., 23, 24, 25 & 26kHz. For consecutive (sequential)
tracking all Beacons can either reply with all the same frequencies or
different. E.g., all can reply at 23kHz or individually at 23, 24, 25 &
26kHz. (best if all different)
3-59
Trackpoint 3 Beacon List setup when tracking 4 Transponders consecutively

Scenario: 4 Divers each have a Transponder attached to them and the system tracks in sequence to obtain an update of all divers in
about 14 seconds. One Diver is set as a priority and will be tracked on every other cycle. Interrogation sequence becomes;
Beacon# 1 2 1 3 1 4 1 etc.
Time 2 3 2 2.5 2 3.5 2 etc. seconds
Frequency 17 19 17 18 17 20 17 etc. kHz
• Beacon 1 is a Priority Target (“ACTIVE” is shown in CAPS in the Beacon List to indicate the Priority Target.)
• All Beacons are internally triggered. (Trigger-In 1 (External trigger) is not applicable with more than one Beacon.) Each Beacon’s
interrogation rate is adjusted for its maximum range. Xmit (interrogation) Interval must be longer than the maximum slant range
to the target. E.g., A two-way travel time for a transponder at 1000m is approximately 1.4 seconds ((1000 meters / 1500 me-
ter/second) * 2 ) = 1.33 seconds).
• Beacon 1 LED’s (Trigger-In, Interrogate, Receive) show status as it sequences through all the Beacons at the XMT interval rate
• Trigger-Out 1 signal is transmitted at the time of each interrogation LED flash.
Num Target Type Serial# Chan# Status Xmit Xmt Recv Pulse Manual Filter Trigger
Name Interval Freq Freq Width Depth Level
CONSECUTIVELY TRACKED TARGETS (TARGET LED #1)
1 Beacon1 Transponder, Acoustic 1 ACTIVE* 2 17 23 5 10 4 Internal
2 Beacon2 Transponder, Acoustic 1 Active 3 19 24 5 15 4 Internal
3 Beacon3 Transponder, Acoustic 1 Active 2.5 18 25 5 20 4 Internal

SIMULTANEOUSLY TRACKED TARGETS (TARGET LED’s #2, #3, #4) N/A for TP3
5
* Priority target designated by all CAPS.
3-60
Trackpoint 3 Beacon List setup when tracking 1 Responder with an external trigger.
Scenario: Side Scan Sonar triggers the Responder at the rate as set by the side scan sonar transmitter. Trigger output from the SSS
deck unit goes into Trigger In 1 of TP3.
• Only one Beacon can be enabled in external trigger mode. (Can be any one of the Beacons 1-4.)
• Beacon 1 LED’s (Trigger-In, Interrogate, Receive) show status.
• Trigger-In 1 (External trigger) initiates interrogation of Beacon. Trigger-Out 1 signal is transmitted at the time of each interroga-
tion LED flash. Trigger Input rate must be longer than the maximum slant range to the target. E.g., A one-way travel time for a
responder at 1000m is approximately 0.7 seconds (1000 meters / 1500 meter/second = 0.66 seconds).
1 Beacon1 Responder 1 Active 1 N/A 23 5 10 4 External
2 1
3 1
4 1
5
3-61
Trackpoint 3 Beacon List setup when tracking one pinger

Scenario: Tracking a lost Pinger on the seabed. (not common)
• Only one Beacon can be enabled when in Pinger mode (Can be any one of the Beacons 1-4)
• Beacon 1 LED (Receive) shows status
• Trigger-In 1 Not applicable. Trigger-Out 1 Not applicable.
1 1
2 1
3 1
4 Beacon4 Pinger 1 Active N/A N/A 25 N/A 25 4 N/A

5
3-62
Trackpoint 3-S Beacon List setup when tracking 4 Transponders simultaneously.

Scenario: 4 Divers each have a Transponder strapped to them and the system tracks simultaneously to obtain an update of all divers in
2 seconds.
• Only one Beacon can be enabled in each of the 4 Channels (Target Acquisition Modules) when in simultaneous mode.
• Beacon 1 triggered internally but externally triggers 5, 6 & 7 from Channel 1’s Interrogation Transmission (All Beacons are trig-
gered by the same 17kHz interrogation from Beacon 1. Connect BNC from Trigger-Out 1 to Trigger-In 2, 3, 4.) Xmit (interroga-
tion) Interval must be longer than the slant range of the furthest target. E.g., If the furthest diver is less than 1000m then a two-
way travel time for a transponder at 1000m is approximately 1.4 seconds ((1000 meters / 1500 meter/second) * 2 ) = 1.33 sec-
onds). NOTE: Most transponders lockout for at least 1.5 seconds. This would be the minimum interrogation interval possible.
• Beacon 1 LED’s (Trigger In, Interrogate, Receive) show status for Channel 1 (Beacon1)
• Trigger-Out 1 signal is transmitted at the time of each interrogation LED flash. (Trigger-In 1 (External trigger) is possible when
tracking one Beacon on this channel but is not applicable when tracking Beacons consecutively on this channel.)
SIMULTANEOUSLY TRACKED TARGET (TARGET LED #1)
2 1
3 1
4 1
SIMULTANEOUSLY TRACKED TARGETS(TARGET LED’s #2, #3, #4)
5 Beacon5 Transponder, Acoustic 2 Active N/A 24 N/A 15 4 Ext-Bcn1
3-63
Trackpoint 3-S Beacon List setup when tracking 3 Transponders and 1 Externally Triggered Responder
Scenario: 1 ROV with a Responder (Beacon 6) triggered externally and 3 seabed Transponders tracked simultaneously. Updates all tar-
gets in 2 seconds.
• Only one Beacon can be enabled in each of the 4 Channels (Target Acquisition Modules)
• Beacon 1 triggered internally but externally triggers 5 & 7 from Channel 1’s Interrogation Transmission (All Transponders are
triggered by the same 17kHz interrogation from Beacon 1. Connect BNC from Trigger-Out 1 to Trigger-In 2 & 4.)
• Trigger-In 3 is from ROV. Connect external responder trigger into Trigger-In 3.
• Beacon 1 LED’s (Trigger-In, Interrogate, Receive) show status for Channel 1 (Beacon1)
• Trigger-Out 1 signal is transmitted at the time of each interrogation LED flash. (Trigger-In 1 (External trigger) is not applicable
when tracking Beacons consecutively on this channel.) Trigger-Out 3 is transmitted at the time of the Responder interrogation.
2 1
3 1
4 1
SIMULTANEOUSLY TRACKED TARGETS (TARGET LED’s #2, #3, #4)
6 Beacon6 Responder 3 Active 1 N/A 27 5 20 4 External
3-64
Trackpoint 3-S Beacon List setup when tracking 2 Responders and 2 Transponders
Scenario: ROV with Responder (Beacon 5) and a docking station (Tether Management System) with Responder (Beacon 6) along with 2
seabed transponders. Responders are tracked simultaneously along with the Transponders. 4 Targets are updated in a total of about 3
seconds. (The Responders are triggered asynchronously with each other so that the ROV can be docked into the TMS without the replies
arriving in the hydrophone at approximately the same time, causing poor tracking.)
• Only one Beacon can be enabled in each of the 4 Channels (Target Acquisition Modules)
• All Beacons triggered internally. Channel 1 (Beacon 1) triggers the its own transponder along with Channel 4 (Beacon 7). Connect
BNC from Trigger-Out 1 to Trigger-In 4. Channels 2 triggers Beacon 5 Responder and Channels 3 triggers Beacon 6 Responder.
The Transponders are interrogated asynchronously with respect to the Responders.
• Trigger-Out 1 signal is transmitted at the time of each interrogation LED flash. Trigger-Out 2 is transmitted at the time of the Re-
sponder interrogation.
2 1
3 1
4 1
5 Beacon5 Responder 2 Active 1.5 N/A 24 5 15 4 Internal
6 Beacon6 Responder 3 Active N/A N/A 25 5 20 4 Internal
7 Beacon7 Transponder, Acoustic 4 Active N/A N/A 26 5 25 4 Ext-Bcn1
3-65
Trackpoint 3-S Beacon List setup when tracking 7 Transponders

Scenario: 4 Simultaneously Tracked Transponders and 3 Consecutively Tracked Transponders; (all based on the Channel 1 internal trig-
ger).
• With the Priority Target enabled on Beacon 1, all 7 Targets are updated in about 17 seconds with the 4 simultaneous ones updated
approximately every 5 seconds.
• Channel 1 triggers beacons 5, 6 & 7. Connect BNC’s from Trigger-Out 1 to Trigger-In 2, 3 & 4 (represents Beacons 5, 6 & 7). Bea-
cons 5, 6 & 7 are triggered by the same 17kHz interrogation from Beacon 1.
• Beacon 1 LED’s (Trigger-In, Interrogate, Receive) show status for Channel 1 (Beacon1, 2, 3 & 4)
• Trigger-Out 1 signal is transmitted at the time of each interrogation LED flash. (Trigger-In 1 (External trigger) is not applicable
when tracking Beacons consecutively on this channel.)
1 Beacon1 Transponder, Acoustic 1 ACTIVE 2 17 23 5 10 4 Internal

3-66
Sequence with Beacon 1 set as a Priority Target…

Beacon #’s 1,5,6,7 2 1,5,6,7 3 1,5,6,7 4 1,5,6,7
Time 2 2.5 2 3 2 3.5 2 seconds
Frequency 17 19 17 18 17 20 17 kHz
Sequence with No Priority Target set…

Beacon #’s 1,5,6,7 2 3 4 1,5,6,7
Time 2 2.5 3 3.5 2 seconds
Frequency 17 19 18 20 17 kHz
3-67
Trackpoint 3-S Beacon List setup when tracking 2 Pingers (not common)
Scenario: 2 seabed locating Pingers asynchronously tracked
• 2 Pingers (Channel 1 & Channel 4) (Could have up to four pingers enabled at one time.) All frequencies must be different.
• Only one Beacon can be enabled on any of the channels when in Pinger mode (Can be any one of the Beacons 1-4)
• Beacons 1 & 7 LED’s (Receive) show status
• Trigger-In 1 & 4 not applicable. Trigger-Out 1 & 7 not applicable.
1 1
2 1
3 1

5 2
6 3
3-68
3-69
TRACKPOINT 3
3.5 ERROR AND WARNING CODES
A number of situations can occur which either prevent calculation of the position or can lead to
misrepresentation of the data.
If calculations cannot be performed on the data received, a message is displayed in the Status
Block and an ERROR CODE is sent out on the RS-232.
Other error codes that are displayed on the status line and sent out on RS-232 are warnings.
BRIEF ERROR CODE LISTING
CODE TARGET ERROR DESCRIPTION
0 (null character) No errors detected.
1 Unusable signal received.
2
3 Range cannot be determined. (Usually 0m slant range)
4 Low Quality Factor.
5 Target velocity excessive.
6 No recent replies.
7 Minimum range error.
8 Simultaneous reply error.
9
10 Travel time less than turn around time (No reply received)
14 Measured Slant Range > MAX SLANT RNG parameter
15 Measured Bearing outside BEARING LIMITS parameter
TELEMETRY ERRORS:
22 Telemetry Signal Timing Error.
23 Telemetry timing out of range.
24 Telemetered depth greater than slant range.
26
WARNINGS:
50 Target input depth not within normal limits of the calculated depth.
51 Pinger D.A. < 20°, with hydrophone offsets.
52 Pinger D.A. < 20°.
53 Pinger D.A. 20° - 45°. Position " ≈ ".
54 Target Centered Mode Canceled.
55
56 Transponder or Responder D.A. < 45° (Cannot calculate depth).
57 Depth > Slant Range.
59 No External Key Received within wait period. Target has been internally keyed.
60 System ignores the phase count depression angle and uses the slant range and input
3-70
TRACKPOINT 3
BRIEF ERROR CODE LISTING

CODE TARGET ERROR DESCRIPTION
depth to calculate horizontal range.
61 Horizontal range calculated to be greater than slant range.
62
64 Low Quality Factor
NOTE: Error codes less than 20 result in no new position updates, while error codes of 21 or
greater are warnings. Error conditions 1 - 9 signify that the output data is not valid.
These error codes appear on the RS-232 port if the selected Format is either 1EC or
2EC. If any of these errors are detected, the error data is sent out the RS-232 under
the assumption that the interfacing communications system has been programmed
to ignore this data and extract only the possible good data, such as compass heading
or slant range. Only Formats 1 and 2 output data when it is valid (no errors 1 - 9).
Formats 1 and 2 show warnings only.
EXPLANATION OF ERROR CODES

CODE DESCRIPTION
0 No error. The error code zero (0) does not appear on the screen or sent out the RS-232 inter-
face, but is a null character, indicating no error.
1 Unusable signal received. Signal received, but TrackPoint unable to calculate a position. This
could have been due to acoustic noise contaminating the incoming signal or to other causes.
The red LED and the audio may show valid detection of a signal. No position is plotted.
2 Not Used.
3 Range cannot be determined. This occurs in transpond or respond mode if the calculated
range is zero. This can happen if a pinger is designated as a responder or transponder and
the transmitter is not turned on. No position is plotted.
4 Low Quality Factor. The signal of the present reply had a quality factor that was lower than
the average of the previous five replies. No position is plotted.
5 Target velocity excessive. Target velocity, based on the change in horizontal position since the
last up-date exceeds 10 knots. This filter takes advantage of the fact that tracked targets
cannot move very fast. This error can occur at filter levels 5 to 10. No position is plotted.
NOTE: A rapidly turning ship can make the target appear to move fast and can cause this error. To
alleviate this, integrate a compass into TrackPoint.
6 No recent replies. This message appears if, in any mode, no detected signal has occurred for
16 seconds.
3-71
TRACKPOINT 3

CODE DESCRIPTION
# TOD HDG BRG S.R. X Y Z TEL ERR

1 02:12:04 -.- -.- -.- -.- -.- -.- 6
1 02:12:06 -.- -.- -.- -.- -.- -.- 6
When an Error Code 6 occurs, -.- lines are sent out the RS-232 as shown above to indicate
invalid data within those data fields.
7 Minimum range error. This occurs when in transponder or responder modes. If the measured
slant range is less than the entered MIN XPONDER RANGE, the message "SLANT RANGE <
ENTERED MIN" is displayed in the status area. No position is plotted.
10 Travel time less than turn around time. Either the reply was detected within a time period less
than the entered turnaround time or no reply was detected. Check turn around time setting
within SIM & beacon.
14 Maximum Slant Range Exceeded: The MAX SLANT RNG filtering function compares the reply’s
slant range against this value. If the slant range is greater than the entered value the status
block shows an error code #14. If the RS232 Format is set to an “EC” format it also outputs
the last good position and tags it with an error code #14. See section 3.7
15 Bearing Limit Exceeded: The BEARING LIMIT function is enabled only in Fish Track mode,
when the angle to the target is fairly well known. The system checks to see whether the tar-
get is within the parameters as set by the BEARING LIMITS. This function is only applicable to
targets with a depression angle of less than 45°. If a target is outside the set limits then the
system displays an error code #15, "BEARING LIMIT EXCEEDED". These limits are always ref-
erenced to the vessel, whether compass mode is ON or OFF.
22 Signal timing error. Telemetry signal was received but 6 consecutive signals were outside of
the range gate timing window. Flags operator to check parameter set up of telemetry signal
timing (depth or data).
23 Telemetry timing out of range. Telemetry time is either less than the entered ‘0’ Delay or
greater than the full scale span.
26 No recent telemetry replies. No telemetry signal has been received for at least 16 seconds.
50 This warning occurs in transponder or responder mode when the target input depth is not
within 10% of the calculated depth, when in calculated depth mode, or within 2% of the cal-
culated depth when in the input depth mode. The warning is triggered when the target de-
pression angle is greater than 40° (from the horizontal). The system calculates the depth at
that point and compares it to the input depth (manual, analog or telemetered); if in error the
warning 50 appears to alert the operator that the input depth may be in error and that a large
excursion of the target position may occur.
3-72
TRACKPOINT 3

CODE DESCRIPTION
51 Pinger Only: This warning applies only when hydrophone offsets are entered and when track-
ing a pinger where its depression angle is < 20° from the horizontal. Its purpose is to notify
the on-line computer system, via the RS-232, that all ranges and x or y coordinates to that
target are minimum values and generally do not indicate actual ranges. I.e., use this data
cautiously. At small depression angles (less than 20 degrees from the horizontal), measure-
ment of depression and subsequent calculation of horizontal range is highly inaccurate; as a
result, the X and Y hydrophone offsets are ignored for the pinger only, and its bearing is dis-
played relative to the actual hydrophone location (and North if the compass is enabled). Its
actual range cannot be computed. See Figure 3-31 for an example. This warning applies to
the individual target only.
NOTE: The pinger's bearing data does not degrade in this mode.
When a pinger depression angle is < 20° from the horizontal, the pinger's position cannot be
determined. The TrackPoint shows its bearing accurately with respect to the hydrophone and
places the pinger off-screen along with the trailing dotted line. The transponder position re-
mains with respect to the reference point. The error code 51 warns that the pinger's position
can no longer be calculated, so refer to its bearing value as an indication of position.
52 This warning is set when the target is a pinger and the depression angle is less than 20 de-
grees from the horizontal. Its purpose is to notify the on-line computer system, via the RS-
232, that all ranges and x or y coordinates to that target are minimum values and generally
do not indicate actual ranges. I.e., use this data cautiously. The status block and RS-232 data
show the same format as in error code 51. The bearing is referenced to the hydrophone loca-
tion (and North if compass is enabled). This warning applies to the individual target only.
53 This warning is set when the target is a pinger and the depression angle is between 20° and
45°. In this condition, position accuracy is degraded and the ranges in the status block are
preceded by an approximate "≈" symbol. This warning applies to the individual target only.
3-73
TRACKPOINT 3

CODE DESCRIPTION
56 When tracking a transponder or responder in calculated depth mode and the target's depres-
sion angle is < 45° from the horizontal, this error code warns that the system is no longer
calculating depth in determining target position. The system is using the input depth (manual,
analog or telemetered) and the measured slant range to determine target position. (Also see
warning code 50.) Refer to section 3.4.3 for explanation of depth MODE.
57 This warning occurs when the input depth of the target is greater than the measured slant
range. This can occur when the target depression angle is between 0 and 45° in calculated
depth mode or between 0 and 70° when in input depth mode.
When an Error Code 57 occurs, a -.- is sent out the RS-232 as shown above to indicate invalid
data within the x and y data fields.
58 Reserved.
59 Reserved in revision 8.05.
60 This warning occurs if in INPUT mode and either ANALOG or TELEMETRY depth is selected. If
the system calculates a depression angle using the slant range and the input depth to be less
than 45° but the measured depression angle given the phase counts from the hydrophone is
> 70° (sound appears to be coming from below the hydrophone due to high multi-path envi-
ronment, e.g., directional beacon pointing up in shallow water) then the system ignores the
phase count depression angle and uses the slant range and input depth to calculate horizontal
range.
61 Horizontal range greater than slant range.
64 Low Quality Factor. The signal of the present reply had a quality factor that was lower than
the average of the previous five replies.
70 No recent GPS time sync received.
3-74
3.6 TROUBLESHOOTING ACOUSTIC PROBLEMS
3.6.1 TRANSPONDER MODE
A transponder emits an acoustic signal of a known frequency in response to an acoustic interroga-

tion pulse sent from the TrackPoint II transmitter. The primary advantage of using a transponder
is that the target range can be measured directly from the round-trip travel time of the acoustic
signals. A transponder, therefore, is NOT subject to the "cone of operation" limitation that applies
when a pinger is used.
A potential (minor) disadvantage in using a transponder is that both the interrogate pulse and the
transponder's response may be subject to multi-path.
A high noise and/or multi-path environment may cause any of the following situations:
A. Transponder cannot "hear" interrogate pulse.
In an extremely noisy environment, it may be impossible for the transponder to distinguish an in-
terrogate pulse in the noise flooding its receivers. In the worst case, the transponder simply won't
reply, and is essentially lost for tracking purposes. A pinger or responder is a better choice for
such an environment.
B. Transponder accepts noise or extraneous signals at the correct interrogate frequency.
In this case, transponder replies will be random and uncoordinated with the interrogate pulses.
The operator may observe correct bearing information although range is random and incorrect. To
determine whether this is the case, turn the TrackPoint II transmitter off and observe whether the
transponder is still replying. If it is, the operator should try to identify and eliminate the source of
the false interrogate signal or noise. If the source cannot be eliminated, it will be necessary to
change the interrogate frequency, or switch to pinger or responder operation, or possibly reduce
the sensitivity or frequency of the transponder receiver. It is also possible that there is an interfer-
ence signal from some other sound source that is the multiple of the Multibeacon frequency caus-
ing the detection rather than the Multibeacon triggering on noise. If it is another sound source then
it usually is of a repetitive nature, whereas if the Multibeacon is triggering on noise the detection is
more random.
C. Reflected interrogate signals cause extra transponder replies.
Most transponders are designed with a 'lock-out' (usually 1.5 - 1.75 seconds), or limit on the rate
at which the transponder can reply, to prevent this from occurring. The operator should be aware
of such a limitation, so that he does not interrogate at a rate too fast for the transponder.
In rare circumstances, the transponder can be replying to a distant reflection of the interrogate
signal in addition to the direct signal. (The reflected signal comes in after the lock-out.) If this is
the case, the operator will observe correct bearing values with erratic ranges as above, but the
transponder will stop replying when the TrackPoint II transmitter is turned off, and begin replying
3-75
when the transmitter is turned back on, still with erratic ranges. If this is occurring, the operator
should lower the output power of the TrackPoint transmitter by changing the output jumper on the
transmitter board, or increase the transponder's lock-out time and use a longer interrogate inter-
val.
D. Transponder replies accurately, but signals are distorted by multi-path.
When multi-path is affecting transponder replies, try the following:
1. Lower the hydrophone further from the hull or away from the reflecting object.
Usually multi-path comes from a reflection off the hull or from an object close to the hull and ar-
rives at the hydrophone within one millisecond or two of the direct arrival.
2. Lower the threshold setting.
A higher threshold setting causes the signals to detect later. This causes the system to process
data that has a higher probability of contamination due to a reflection.
If the reflector is very close, the multi-path signal may be interfering with the original signal, and a
lower threshold may improve the situation by detecting earlier, before the reply pulse is corrupted
by multi-path. (See MIN XPONDER RANGE.)
3. Lower the transponder output power.
If changing the threshold does not eliminate the problem, lowering the transponder output, if pos-
sible, may allow the reflected signal to attenuate to a level where it is rejected by the system, but
still receive the direct signal. This is usually only a problem in fresh water where there is less sound
absorption than in sea water.
NOTE: In operation with a transponder, you may see more than one flash of the detected
signal LED following each flash of the TrackPoint II transmit LED. The audio may
sound like a series of echoes, or a quick double pulse (like the double report of a rifle
shot). These are indications of multi-path but do not necessarily indicate a problem,
since in transponder or responder mode, with filtering on, TrackPoint II ignores all
but the first signal received within the range gate window (provided the range is
greater than the MIN XPONDER RANGE).
E. Transponder responds inaccurately (case B or C) and hydrophone receives reflected signals.
If the operator observes both erratic range and erratic bearing values, the problem is most likely
some combination of multi-path interference, and the operator should try the following:
1. Lower the interrogation repetition rate. In most cases, one signal every three seconds
should give any transmitted or received multi-path bounces time to fade out before the next signal
is initiated.
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2. If a slower repetition rate does not solve the problem (or if the repetition rate is already
slower than two or three seconds), the operator should try to isolate the sources of multi-path and
resolve the independent factors using the above guidelines.
F. Transponder responds correctly and hydrophone receives correctly giving accurate slant
ranges but erratic bearings.
This is usually a sign of low signal to noise ratio at the hydrophone. The hydrophone receives the
signal and causes a valid detection but the data processing performed on the wideband signal is
not consistent enough for a bearing calculation. In this case the detected signal is usually flagged
with a low quality factor. To improve Signal to Noise ratio at the hydrophone:
1. Use a “louder” sound source. If the configuration is fixed can a directional beacon with
higher source level be used?
2. Lower the hydrophone to reduce ship radiated noise.
3. Check that hydrophone shaft is not strumming or vibrating excessively. This causes excess
noise at hydrophone. If hydrophone pole is vibrating but not strumming try shock mounting
hydrophone. (rubber bushings between top of Hydrophone Model 4610B and shaft). If pole
is strumming, change configuration (shorten the shaft, but watch out for reflections) or add
fairing to shaft.
3.6.2 ACOUSTIC PROBLEMS IN RESPONDER MODE
A responder replies acoustically to an electrical interrogation pulse from the TrackPoint II transmit-
ter. Like a transponder, a responder provides the timing information needed to measure horizontal
range directly, but the interrogation pulse is not subject to the acoustic interference associated
with a transponder. However, because a responder must be electrically connected to the tracking
system, it may not be a feasible option for some operations.
When operating in the responder mode, multi-path interference is limited to cases where the direct
arrival of the acoustic reply is blocked or reflected.
If this occurs, it may be necessary to reconfigure the system so that the C/DM hydrophone is in a
position to receive the direct signal. For example, the hydrophone may not be mounted far enough
below the ship's keel to receive a direct signal from a responder on the other side of the ship.
Avoid an operation where a towfish is tracked behind the vessel near the water surface, so that the
direct signal from the beacon is reflected or attenuated by the ship's wake. Either tow the fish off-
center, out of the ship's wake, or sink the responder below the wake.
When operating in and around subsea structures, there is always a number of locations where
there is no direct path between the responder and the hydrophone, and the operator should expect
occasional multi-path interference in these situations. A lower filter setting may help somewhat
under these conditions by detecting earlier.
3-77
3.7 RS-232C INTERFACE
“TrackPoint Signal Interface Module”
3.7.1 GENERAL
COM#1 “USBL to PC”
The TrackPoint 3 Console uses the standard EIA RS-232C serial communications interface to com-
municate with the PC. This can be configured from the DEVICE LIST “TrackPoint 3” dialog box by
setting the BAUD RATE, the number of DATA BITS required and the number of STOP BITS. Nor-
mally = 19,200 BAUD, 8 DATA BITS, 1 STOP BIT. Connect the COMMs Interface cable (9-pin
DEC) between the Console and the PC.
RS232 CABLE CONFIGURATION

MODEL 4451A MODEL 4450A SIGNAL
PROCESSOR MODULE INTERFACE MODULE
9-Pin Connector Pin #’s Signal Direction 9-Pin Connector Pin #’s
Data Transmitted
PIN 2 - TD PIN 2 - TD
TO Trackpoint
Data Transmitted
PIN 3 - RD PIN 3 - RD
FROM Trackpoint
In transponder or responder mode the data is output when the acoustical reply is received.
Do not plug or unplug the RS-232 connector from the TrackPoint while it is operating. This may
halt the unit, thus causing loss of tracking.
The RS-232C Typical Cable Configuration, illustrates the RS-232C data lines used by TrackPoint
Console.
COM#2 “Sensor to USBL”
The NMEA mode allows input of various NMEA compass sentences, with or without checksum verifi-
cation, “HDT”, “HDM”, “TCM-2” or “HDG” NMEA formats. Set up COM port #2 for Compass input
under the menu SETUP/COMPASS SETUP/TRACKPOINT (USBL). Select Serial and then Port Set-
tings. This allows the operator to configure the port’s Baud Rate, Data Bits and Stop Bits.
COM#3 “Sensor to USBL”
GPS Interface typically.
3-78
3.7.2 HARDWARE
COM#1 “USBL Deck Unit”
The TrackPoint COM#1 interface is designed to act as a “DCE” (Data Communication Equipment)
device. This means that it will interface directly to “DTE” (Data Terminal Equipment) device (E.g.
Processor Module or PC), with the TrackPoint acting as if it were a modem. That is to say, a Null
modem is NOT required between the Processor (PC) and the TrackPoint 3 Console.
The COM#2 port is used typically for a compass input. No data is transmitted from this port. The
hardware is setup for bi-directional communications but the TrackPoint does not utilize its transmit
capabilities.
The TrackPoint’s COM#2 interface is designed to act as a “DTE” (Data Terminal Equipment) device
(Data terminal or PC). This means that the interface is the same as a “PC” and requires a null mo-
dem if connecting to a device whose output is compatible with one.
The COM#2 port does not have hardware or software flow control capability. The hardware hand-
shake lines (RTS & DTR) are disabled and do not use the XOFF & XON protocol. If an overrun in
data occurs the data is lost and only the most recent is accepted. (In the case of a gyro or compass
input you would not want the old data but rather accept only the most recent.)
The COM#3 port is used typically for a GPS time input. No data is transmitted from this port. The
hardware is setup for bi-directional communications but the TrackPoint does not utilize its transmit
capabilities.
The TrackPoint’s COM#2 interface is designed to act as a “DCE” (Data Communication Equipment)
device. This means that it will interface directly to “DTE” (Data Terminal Equipment) device (E.g.
PC), with the TrackPoint acting as if it were a modem.
The COM ports do not have hardware or software flow control capability. The hardware handshake
lines (RTS & DTR) are disabled and do not use the XOFF & XON protocol. If an overrun in data oc-
curs the data is lost and only the most recent is accepted. (In the case of a gyro or compass input
you would not want the old data but rather accept only the most recent.)
3-79
3.7.3 USBL DECK UNIT TO PC COMMUNICATIONS
From the DEVICE LIST table select TrackPoint 3. From the subsequent dialog box set the BAUD
RATE to 19,200, the number of DATA BITS to 8 and STOP BITS to 1. For the Sentence In To
Trackman select TP-SPC and for the Sentence Out From Trackman select TP-SPC.
TP-SPC format
This TrackPoint-Signal Processor Console format communicates with the Processor to send com-
mands back and forth. Is is a binary format that is proprietary.
3.7.4 TRACKMAN (PC) RS-232 DATA OUTPUT FORMATS
Trackman (PC) can output various target data

formats. From the Trackman Device (port) List
select Data Output1 and then from the dialog
box select “Sentence Output from Trackman”.
A List of available output formats are shown
below.
• PORE (NMEA ORE)
• POREB
• POREG
• SNTTM
• STANDARD
• STANDARD-EC
• STD W/PR
• STD-EC W/PR
• NCSS
• NCSSS-EC
• NUWC
• NUWC-EC
• Rev 4
• Rev 4-EC
Some of the formats can have their range parameters changed from either Meters, Feet, or yards.
NMEA Formats
General Statement on NMEA Formats: The TrackPoint NMEA data sentences are output in accor-
dance with the NMEA standard. The electrical protocol can either be RS232 or RS422 depending on
the output device of the transmitting unit. Not discussed here. Complete NMEA specification is
available in "NMEA 0183, version 3.0". Standard is published by National Marine Electronics asso-
ciation, http://www.nmea.org/0183.
3-80
The output sentences are a proprietary message which is denoted by the “P” character following
the start of message “$” sign. The “ORE” is the manufacturers three character mnemonic code. The
letter following the ”ORE” is the specific output message identifier for particular format shown.
Data fields in the sentence follow a “,” delimiter and consist of ASCII characters (from 20 – 127
decimal or from HEX 14 to HEX 7E). Because of the presence of variable fields and null fields, spe-
cific data fields may only be located within a sentence by observing the field delimiters “,”. There-
fore, it is essential for the LISTENER to locate fields by counting delimiters rather than counting
total number of characters received from the start of the sentences.
The Checksum is the 8-bit exclusive OR (no start or stop bits) of all characters in the sentence, in-
cluding ”,” delimiters between but not including the “$” and the “*” delimiters. The hexadecimal
value of the most significant and least significant 4 bits of the result are converted to two ASCII
characters (0-9, A-F) for transmission. The most significant value is transmitted first. The receiv-
ing application should calculate the checksum of the message and compare it to the received
checksum.
3.7.4.1 “PORE” DATA OUTPUT PARAMETER DESCRIPTION
Format “PORE” or NMEA ORE is a NMEA 0183 string length of 70 characters not including
<CR><LF>. It follows the sentence structure for a NMEA 0183 version 2.1 proprietary sentence.
The system automatically switches to this format when the AUTO OFFSET function is initiated. This
allows greater resolution for reading of pitch and roll data. The system reverts back to the previous
format once AUTO OFFSET has been completed.
Sample…
Example of Format: NMEA ORE
$ P O R E , # # , HHMMSS, , , B R G , X (m) , Y (m) , Z (m), ROLL, P T C H , WC, QF* CS
$PORE,01,072450,,,300.8,-00001.0,000000.6,00505.4,000.00,000.00,00,10*18
...with compass heading enabled
$PORE,##,HHMMSS,HDG,ID, BRG, X (m), Y (m) , Z (m), R O L L , P T C H , WC, QF* C S
$PORE,01,072537,125.8,M,125.5,000000.2,-00000.2,00505.4,-00.03,-00.02,00,10*16
3-81
TRACKING DATA MESSAGE FOR FORMAT “NMEA ORE”

BYTE LENGTH DATA WORD REPRESENTATION RANGE UNITS
1 1 $ ASCII "$" CHARACTER NA NA
2 1 P ASCII "P" CHARACTER NA NA
3 1 O ASCII "O" CHARACTER NA NA
4 1 R ASCII "R" CHARACTER NA NA
5 1 E ASCII "E" CHARACTER NA NA
6 1 COMMA ASCII "," CHARACTER NA NA
7-8 2 TARGET NUMBER ASCII 01-09 NA
10-11 2 HOURS ASCII 00-23 HOURS
12-13 2 MINUTES ASCII 00-59 MINUTES
14-15 2 SECONDS ASCII 00-59 SECONDS
(WITH HEADING ENABLED)
(17-21) 5 HEADING ASCII 000.0-359.9 DEGREES
17 (22) 1 COMMA ASCII "," CHARACTER NA NA
(23) 1 HEADING IDENTIFIER ASCII CHARACTER T, M, A SEE NOTE 1 NA
19-23 (25-29) 5 TARGET BEARING ASCII 000.0-359.9 DEGREES
25-32 (31-38) 8 HORIZ RGE X ASCII -00000.0-009999.9 METERS SEE NOTE 2

34-41 (40-47) 8 HORIZ RGE Y ASCII -00000.0-009999.9 METERS SEE NOTE 2

43-49 (49-55) 7 DEPTH Z ASCII 00000.0-09999.9 METERS SEE NOTE 2

51-56 (57-62) 6 ROLL ASCII -50.0-050.0 DEGREES
58-63 (64-69) 6 PITCH ASCII -50.0-050.0 DEGREES
65-66 (71-72) 2 WARNING CODE ASCII Null-99 SEE NOTE 3 NA
68-69 (74-75) 2 QUALITY FACTOR ASCII 01-10 NA
70 (76) 1 EOS CHARACTER ASCII "*" CHARACTER NA NA
71-72 (77-78) 2 CHECK SUM ASCII 00-FF NA
73 (79) 1 CARRIAGE RETURN ASCII CRG RET CHAR. NA
74 (80) 1 LINEFEED ASCII LINEFEED CHAR. NA
NOTE 1: T = True heading, M = Magnetic heading, A = heading via Analog input

NOTE 2: The X,Y & Z data can either be in meters, yards or feet. See SYSTEM/RS-232
UNITS.
NOTE 3: Error Code 0 = Null Character
3-82
3.7.4.2 “POREB” DATA OUTPUT FORMAT
Applicable To: TP3 Model 4450A & TP3P Model 4430C
Message Name: POREB
Sample;
$POREB,TG,HHMMSSHH,QF,EC,-BRG-,-DA-,--SR--,-SS-,TP,-TELM-*CS C R L F
$POREB,01,07253784,10,50,075.2,39.1,1572.5,1510,18,0328.4*16
“$POREB” RS-232 PARAMETER DESCRIPTION
TARGET NUMBER: The TARGET NUMBER (#) represents the various target symbols and can
range from 0 to 10. The zero is output when in the self-test mode to indicate that the RS-232 data
is simulated.
TIME: The TIME value is related to the time of signal reception. It is synchronous with the 24-
hour time on the screen of the TrackPoint display. The accuracy of the time as output is within 1
second of the actual time of reply. (In future this will be interfaced to the GPS 1PPS and will be ac-
curate to within approximately 20ms.)
QUALITY FACTOR: The QUALITY FACTOR is a value (1-10) determined by the system on each
reply that is detected. The system uses the phase or time counts from each of the hydrophone
elements to determine the quality of the signal. If the phase counts are consistent on all three
channels throughout the reply burst the quality factor is very high. If the phase counts have jitter
or are inconsistent then the quality factor is low.
ERROR CODE: The ERROR CODE or WARNING CODE is a one- or two- digit error code indicat-
ing that the data received could not be used for a valid position fix, or it can represent a warning to
let an operator know that the position accuracy could be compromised.
TARGET BEARING: The BEARING output in degrees is a relative bearing from the Hydrophone to
the target. The target bearing is corrected for the entered hydrophone offsets, when target is ref-
erenced to the pitch roll center of the vessel or if Antenna Offsets are entered, it is corrected again
to the Antenna offset point.
DEPRESSION ANGLE: The DEPRESSION ANGLE is the angle from the horizon to the point di-
rectly below the hydrophone. It is in degrees.
SLANT RANGE: The SLANT RANGE is the measured travel time between the hydrophone and the
transponder. It is only output in meters. The Slant Range is the actual measured slant range to the
3-83
transponder or responder. In transponder or responder mode no hydrophone offsets are applied to

the data. If in Pinger mode it is a calculated value with offsets applied if applicable. (See NOTE be-
low.)
SPEED OF SOUND: The SPEED OF SOUND is the entered value from either the keyboard or the
RS232.
TEMPERATURE: The TEMPERATURE is the value as measured at the Hydrophone by the tem-
perature sensor.
TELEMETRY DATA: The TELEMETRY data is independent of the position data. Its value is de-
pendent upon the parameters set under each target's menu. It is an instantaneous value. If
telemetered DEPTH is selected for that target instead of telemetered DATA, the TELEMETRY num-
ber is the instantaneous depth value, while Z is the averaged depth value used for positioning cal-
culations.
3-84
TRACKING DATA MESSAGE FOR FORMAT “NMEA” $POREB

BYTE LENGTH DATA WORD REPRESENTATION DATA FIELD RANGE UNITS
SEE NOTE 1

6 1 B ASCII "B" CHARACTER NA NA
8-9 2 TARGET NUMBER ASCII 00 99 NA
11-12 2 HOURS ASCII 00 23 HOURS
13-14 2 MINUTES ASCII 00 59 MINUTES
15-16 2 SECONDS ASCII 00 59 SECONDS
17-18 2 1/100 SECONDS ASCII 00 99 1/100 SEC.
20-21 2 QUALITY FACTOR ASCII 01 10 NA
SEE NOTE 2
23-24 2 ERROR CODE ASCII Null 99 NA
26-30 5 TARGET BEARING ASCII 000.0 359.9 DEGREES
32-35 6 DEPRESSION ANGLE ASCII 00.0 89.9 DEGREES
37-43 7 SLANT RANGE ASCII 0000.00 9999.99 METERS
45-48 4 SPEED OF SOUND ASCII 1300 1600 METERS/SEC
50-53 4 TEMPERATURE ASCII -10 40 ° CELSIUS
55-60 6 TELEMETRY DATA ASCII 0000.0 9999.9 METERS
61 1 EOS CHARACTER ASCII "*" CHARACTER NA NA
62-63 2 CHECK SUM ASCII 00 FF NA
64 1 CARRIAGE RETURN ASCII CARR RET CHAR. NA
65 1 LINEFEED ASCII LINEFEED CHAR. NA
NOTE 1: The data field byte length shown is the maximum length. Be aware that each
Data field may vary in the number of characters/length or could be nulled.
Example of Format: ($POREB)
$POREB,TG,HHMMSSHH,QF,EC,-BRG-,-DA-,--SR--,-SS-,TP,-TELM-*CS C R L F
$POREB,01,07253784,10,50,075.2,39.1,1572.5,1510,18,0328.4*16
With no error code, field is nulled…
$POREB,01,07253784,10,,075.2,39.1,1572.5,1510,18,0328.4*16
3-85
3.7.4.3 “POREG” DATA OUTPUT FORMAT
Applicable To: TrackPoint 3 and TrackPoint 3P (Models 4450A, 4430C)
Output sentence for Format NMEA “G” (Trackman Out Only)
Message Name: POREG
$POREG RS-232 Parameter Description
TARGET NUMBER: The TARGET NUMBER (#) represents the various target symbols and can
range from 00 to 99. (“00” is the simulated target.) The zero is output when in the self-test mode
to indicate that the RS-232 data is simulated.
TIME: The TIME value is related to the time of signal reception. The accuracy of the time as out-
put is within 1 second of the actual time of reply. (In future this will be interfaced to the GPS 1PPS
and will be accurate to within approximately 20ms.)
PHASE A, B, C: The Phase is the time-counts between each element based on the element spacing
and the phase counter clock (50MHz).
TARGET QUALITY FACTOR: The TARGET QUALITY FACTOR is a value (1-10) determined by
the system on each reply that is detected. The system uses the phase or time counts from each of
the hydrophone elements to determine the quality of the target’s signal. If the phase counts are
consistent on all three channels throughout the reply burst the quality factor is very high. If the
phase counts have jitter or are inconsistent then the quality factor is low.
ERROR CODE: The ERROR CODE or WARNING CODE is a one- or two- digit error code indicat-
ing that the data received could not be used for a valid position fix, or it can represent a warning to
let an operator know that the position accuracy could be compromised.
TARGET SLANT RANGE: The Target SLANT RANGE is the measured travel time between the
hydrophone and the transponder. It is output only in meters. The Slant Range is the actual meas-
ured slant range to the transponder or responder. In transponder or responder mode no hydro-
phone offsets are applied to the data. If in Pinger mode it is a calculated value with offsets applied
if applicable. (See NOTE below.)
TARGET DEPRESSION ANGLE: The Depression Angle encompasses the angle starting from the
horizontal plane of the hydrophone (0 degrees) and continuing to the point directly below the
hydrophone (90 degrees). The TARGET DEPRESSION ANGLE is the angle measured from the
hydrophone’s horizontal plane to the target line of sight.
3-86
TARGET BEARING: The TARGET BEARING output in degrees is a relative bearing from the
Hydrophone to the target. The target bearing is corrected for the entered hydrophone offsets,
when target is referenced to the pitch roll center of the vessel or if Antenna Offsets are entered, it
is corrected again to the Antenna offset point.
X, Y, Z: Horizontal position and depth of Target output in Meters.
HEADING: NMEA or ANALOG.
PITCH: Pitch Angle [ Pitch of vessel, 0 is horiz, bow up is positive Pitch]
ROLL: Roll Angle [ Roll of vessel, 0 is horiz, port up is positive Roll ]
TEMPERATURE: The TEMPERATURE is the value as measured at the Hydrophone by the tem-
perature sensor. In degrees Celsius.
3-87
TRACKING DATA MESSAGE FOR FORMAT “POREG” (ORE special for analyzing data)
BYTE LENGTH DATA WORD REPRESENTATION DATA FIELD RANGE UNITS

6 1 G ASCII "G" CHARACTER NA NA
8-9 2 TARGET NUMBER ASCII 00 to 99 NA
11-12 2 TIME TAG HRS ASCII 00 to 23 Hours
13-14 2 TIME TAG MIN ASCII 00 to 59 Minutes
15-16 2 TIME TAG SEC ASCII 00 to 59 Seconds
17 1 PERIOD ASCII “ . ” CHARACTER NA NA
18-19 2 TIME TAG 1/100 SEC ASCII 00 to 99 Hundredths of Sec.
21-24 4 PHASE “A” DATA ASCII 0000 to 4096 Counts A0 A11
25 1 COMMA ASCII "," CHARACTER NA “,”
26-28 4 PHASE “B” DATA ASCII 0000 to 4096 Counts B0 B11
30 1 COMMA ASCII "," CHARACTER NA “,”
31-34 4 PHASE “C” DATA ASCII 0000 to 4096 Counts C0 C11
36-37 2 QUALITY FACTOR ASCII 01-10 NA
39-40 2 ERROR CODE ASCII 00 to 99 NOTE 1
42-49 8 SLANT RANGE ASCII 00000.00 to 99999.99 Meters
51-55 5 DEPRESSION ANGLE ASCII 00.00 to 89.99 Degrees (NOTE 2)
57-62 5 BEARING ASCII 000.00 to 359.90 Degrees (NOTE 3)
64-72 9 X ASCII -09999.99 to 009999.99 Meters
74-82 9 Y ASCII -09999.99 to 009999.99 Meters
84-91 8 Z ASCII 00000.00 to 09999.99 Meters
93-98 6 HEADING ASCII 000.00 to 359.99 Degrees (NOTE 3)
100-105 6 PITCH ASCII -89.99 to 89.99 Degrees (NOTE 4)
107-112 6 ROLL ASCII -89.99 to 89.99 Degrees (NOTE 5)
114-116 3 TEMPERATURE ASCII -10 to +50 Degrees C
117 1 EOS CHAR ASCII "*" CHARACTER NA EOS CHAR
118-119 2 CHECKSUM ASCII 00 to FF(H) NOTE 6
120 1 CARRIAGE RETURN ASCII ASCII CAR RET CHAR
121 1 LINE FEED ASCII ASCII LINE FEED CHAR
3-88
Example of Format: NMEA ORE”G” Sentence
$POREG,##,HHMMSS.SS,PHSA,PHSB,PHSC,QF,EC,SLANT_RG,-DPA-,-BRNG-,--X (m)--,--Y (m)--,
--Z(m)--,-HDNG-,-PTCH-,-ROLL-,TMP*CS CRLF
$POREG,01,235959.99,0780,0230,0000,10,00,01024.40,29.54,101.51,000874.22,-00172.33,
00505.44,125.88,-00.03,-00.02,-05*16 CRLF
NOTE 1: Error Codes [ 0 = null character ]

NOTE 2: Degrees [Depression Angle as measured from Horizontal]
NOTE 3: NMEA or analog
NOTE 4: Pitch Angle [ Pitch of vessel, 0 is horiz, bow up is positive Pitch]
NOTE 5: Roll Angle [ Roll of vessel, 0 is horiz, port up is positive Roll ]
NOTE 6: The Checksum is the 8-bit exclusive OR (no start or stop bits) of all characters in the sentence, in-
cluding ”,” delimiters between but not including the “$” and the “*” delimiters.
NOTE 7: The data field byte length shown is the maximum length. Be aware that each Data field may vary in
the number of characters/length or could be nulled.
3-89
3.7.4.4 “TTM” DATA OUTPUT FORMAT
Message Name: SNTTM
TRACKING DATA MESSAGE FOR FORMAT “NMEA TTM”

2 1 S ASCII "S" CHARACTER NA NA
3 1 N ASCII "N" CHARACTER NA NA
4 1 T ASCII "T" CHARACTER NA NA
6 1 M ASCII "M" CHARACTER NA NA
8-9 2 TARGET NUMBER ASCII 01-09 N/A
11-16 6 HORIZONTAL RANGE ASCII 0.0000-9.9999 KILOMETERS
18-22 5 TARGET BEARING ASCII 000.0-359.9 DEGREES
25-30 6 COMMA ASCII "," CHARACTER NA NA
31 1 K ASCII "K" CHARACTER NA NA
35 1 I ASCII "I" CHARACTER NA NA
36 1 I ASCII "I" CHARACTER NA NA
48 1 A ASCII "A" CHARACTER NA NA
49 1 * ASCII "*" CHARACTER NA NA
50-51 2 CHECK SUM ASCII 00-FF NA
52 1 CARRIAGE RETURN ASCII CARRIAGE RETURN CHARACTER N/A
53 1 LINEFEED ASCII LINEFEED CHARACTER N/A
Example:
$SNTTM, ##, _HZRNG, _BEAR, R , , , , , , K, TPII , T , , HHMMSS , A*CS
$SNTTM , 01 , 0.0002 , 080.5 , R , , , , , , K , TPII , T , , 072432 , A*4A
3-90
3.7.4.5 “STANDARD” DATA OUTPUT FORMAT
Message Name: STANDARD
TRACKING DATA MESSAGE FOR FORMAT "STANDARD"

1 1 TARGET NUMBER ASCII 1-9 N/A
2 1 SPACE ASCII SPACE CHARACTER N/A
5 1 COLON ASCII COLON CHARACTER N/A
12-14 3 COMPASS HEADING ASCII 0-359 DEGREES
1
22-28 7 SLANT RANGE ASCII 0.0-10000.0 METERS
1
30-37 8 X ASCII +/- 10000.0 METERS
1
39-46 8 Y ASCII +/- 10000.0 METERS
1
48-54 7 Z ASCII 0.0-10000.0 METERS
56-63 8 TELEMETRY ASCII +/- 99999.9 UNITS
2
65-66 2 WARNING CODE ASCII Null, 20-99 N/A
NOTE 1: The Slant Range X,Y & Z data can either be in meters, yards or feet. See SYS-
TEM/RS232 UNITS. Leading zeroes following the ones digit are suppressed and re-
placed by spaces (except for the time).
Example:
O.R.E. TRACKPOINT II Model 4410 Rev # 9.05 15 Oct 97 15:32:38
# TOD HDG BRG S.R.(m) X (m) Y (m) Z (m) TEL WARN
1 15:32:40 359 356.3 196.3 -11.1 169.1 100.0 0.0 50
3-91
3.7.4.6 “STANDARD-EC” DATA OUTPUT FORMAT
Message Name: STANDARD
TRACKING DATA MESSAGE FOR FORMAT "STANDARD-EC"

1
1
30-37 8 X ASCII +/- 10000.0 METERS
1
39-46 8 Y ASCII +/- 10000.0 METERS
1
48-54 7 Z ASCII 0.0-10000.0 METERS
2
65-66 2 WARNING AND ERROR ASCII Null-99 N/A
CODE
Example:
# TOD HDG BRG S.R.(m) X (m) Y (m) Z (m) TEL ERR
1 15:32:53 359 356.1 196.6 -11.5 169.4 100.0 0.0 50
3-92
TRACKING DATA MESSAGE FOR FORMAT "STANDARD-EC" WITH EC#6

16-17 2 TARGET BEARING ASCII SPACE CHARACTER N/A
18 1 TARGET BEARING ASCII MINUS CHARACTER (2D h) - N/A
19 1 TARGET BEARING ASCII PERIOD CHARACTER (2E h) . N/A
22-25 4 SLANT RANGE ASCII SPACE CHARACTER N/A
26 1 SLANT RANGE ASCII MINUS CHARACTER (2D h) - N/A
27 1 SLANT RANGE ASCII PERIOD CHARACTER (2E h) . N/A
30-34 5 X ASCII SPACE CHARACTER N/A
35 1 X ASCII MINUS CHARACTER (2D h) - N/A
36 1 X ASCII PERIOD CHARACTER (2E h) . N/A
39-43 5 Y ASCII SPACE CHARACTER N/A
44 1 Y ASCII MINUS CHARACTER (2D h) - N/A
45 1 Y ASCII PERIOD CHARACTER (2E h) . N/A
48-51 4 Z ASCII SPACE CHARACTER N/A
52 1 Z ASCII MINUS CHARACTER (2D h) - N/A
53 1 Z ASCII PERIOD CHARACTER (2E h) . N/A
56-60 5 TELEMETRY ASCII SPACE CHARACTER N/A
61 1 TELEMETRY ASCII MINUS CHARACTER (2D h) - N/A
62 1 TELEMETRY ASCII PERIOD CHARACTER (2E h) . N/A
65-66 2 ERROR CODE ASCII 06 N/A
When an error code #6 is detected the unit displays only the known data while replacing unknown data with “-.-“.
3-93
3.7.4.7 “STD W/PR” DATA OUTPUT FORMAT
Message Name: STD W/PR
TRACKING DATA MESSAGE FOR FORMAT "STD W/PR"

1
1
30-37 8 X ASCII +/- 10000.0 METERS
1
39-46 8 Y ASCII +/- 10000.0 METERS
1
48-54 7 Z ASCII 0.0-10000.0 METERS
2
65-66 2 WARNING CODE ASCII Null, 20-99 N/A
68-72 5 ROLL ASCII +/- 0.0-45.0 DEGREES
74-78 5 PITCH ASCII +/- 0.0-45.0 DEGREES
Example:

# TOD HDG BRG S.R.(m) X (m) Y (m) Z (m) TEL WARN RL PT
1 15:32:59 359 356.3 196.0 -11.0 168.7 100.0 0.0 50 0.0 -0.0
3-94
3.7.4.8 “STD-EC W/PR” DATA OUTPUT FORMAT
Message Name: STD-EC W/PR
TRACKING DATA MESSAGE FOR FORMAT "STD-EC W/PR"

1
1
30-37 8 X ASCII +/- 10000.0 METERS
1
39-46 8 Y ASCII +/- 10000.0 METERS
1
48-54 7 Z ASCII 0.0-10000.0 METERS
2
CODE
Example:
# TOD HDG BRG S.R.(m) X (m) Y (m) Z (m) TEL ERR RL PT
1 15:32:59 359 356.3 196.0 -11.0 168.7 100.0 0.0 50 0.0 -0.0
3-95
TRACKING DATA MESSAGE FOR FORMAT "STD-EC W/PR" WITH EC#6

68-69 2 ROLL ASCII SPACE CHARACTER N/A
70 1 ROLL ASCII MINUS CHARACTER (2D h) - N/A
71 1 ROLL ASCII PERIOD CHARACTER (2E h) . N/A
74-75 2 PITCH ASCII SPACE CHARACTER N/A
76 1 PITCH ASCII MINUS CHARACTER (2D h) - N/A
77 1 PITCH ASCII PERIOD CHARACTER (2E h) . N/A
3-96
3.7.4.9 “NCSC” DATA OUTPUT FORMAT
Applicable To: (Models 4410C-V1302)
Message Name: NCSC
TRACKING DATA MESSAGE FOR FORMAT “NCSC”

1 1 START OF TEXT ASCII START OF TEXT CHARACTER, 02h N/A
14-18 5 COMPASS HEADING ASCII 0.0-359.0 DEGREES
1
1
34-41 8 X ASCII +/- 10000.0 METERS
1
43-50 8 Y ASCII +/- 10000.0 METERS
1
53-59 7 Z ASCII 0.0-10000.0 METERS
2
CODE
72-73 2 CHECKSUM 16-BIT BINARY SUM OF BYTES 00-FF N/A
TEM/RS232 UNITS. . Leading zeroes following the ones digit are output, maintaining
a fixed field length.
Example:
TG TIME HDG BRG SR X Y Z TEL EC CS
☺ 1 10:28:31 210.7 00009.5 -00004.6 -00007.8 00002.0 000000.0 56 CS
The ASCII Start Of Text Character, “☺”, is equal to 2 decimal or 02 hexadecimal. If a nu-
meric field has more bytes than required to represent the ASCII number then leading zeroes
are inserted in the data string. If the heading is not enabled the data field is filled with
spaces.
3-97
3.7.4.10 “REV-4” DATA OUTPUT FORMAT
Applicable To: Standard TrackPoint’s
Message Name: REV-4
TRACKING DATA MESSAGE FOR FORMAT "REV 4"
10-13 4 DEPRESSION ANGLE ASCII 0.3-90.0 DEGREES
15-19 5 SLANT RANGE ASCII 0.0-09500 METERS
21-26 6 X ASCII +/- 0.0-10000 METERS
28-33 6 Y ASCII +/- 0.0-10000 METERS
35-40 6 Z ASCII 0.0-010000 METERS
NOTE: Format REV 4 only outputs data in meters. Leading zeroes following the ones digit are suppressed
and replaced by spaces.
Example of Format REV 4 RS232 output is shown below:

O.R.E. TRACKPOINT II REV # 9.05 15 Oct 97 15:32:21
# BRG DEPA S/R X Y Z
1 356.3 30.3 196.1 -11.1 168.9 100.0
3-98
TRACKING DATA MESSAGE FOR FORMAT "REV 4-EC"
15-19 5 SLANT RANGE ASCII 0.0-09500 METERS
21-26 6 X ASCII +/- 0.0-10000 METERS
28-33 6 Y ASCII +/- 0.0-10000 METERS
35-40 6 Z ASCII 0.0-010000 METERS
42-43 2 ERROR CODE ASCII 0-99 N/A
NOTE: Format REV 4-EC only outputs data in meters. Leading zeroes following the ones digit
are suppressed and replaced by spaces.
Example of Format REV 4-EC RS232 output is shown below:

O.R.E. TRACKPOINT II REV # 9.05 15 Oct 97 15:32:33
# BRG DEPA S/R X Y Z ERR
1 356.3 30.3 196.3 -11.0 169.1 100.0 50
3-99
3.7.4.11 “NUWC-1” DATA OUTPUT FORMAT

Applicable To: Special NUWC TrackPoint Format – (Modified from the TP2 version)
Message Name: NUWC-1
TRACKING DATA MESSAGE FOR FORMAT "NUWC-1"

5 1 COLON ASCII COLON CHARACTER “:” N/A
8 1 COLON ASCII COLON CHARACTER, “:” N/A
11 1 PERIOD ASCII PERIOD CHARACTER, “.” N/A
12-13 2 TIME TAG 1/100 SEC ASCII 00 to 99 HUNDREDTHS of SEC.
1
2
2
38-45 8 X ASCII +/- 10000.0 METERS
2
47-54 8 Y ASCII +/- 10000.0 METERS
2
56-62 7 Z ASCII 0.0-10000.0 METERS
3
73-74 2 WARNING CODE ASCII 20-99 N/A
NOTE 1: Depression Angle is the raw value before offset correction.

NOTE 2: The Slant Range X,Y & Z data can either be in meters, yards or feet. Leading zeroes following the ones digit are sup-
pressed and replaced by spaces (except for the time).
Example:
# TOD HDG BRG DEPA S.R.(m) X (m) Y (m) Z (m) TEL WARN RL PT
1 15:32:59.83 359 356.3 XX.X 196.0 -11.0 168.7 100.0 0.0 50 0.0 -0.0
3-100
TRACKING DATA MESSAGE FOR FORMAT "NUWC-1 EC"

11 1 PERIOD ASCII PERIOD CHARACTER, “.” N/A
1
2
2
38-45 8 X ASCII +/- 10000.0 METERS
2
47-54 8 Y ASCII +/- 10000.0 METERS
2
56-62 7 Z ASCII 0.0-10000.0 METERS
3
74-75 2 WARNING AND ERROR CODE ASCII 01-99 N/A
NOTE 1: Depression Angle is the raw value before offset correction.

NOTE 2: The Slant Range X,Y & Z data can either be in meters, yards or feet. Leading zeroes following the ones digit are sup-
pressed and replaced by spaces (except for the time).
Example:
# TOD HDG BRG DEPA S.R.(m) X (m) Y (m) Z (m) TEL WARN RL PT
1 15:32:59.83 359 356.3 XX.X 196.0 -11.0 168.7 100.0 0.0 50 0.0 -0.0
3-101
TRACKING DATA MESSAGE FOR FORMAT "NUWC-1 EC" WITH EC#6

11 1 PERIOD ASCII SPACE CHARACTER, “.” N/A
15-17 3 COMPASS HEADING ASCII (could be -.- or blank or hdg) -.-, 0-359,null DEGREES
25 1 DEPRESSION ANGLE ASCII SPACE CHARACTER N/A
26 1 DEPRESSION ANGLE ASCII MINUS CHARACTER (2D h) - N/A
27 1 DEPRESSION ANGLE ASCII PERIOD CHARACTER (2E h) . N/A
28 1 DEPRESSION ANGLE ASCII MINUS CHARACTER (2D h) - N/A
76-77 2 ROLL ASCII SPACE CHARACTER N/A
79 1 ROLL ASCII PERIOD CHARACTER (2E h) . N/A
82-83 2 PITCH ASCII SPACE CHARACTER N/A
85 1 PITCH ASCII PERIOD CHARACTER (2E h) . N/A
3-102
3.7.4.12 RS-232 PARAMETER DESCRIPTION
These are the descriptions of the parameters used in the Format Sentences above unless otherwise
listed.
The TARGET NUMBER (#) represents the various target symbols and can range from 0 to 9. The
zero is output when in the self-test mode to indicate that the RS-232 data is simulated.
The TIME (TOD) is output at the beginning of each target's data. It is synchronous with the 24-
hour time on the screen of the TrackPoint. It is equal to the time that the TrackPoint received the
acoustic reply. When synchronized with the GPS clock the accuracy of the time as output is within
50 milliseconds of the actual time of reply.
The HEADING (HDG) is only displayed when a compass interface is used. The HEADING can either
be the Magnetic heading of the vessel or the True heading, if the NMEA heading data has been de-
termined to be corrected for True North. The NMEA ORE output sentence shows an identifier in the
string to show whether data is Magnetic (M), True (T) or from an Analog source (A). The heading is
also displayed on the upper left corner of the TrackPoint's screen.
The BEARING (BRG) output in degrees is a relative bearing from the ship to the target. When the
compass interface is in use, and the SYSTEM / COMPASS / RS232 TGT DATA is set to North Ref.,
the target bearing is referenced to North. The target bearing is corrected for the entered hydro-
phone offsets (target is referenced to the pitch roll center of the vessel) or if Antenna Offsets are
entered it is corrected again to the Antenna offset point. The SYSTEM / COMPASS / RS232 TGT
DATA switch can be set to either NORTH REF or BOW REF. See section 3.4.2.
The DEPRESSION ANGLE output on REV4 formats is the depression angle calculated from the fi-
nal horizontal distance and the depth (either input or calculated depth). The depression angle out-
put on the NUWC formats is the angle as measured by the hydrophone’s three elements but it has
been corrected for pitch and roll motion. It is not compensated by the hydrophone X,Y,Z deviation,
caused by the offset between hydrophone and vessel pitch / roll center. (I.e., the arc that the
hydrophone swings through during vessel motion.) System takes wherever the hydrophone was
when the reply was received and reconverts depression angle based on a gravity level measure-
ment at that position.
The SLANT RANGE (S.R.) is the measured travel time between the hydrophone and the trans-
ponder. It is output in meters, feet or yards, depending on RS-232 UNITS selection. The Slant
Range is the actual measured slant range to the transponder or responder. In transponder or re-
sponder mode no hydrophone offsets are applied to the data. If in Pinger mode it is a calculated
value with offsets applied if applicable. (See NOTE below.)
The X and Y position are the coordinates from the ship to the target. They are output in meters,
feet or yards if STANDARD, STANDARD-EC, STD W/PR, STD-EC W/PR, NCSC or NMEA ORE is se-
lected, or just meters if Format REV 4 or REV 4-EC is selected. If NMEA TTM is selected then the X
and Y ranges are in kilometers.
3-103
NOTE: Smoothing occurs on the target position only (X, Y or Horizontal Distance, Brg), NOT
the slant range. For non-pinger targets the slant range is displayed in the status
block and sent out the RS-232 as the actual value. For pinger targets the slant range
is calculated and smoothed.
The Z (depth) can be either a manually entered value, a telemetered value, an analog input value
or a calculated value. Z is in meters, feet or yards if Format STANDARD or STANDARD-EC STD
W/PR, STD-EC W/PR, NCSC or NMEA ORE, NUWC or NUWC-EC is selected, or just meters if Format
REV 4 or REV 4-EC is selected. If NMEA TTM is selected then Z range is in kilometers.
NOTE: Filter settings 6-10 cause the analog or telemetry depth (Z) to average the last three
readings. Filter settings 1-5 do not average the input depth.
The TELEMETRY (TELEM) data is independent of the position data. Its value is dependent upon
the parameters set under each target's menu. It is an instantaneous value. If telemetered DEPTH is
selected for that target instead of telemetered DATA, the TELEM number is the instantaneous depth
value, while Z is the averaged depth value used for positioning calculations.
The ERROR CODE (ERR) or WARNING CODE (WARN) is a one- or two- digit error code indicating
that the data received could not be used for a valid position fix, or it can represent a warning to let
an operator know that the position accuracy could be compromised (see ERROR and WARNING
CODES, section 3.15).
PITCH and ROLL is either from the PITCH and ROLL from the hydrophone VRU (Models 4610B
Hydrophone or 4740A VRU/Amplifier) or a remote VRU (Dynamic motion monitoring sensor, such
as the ORE Model 4414A). The units are in degrees. When the SYSTEM / OFFSETS / HYDROPHONE
/ VRU / STATUS function is set to ACTIVE a positive PITCH is output the RS232 when the BOW of
the vessel is UP and a positive ROLL is when the vessel rolls to starboard or PORT side UP. If the
internal VRU STATUS function is set to STATIC, configured for remote VRU sensing, the NMEA ORE
format changes to follow the incoming voltage polarity instead of the BOW UP/PORT UP protocol.
The QUALITY FACTOR is a value (1-10) determined by the system on each reply that is detected.
The system uses the phase or time counts from each of the hydrophone elements to determine the
quality of the signal. If the phase counts are consistent on all three channels through-out the reply
burst the quality factor is very high. If the phase counts have jitter or are inconsistent then the
quality factor is low.
3-104
3.7.4.13 TRACKMAN REMOTE INTERFACE
The Trackman Program can accept commands from a remote PC along with sending target data out
on the same port. From the DEVICE LIST select Remote Interface from the list. Set the connection
Type, the IP settings or COM port settings, and the Sentence Settings. The command “Sentence In
to Trackman” format can either be TP-SPC (ORE Proprietary) or NCSC. The “Sentence Out from
Trackman” can be any of the ones from the DATA OUTPUT as shown above. (Future option.)
3.7.4.14 NCSC COMMAND STRUCTURE
The NCSC RS-232 control method uses predefined packets of information to control operational pa-
rameters. These packets are used to perform SYSTEM and TARGET setup modifications.
NOTE: The only setup that is not duplicated exactly to the NCSS specification is in the FIL-
TER LEVEL setting. The new filtering method precludes using the same five codes to
control the new filter level. A translation table takes the five codes and changes the
new filter level to a setting that is close to its original. See Target Setup Command 3
below.
The following commands are in the process of being updated to fit in with the TrackPoint 3 parame-
ters. Do not use at this time.
3-105
TARGET SETUP COMMAND 1

1 1 START OF TEXT ASCII START OF TEXT CHAR N/A
3-5 3 MESSAGE ID ASCII CHARACTERS "TR1" N/A
7 1 TARGET NUMBER ASCII 0 TO 9 N/A
9-13 5 TURN AROUND TIME ASCII 000.0 TO 125.0 ms
15-18 4 REPLY FREQUENCY ASCII 22.0 TO 30.0 kHz
20-23 4 INTERROGATE FREQUENCY ASCII 04.5 TO 30.0 kHz
25-26 2 REPETITION INTERVAL ASCII 01 TO 20 SEC
28 1 TRACKING ASCII 0=OFF, 1=ON N/A
30-31 2 CHECKSUM 16 BIT BINARY SUM OF BYTES N/A
33 1 CARRIAGE RETURN ASCII CARRIAGE RETURN CHAR N/A

1 1 START OF TEXT ASCII START OF TEXT CHARACTER N/A
9-13 5 DEPTH ASCII 00000 TO 10000 METERS
15-19 5 MIN. XPONDER RANGE ASCII 0000 TO 9500 METERS
3-106

9-12 4 TELEMETRY FREQUENCY ASCII 21.0 TO 29.0 kHz
14-16 3 ZERO DELAY ASCII 050 TO 500 ms
18-21 4 FULL SCALE DELAY ASCII 0500 TO 1500 ms
23-26 4 SPAN ASCII 0001 TO 5000 UNITS
28-29 2 PULSE WIDTH ASCII 01-20 ms
31-34 4 PINGER REP RATE ASCII 0400-1500 ms
36 1 TYPE ASCII 0=TRANS,1=RESP, 2=PINGER, 3=HW TRANS N/A
38 1 DEPTH SELECT ASCII 0=MANUAL,1=ANALOG,2=TELEMETRY N/A
40 1 DEPTH MODE ASCII 0=CALCULATED, 1=INPUT N/A
42 1 TELEMETRY ASCII 0=OFF, 1=ON N/A
44 1 THRESHOLD LEVEL ASCII 0=LOW,1=MD-LW, 2=MD-HI, 3=HIGH N/A
46 1 FILTERING LEVEL ASCII See Note Below N/A
48 1 SMOOTHING ASCII A-J = Averaging of 1-10 N/A
50 1 KEYING ASCII 0=INT,1=EXT N/A
52-53 2 CHECKSUM 16 BIT BINARY SUM OF BYTES N/A N/A
55 1 CARRIAGE RETURN ASCII CARRIAGE RETURN CHARACTER N/A N/A
#46 = A-J = Filter Level 1-10 w/o QF; Q-Z = Filtering Level 1-10 with QF on.
3-107
SYSTEM SETUP COMMAND 1

3-5 3 MESSAGE ID ASCII CHARACTERS "SY1" N/A
7-12 6 X HYDROPHONE OFFSET ASCII -999.9 TO +999.9 M METERS
14-19 6 Y HYDROPHONE OFFSET ASCII -999.9 TO +999.9 M METERS
21-26 6 Z HYDROPHONE OFFSET ASCII -999.9 TO +999.9 M METERS
28-32 5 BEARING OFFSET ASCII 000.0 TO 359.9 DEG.
34-39 6 ANALOG DEPTH MIN ASCII 0000.0 TO 9999.9 M METERS
DEPTH
41-47 7 ANALOG DEPTH MAX ASCII 00000.0 TO 10000.0 M METERS
DEPTH
49 1 COMPASS OFF, ASCII 0=OFF, 1= Analog, 2= NMEA 0 TO 2 N/A
ANAL,NMEA

7-12 6 VELOCITY OF SOUND ASCII 1000.0 TO 2000.0 M/S M/Sec
14-15 2 SALINITY ASCII 00 TO 40 PPT
3-108

7-8 2 HOURS ASCII 00 TO 23 HRS
10-11 2 MINUTES ASCII 00 TO 59 MIN
13-14 2 SECONDS ASCII 00 TO 50 SEC
16-17 2 MONTH ASCII 01 TO 12 MONTH
19-20 2 DAY ASCII 01 TO 31 DAY
22-23 (25) 2 (4) YEAR ASCII 00 TO 2099 YEAR
24 (26) 1 SPACE ASCII SPACE CHARACTER N/A
25-26 (28) 2 CHECKSUM 16 BIT BINARY SUM OF BYTES N/A
27 (29) 1 SPACE ASCII SPACE CHARACTER N/A
28 (30) 1 CARRIAGE RETURN ASCII CARRIAGE RETURN CHARACTER N/A
29 (31) 1 LINEFEED ASCII LINEFEED CHARACTER N/A
The numbers in parenthesis ( ) are the extended characters if the year is sent to the TrackPoint in
4 digits vs 2.
For data sent to TrackPoint IM, the “SY3” command has been modified to allow 4-digit entry of the
year. The existing 2-digit year value remains valid also. If the system receives 4-digits within the
year field (before the trailing space character is received) it will accept the value with the following
rules applying. If the year is less than or equal to 1950 it assumes it is 20XX. If it is greater than
1950 then it assumes it is 19XX. If it receives only two digits that are less than or equal to 50 it
assumes it is 20XX. If it is greater than 50 then it assumes it is 19XX.
3-109

7-13 7 ANALOG1 MIN. UNITS ASCII 0 TO 9999.9 N/A
15-21 7 ANALOG1 MAX. UNITS ASCII 0 TO 9999.9 N/A
23-26 4 ANALOG1 MIN. VOLTS ASCII 0.00 to 5.99 V
28-31 4 ANALOG1 MAX. VOLTS ASCII 0.10 to 6.00 V
33-34 2 ANALOG USE AS… ASCII See Note below 00 to 02 N/A
36-42 7 ANALOG1 MIN. UNITS ASCII 0 TO 9999.9 N/A
44-50 7 ANALOG1 MAX. UNITS ASCII 0 TO 9999.9 N/A
52-55 4 ANALOG1 MIN. VOLTS ASCII 0.00 to 5.99 V
57-60 4 ANALOG1 MAX. VOLTS ASCII 0.10 to 6.00 V
62-63 2 ANALOG USE AS… ASCII See Note Below 00 to 10 N/A
65-66 2 CHECKSUM 16 BIT BINARY SUM OF BYTES N/A N/A
68 1 CARRIAGE RETURN ASCII CARRIAGE RETURN CHARACTER N/A N/A
#33 = 0
#34 = 0=Off, 1=Compass, 2=Hydrophone
#62 = 0
#63 = 0-8 represents Target #’s 1-9; 10 = Hydrophone
3-110

7 1 RS232 UNITS ASCII 0=M,1=F, 2=Y 0 to 2 N/A
9-10 2 RS232 FORMAT ASCII See Note Below. 00 TO 99 N/A
12 1 COMPASS SELECT ASCII 0=Off, 1=Analog, 2=NMEA 0 to 2 N/A
14-19 6 COMPASS OFFSET ASCII 0.0 TO -359.9 DEG
21-22 2 COMPASS NMEA FORMAT ASCII 0=HDG,1=HDT, 2=HDM, 3=VHW, 4=VTG 00 to 99 N/A
24 1 TARGET REF (BOW/NORTH) ASCII 0 = Bow, 1 = North 0 TO1 N/A
26-31 6 HYD VRU PITCH ERROR ASCII 0.00 TO -44.9 DEG
33-38 6 HYD VRU ROLL ERROR ASCII 0.00 TO -44.9 DEG
40 1 VRU STATUS ASCII 0=Static, 1= Active 0 TO 1 N/A
42 1 HYD ORIENTATION ASCII 0=Normal, 1=Starboard, 2=Aft, 3=Port 0 TO 3 N/A
44-47 4 REMOTE VRU SCALE ASCII 0.00 TO 9.99 N/A
49 1 VRU FUNCTION ASCII 0=Linear, 1=10*sin 0 TO 1 N/A
51 1 REM VRU BOW UP POL. ASCII 0 = ( - ), 1 = (+) 0 TO 1 N/A
53 1 REM VRU PORT UP POL. ASCII 0 = ( - ), 1 = (+) 0 TO 1 N/A
3-111

7-12 6 ANT X OFFSET (N/A) ASCII -999.9 TO 999.9 UNITS
14-19 6 ANT Y OFFSET (N/A) ASCII -999.9 TO 999.9 UNITS
21 1 HYD DEPTH SEL ASCII 0=Manual, 1=Analog via Compass BNC 0 TO 2 N/A
Input, 2 = Analog via Depth BNC Input
ACK/NACK MESSAGE

3 1 ACK/NACK ASCII ACK=VALID RS-232 MESSAGE RECEIVED N/A
ASCII NACK=INVALID RS-232 MESSAGE RECEIVED
ACK = ASCII 006 decimal = 06 hexadecimal
NAK = ASCII 021 decimal = 15 hexadecimal
3-112
3.8 SHUTDOWN
To turn off system, exit Trackman and then Shut Down PC via Windows “START” button. The power
will automatically be shut off to the Processor, the Keyboard/Monitor goes into low power mode
and the TrackPoint 3 can then be turned off from the front panel power switch.
3-113
SECTION FOUR
PRINCIPLES OF OPERATION
TRACKPOINT 3 PRINCIPLES OF OPERATION
4. PRINCIPLES OF OPERATION
TrackPoint 3 measures and analyzes sound waves sent from an acoustic sound source that is at-
tached to a target. The signal is received by a hydrophone to determine target position relative to
the tracking ship. The hydrophone amplifies the received acoustic signals and sends them to the
TrackPoint 3 Signal Processor/Interface Module and then to the PC for further processing by the
Trackman Software.
The TrackPoint 3 system uses an ultra-short baseline, phased-array hydrophone containing sound
transducing elements arranged at the vertices of an equilateral triangle. Each element is spaced
less than half a wavelength away from each of the other elements in the array. When a sound
wave impinges upon the array it strikes one element first, then one of its neighbors, and finally the
remaining element. The sound wave, as sensed by any element in the array, will appear out of
phase with the wave as sensed by the other elements in the array. The phase differences between
the elements in the array provide the information required to calculate a three-dimensional vector
from the array to the sound source.
Three types of sound sources are used with the TrackPoint 3 system: pingers, transponders and
responders. A pinger emits a sound pulse at a predetermined frequency, repeated at a set inter-
val. The hydrophone receives the pulse and determines bearing and depression angle. Transit
time of the pulse is unknown.
A transponder emits a sound pulse in response to a specific acoustic interrogation pulse from the
controller transmitter. A responder emits a sound pulse via a wire connecting the responder and
the Signal Interface Module (SIM) when electrically triggered by the SIM. The system now has
timing information to calculate directly the slant range of the target, assuming the average velocity
of sound in the water column and the turnaround time of the transponder or responder are known.
In either pinger or transponder/responder mode, the relative bearing and depression angle of the
target being tracked are determined by measuring the phase differences of the sound waves for
each hydrophone element. The bearing of the target is measured in degrees relative to the hydro-
phone heading. The depression angle is formed by the intersection of a horizontal plane and a line
drawn from the vessel reference point to the target. Once these values are determined, the rest of
the positioning parameters can be calculated.
NOTE: The term "vessel reference point" denotes the point relative to which all measure-
ments are calculated. The actual position of the vessel reference point is determined
by hydrophone offsets entered into the system (see Figure 4-1). If no offsets are en-
tered, the hydrophone itself is considered the vessel reference point. This is the case
in Figure 4-2, which illustrates the positioning parameters that the system calculates.
The slant range is the straight line distance from the vessel reference point to the target. When a
sound source other than a pinger is used, the travel time of the sound wave between the sound
4-1
source and the hydrophone is used to calculate the slant range directly. The horizontal range is
the projection of the slant range on a horizontal plane.
In PINGER mode, horizontal range (HR) is calculated by:
HR =
tan β
where Z is the target depth and β is the depression angle.
Slant range (SR) is calculated by:
SR =
sin β
where Z is the target depth and β the depression angle.
In TRANSPONDER or RESPONDER mode, slant range (SR) is calculated from the known speed of
sound in the water column (V), the transponder or responder turnaround time (D) and the meas-
ured time (T) between transmitted pulse and received reply by:
SR = V x (T - D)
2 in transponder mode, and:
SR = V x (T - D) in responder mode.
Horizontal range (HR) is calculated by one of three methods, depending on the calculated value of
the depression angle (β) from the horizontal and the depth MODE.
A. In CALCULATED depth MODE and when the target is within a 90 degree cone (value of (β)
greater than 45 degrees), horizontal range (HR) is calculated by:
HR = SR cos β
This is the normal situation, where the target is within a 45 degree angle from the vertical axis of
the hydrophone.
B. In CALCULATED depth MODE and outside a 90 degree cone (values of (β) less than 45 de-
grees), as the target moves to positions which are between the hydrophone horizon and a
45 degree depression angle, the measured accuracy degrades due to physical constraints of
the measuring hydrophone. (As the target approaches the horizon, the angle becomes un-
measurable.) In this situation, the input target depth (Z) (manual, analog or telemetry) is
used to calculate horizontal range by:
4-2
HR = SR cos (sin-1 )
SR
C. In INPUT depth MODE and when the target is within a 40 degree cone (value of (β) greater
than 70 degrees), slight variations between the slant range and the input depth will cause
large horizontal position differences. In this situation the horizontal range is calculated by:
HR =
tan β
D. In INPUT depth MODE and when the target is outside the 40-degree cone (value of (β) less
than 70 degrees), the horizontal range is calculated by:
Z
HR = SR cos (sin-1 )
SR
To eliminate the sharp boundary at 45- and 70-degree depression angles, hysteresis is incorpo-
rated into the software.
In Figure 4-2, the values X, Y, and Z are RS-232C outputs. (These values are distinct from the X,
Y and Z offsets shown in Figure 4-1.) The distance X is the projection of the horizontal range on a
vertical plane perpendicular to the centerline of the vessel and passing through the vessel refer-
ence point. The distance Y is the projection of the horizontal range on a vertical plane parallel to
the centerline of the ship and passing through the target. X and Y and HR form a right triangle.
Depth (Z) is the depth of the target below the water surface.
Under ideal conditions the transducing element plane is parallel to the surface of the water and
perpendicular to a vertical plane through the vessel centerline. In a real application, the vessel and
hydrophone will be in motion, and the system must therefore correct measurements taken from
the hydrophone for pitch and roll.
The rotation of the vessel about its X-axis, a line drawn perpendicular to the vessel centerline at its
midpoint, is known as pitch. Roll is the rotation of the vessel about the vessel centerline, or Y-axis.
The Vertical Reference Unit measures pitch and roll in degrees, with zero degrees being the "at
rest" position, and calculates the necessary compensation. For dynamic motion compensation an
ORE Model 4414B Dynamic Motion Sensor is recommended.
The system microprocessors, located in the Signal Interface Module, receive information from the
hydrophone array for each received pulse. They convert that information into a real-time graphic
representation of the tracked target(s) relative to the vessel reference point, shown in the display-
screen tracking window. Digital values are continuously updated in the status block.
4-3
Figures 4-3A & B, the SIM Block Diagram, presents an overview of the TrackPoint 3. The individual
components of the system function as described in the following sections.
4-4
4-5
4.1 HYDROPHONE/VRU ASSEMBLIES
Model 4610B Hydrophone & VRU Assembly
The hydrophone assembly (Figure 4-4) consists of the hydrophone and the pressure
case/electronics. In the hydrophone, the three receiving elements, the transmitting element, and
the temperature sensor are potted and attached to the PVC base, and connected to the electronics.
In the pressure case/electronics package, each of the three elements feeds its own Amplifier Board.
Each board consists of an amplifier stage, followed by a bandpass filter, set for 22 kHz - 30 kHz (or
8 kHz - 14 kHz for the low-frequency hydrophone, or 35 - 45 kHz for the hi-frequency hydro-
phone), followed by further gain. A precision temperature sensor, embedded in the PVC hydro-
phone base, provides an analog signal which is buffered and scaled on the Father Board and also
sent to the Signal Processor Board (SPB). The internal Vertical Reference Unit (VRU) provides ana-
log signals corresponding to pitch and roll that are also sent to the SPB (+/- 10 VDC). Power for
the amplifiers and drivers is regulated on the Father Board from the raw power sent down from the
SPB.
Model 4211A Hydrophone
The Model 4211A Hydrophone is approximately 3-inches in diameter. Refer to Figure 4-5. The pot-
ted end is the same as in the 4610B with three receiving elements, transmitting element and tem-
perature sensor potted to an aluminum silicon bronze base. The only electronics internal to the
hydrophone is a set of three preamplifiers with unity gain. These amplifiers drive the signal up the
deck cable to the Model 4740A VRU/Amplifier unit. A precision temperature sensor, located on one
of the Amplifier boards, provides an analog signal which is also sent to the 4740A.
Model 4740A VRU/Amplifier
The Model 4740A VRU/Amplifier contains the same electronics as the 4610B Hydrophone consisting
of three Amplifier Boards, a Father Board and an internal VRU but is packaged in a metal NEMA
type enclosure for bulkhead mounting.
4-6
TRACKPOINT BLOCK DIAGRAM

FIGURE 4-3A
4-7
TRACKPOINT BLOCK DIAGRAM
FIGURE 4-3B
4-8
SIG A RCVR A DRIVER A

SIG B RCVR B DRIVER B
SIG C RCVR C DRIVER C
TEMP AMP DRIVER T PITCH
XMIT ROLL
POWER SUPPLY
4610B HYDROPHONE BLOCK DIAGRAM
Figure 4-4
4211A HYDROPHONE 4110B DECK CABLE 4740A VRU/AMPLIFIER

XMIT
SIG A RCVR A DRVR A
4211A S/N
SIG B RCVR B DRVR B

SIG C RCVR C DRVR C
TEMP AMP
PITCH AMP
ROLL AMP
REG
HYDROPHONE & VRU BLOCK DIAGRAM
Figure 4-5
4-9
4.2 TARGET ACQUISITION MODULE
Each of the three clipped signals is sent via current loop to the Peripheral Interface Card and
then to each of the Target Acquisition Modules (4). The phase differences between the leading
edges of the signals are measured and stored for later transmission to the main DSP Card.
When a valid signal is detected (Section 4.3), the Target Acquisition Module transfers the RAM
contents, starting with the most recent phase count data, to the main DSP for processing (Sec-
tion 4.4.)
4.3 DETECTION CIRCUITRY
One of the input signals is used in the detection circuitry. It is mixed with a Local Oscillator,
then fed to a sharply tuned filter. The filter outputs go to a peak detector/threshold system,
which can generate an interrupt for the DSP. The detector outputs also control the front panel
LED's, and the peak detector circuit provides signals for the audio generators. The audio cir-
cuitry provides an indication of the strength of the signal received at the chosen frequency.
4.4 DATA TRANSFER
When the interrupt generated by the detection circuitry is recognized by the DSP, the following
sequence of events occurs, resulting in the transfer of all of the raw data over a high speed se-
rial bus to the main DSP board. All counting and data collection is halted, the VRU, COMPASS,
ANALOG DEPTH and TEMP signals are digitized and stored along with a time tag, and an inter-
rupt is sent to the main DSP board to initiate data transfer. The main DSP board, when ready,
will read the raw data, including VRU, COMPASS, ANALOG DEPTH and TEMP data. At the end of
the transfer, data acquisition can begin again for any other channel (TAM).
4.5 TRANSMIT SIGNAL
Transmitter parameters, such as frequency, repetition rate, and pulse duration, are entered via
the keyboard and immediately sent to the Main TAM, where generation of the transmit signals
occurs. The frequency is latched, and a Phase Lock Loop generates the actual signal. The repe-
tition rate and duration are controlled by a counters within the CPLD. An external input can also
be used to trigger the transmitter (for transponder operation) or Trigger (key) out (for re-
sponder operation) in place of the internal repetition rate generator.
In transponder or responder mode, the transmit signal starts a timer, which is stopped and
read after receipt of a valid reply. This timer determines the transit time which is translated by
the main DSP Card into slant range.
4-10
SECTION FIVE
MAINTENANCE
TRACKPOINT 3 MAINTENANCE
5. SYSTEM MAINTENANCE
5.1 SIGNAL INTERFACE MODULE MAINTENANCE
5.1.1 HYDROPHONE CALIBRATION FILES
The hydrophone assembly is calibrated at the factory. The calibration consists of generating a set
of Files (2) that are burned into the FlashROM of the DSP card located inside the Signal Interface
Module (SIM). These files contain offsets which compensate for the variances from hydrophone to
hydrophone. When ordered as a system, these files are installed in the SIM at the factory. If a
hydrophone assembly is ordered separately, it will come with a floppy or CD with a set of files on
it, and must be installed into the SIM to which the hydrophone is connected.
To check what Calibration factors

the unit has programmed into it,
turn on the Deck unit and PC. Run
Trackman and then from the main
menu select USBL and then Get
Status. The dialog box shown is
displayed. The Amplifier and
Hydrophone Serial Numbers are
shown.
NOTE: When loading calibration

files or updating the Deck Unit’s
software from Trackman, use only
a direct PC serial port. Do not use
a converter that goes from USB to
serial or Ethernet to serial. These cause the check-summing of the binary data download to fail re-
sulting in data not being programmed.
NOTE: If a model 4211A and separate Model 4740A VRU/Amplifier is being used, they are fac-
tory calibrated and shipped as matched sets. Replacement of the Files requires that the
factory know the serial number of the 4740A also. It goes without saying that 4740A's
cannot be interchanged (other than for testing/troubleshooting) without affecting system
accuracy. Therefore, when servicing the Hydrophone with customer supplied spare
parts, it is necessary to change out both the Hydrophone and the VRU/Amplifier, and, of
course, download the correct Files to the SIM.
NOTE: The DSP must be placed into its program mode before data can be sent to it. Install the
hydrophone calibration Files as follows:
5-1
Download CAL Files TO SIM
1. Close down Trackman software. Power-down the TrackPoint 3 Signal Interface Module.
2. Remove top cover of SIM.
3. Locate DSP card (4450DA0022). Refer to Figure 5-2.
4. Remove Jumper from pins 2 and 3 of JP7 and place on pins 1 and 2. Remove Jumper from
pins 2 and 3 of JP3 and place on pins 1 and 2. Refer to Figure 5-1.
5. Power-up system. Stay clear of Line Voltages and Transmitter.
6. D3 on the DSP card will flash and then illuminate RED. Do not attempt to program until it is
on continuously.
7. Place floppy or CD in the respective Model 4451A Processor module drive.
8. Run Trackman software.
NOTE: When it asks if you want to send parameters to the Deck Unit click on “NO”.
9. From the USBL menu in the Trackman software select “DOWNLOAD CAL”.
10. Trackman asks for the file name starting with the .BHI file. Navigate to either the Floppy
drive or the CD ROM drive. Click on the file name corresponding to the Hydrophone in use
and select “OPEN”.
The CAL file’s first 4 characters are

the Deck Units Filter/Limiter PCB S/N
and the last 4 are the Hydrophone
S/N. The extensions of the two files
are .blo and .bhi. (Binary Low byte
1-8 and Binary Hi byte 9-16.) For ex-
ample…
09660887.bhi
09660887.blo
5-2
DSP CARD PROGRAMMING MODE JUMPER
FIGURE 5-1
5-1
11. Repeat for the .BLO file. Click on the file name corresponding to the Hydrophone in use and
select “OPEN”.
A message appears asking if you want to copy the Calibration files from either the floppy or CD to
the PC’s hard-drive for archival. Select yes. If the directory called “CalFiles”* does not exist Track-
man creates one and copies the calibration files to this directory. This will then keep a back-up
copy of the calibration files on the Trackman PC.
* C:\Program Files\ORE Offshore\TrackPoint MMI\CalFiles
12. Once both files are archived a message appears showing file names and asking if you are
sure these are correct. If correct then click “YES”.
5-1
13. Trackman then sends the 4450A SIM the files in sequence to program into the FlashROM on
its DSP card.
14. Power-down System.
16. Power-up system.
17. D3 on the DSP card should flashe AMBER and then go off.
18. Replace top cover of the TrackPoint 3.
5-2
5.1.2 DOWNLOADING OF CODE TO SIM DSP
Upgrades to the DSP code can be downloaded from Trackman (via the PC) directly to the DSP card
within the Signal Interface Module (SIM).
NOTE: The DSP must be placed into its program mode before data can be sent to it. Refer to
Figure 5-1.
Download Code File TO DSP CARD
1. Close down Trackman software. Power-down the TrackPoint 3 Signal Interface Module.
2. Remove top cover of SIM.
3. Locate DSP card (4450DA0022). Refer to Figure 5-2.
5. Power-up system. Stay clear of Line Voltages and Transmitter.
6. D3 on the DSP card will flash and then illuminate RED. Do not attempt to program until it is
on continuously.
7. Place floppy or CD in the respective Model 4451A Processor module drive.
8. Run Trackman software.
9. From the USBL menu in the TRACKMAN software select “DOWNLOAD Code”.
10. Trackman asks for the file name with the extension .BIN. Navigate to either the Floppy drive
or the CD ROM drive. Click on the file name corresponding to the DSP code.
5-3
11. Once the file is selected a message appears showing file names and asking if you are sure
these are correct. If correct then click “YES”.
12. Trackman then sends the 4450A SIM the file to program into the FlashROM on its DSP card.
13. Power-down System.
15. Power-up system.
16. D3 on the DSP card should flash AMBER and then go off.
17. Replace top cover of SIM.
5-4
5.1.3 FUSE REPLACEMENT
The fuse is in the AC-IN plug on the rear panel. Disconnect the line cord before servicing the fuse.
Snap open the cover located below the AC-IN plug to replace the fuse. Replace fuse with proper
value as listed below.
3 Amp slow blow (5 x 20 mm)
FUSE (ACTIVE)
FUSE (SPARE)
5.1.4 PRINTED CIRCUIT BOARD (PCB) REMOVAL/REPLACEMENT
1. Remove the top cover from the SIM. See Figure 5-2.
2. Disconnect any connectors associated with the particular PCB or connectors that cross over
the board preventing removal. Remove screws holding in PCB. Remove PCB.
NOTE: The Peripheral Interface Card (PIC) contains lithium back-up batteries for the clock.
It is a 3.6v unit composed of Li/SOCL2 and is hermetically sealed.
5-5
5.1.5 PCB HANDLING
When removed from the Chassis, the PCB's should be stored or shipped in anti-static bags. Never
stack one PCB on top of another. Always separate PCB's with suitable packing material.
5.2 PROCESSOR MODULE
The Model 4451A Processor Module is a P3 or P4 PC running a Windows® 2000 or XP Professional

Operating System. It automatically logs on as “administrator” with a Password of “ORE”. The
TRACKMAN software starts automatically as soon as the system has completed its boot process.
CAUTION
If an operator closes or minimizes the Trackman application the system resumes to the “Desktop”
and the user has full rights to modify any Windows® settings.
5-6
REAR PANEL INTERFACE BD FAN
AIR FLOW
TAM #2 TAM #3 TAM #4
POWER
SUPPLY
RTC
BATTERY
PERIPHERAL
INTERFACE CARD TRANSMITTER
PROGRAMMING
JUMPER - JP7
PROGRAMMING
JUMPER - JP3
TAM #1
DSP (under)
FRONT PANEL INDICATOR BD
CARD
MODEL 4450A CHASSIS COMPONENTS
FIGURE 5-2
5-7
APPENDIX A
CARE OF CABLES
TRACKPOINT 3 APPENDIX A
APPENDIX-A CARE OF CABLES
GENERAL NOTES:
Refer to caution below for disassembly of underwater cable connections.
CAUTION
Whenever underwater connectors are disassembled, or pressure cases opened, water is drawn into
the cavity formed by the separating parts. This water, particularly salt water, enters as a fine spray
and coats the electrical contacts and other parts inside. It is extremely important to minimize this
buildup of moisture and salt, as it causes corrosion and voltage breakdown, particularly on power
leads, which have high voltages present. Therefore a thorough cleaning is required, preferably im-
mediately after opening the parts. It is also helpful to rinse in fresh water and remove excess wa-
ter from parts prior to opening.
NOTES FOR PROPER CARE OF UNDERWATER CABLES:
DO Lubricate connectors before mating.
DO Keep cables free from dirt and salt.
DO Secure cables with tie wraps or tape so they won't work free.
DO Route cables where they won't get pinched or crushed by deployment or mov-
ing machinery.
DO Periodically clean cable contacts with a cleaner/degreaser. Lubricate with

clean lubricant after cleaning.
DO Check cables with a VOM & megger periodically for electrical integrity.
DON'T Walk on cables.
DON'T Bend cables near the connectors.
DON'T Use damaged cables with bad or questionable contacts. They will damage
their mating half.
DON'T Hang things on cables.
DON'T Use cables for towing or pulling.
DON'T Bend the connectors when mating or disconnecting.
DON'T Clean cables with light hydrocarbon solvents (i.e. acetone, lacquer thinner,
paint thinner).
A-1
TRACKPOINT 3 APPENDIX A
A-2
APPENDIX B
STATIC DISCHARGE
TRACKPOINT 3 APPENDIX B
APPENDIX-B ELECTROSTATIC DISCHARGE (ESD)
The printed circuit boards within the TrackPoint 3 console can be damaged by ESD. Many of the
electronic components are sensitive to electrostatic discharge. Some devices can be damaged by a
potential as low as 30Volts. People are a prime source of device-damaging electrostatic potentials.
Activities such as walking or working at a bench can generate thousands of Volts of static potential.
This charge is transmitted to a person’s conductive perspiration layer, and when a charged person
handles a static sensitive device, the component may be damaged by either direct or indirect dis-
charge of the static potential to the device.
NOTE: A person typically will not feel static discharge until the potential approaches 3500 Volts.
An electronic device exposed to static discharge may not be affected at all and will work perfectly
throughout a normal life cycle. It may, however, function normally for a while, but because of deg-
radation in the internal layers of the device, its life expectancy may be reduced. The ESD event ini-
tiates a device weakness that degrades and causes failure with continued use.
RULE 1: Assume all electronic (solid state) components are sensitive to ESD damage.
RULE 2: Never touch a sensitive component or assembly unless properly grounded. When handling
circuit assemblies or when working with them, always use the appropriate grounding procedure:
wrist strap connected to ground or heelstrap with a grounded dissipative floormat.
RULE 3: Never transport, store, or handle sensitive components or assemblies except in a static-
safe environment. Use static shielding bags when transporting circuit boards.
If a grounded dissipative floor-mat or wrist-strap is not available then at the very least, when
swapping out Printed Circuit Boards, discharge yourself to the chassis of the unit. Lift out circuit
board from chassis and immediately put it on a conductive surface. Remove the new circuit board
from its anti-static bag only after grasping the anti-static bag (with PCB inside) and the chassis.
Remove board and place directly inside chassis. Put replaced board in the spare’s anti-static bag
for transport/storage.
B-1
TRACKPOINT 3 APPENDIX B
B-2
APPENDIX C
WARRANTY
TRACKPOINT 3 APPENDIX C
APPENDIX-C WARRANTY STATEMENT
On standard catalogue products, ORE Offshore warrants the products delivered under this contract
to be free from defects in material and workmanship at the time of delivery to the EXW point speci-
fied in this order, its liability under this warranty being limited to repairing or replacing, at ORE Off-
shore’s option, items which are returned to it prepaid within twelve (12) months from delivery to
the BUYER and found to ORE Offshore’s satisfaction, to have been so defective. On services, ORE
Offshore warrants that all work performed by its employees will be done in a workmanlike manner,
ORE Offshore’s liability under this warranty is limited to remedying at its expense any work found
to ORE Offshore’s satisfaction not so performed, provided however, ORE Offshore is notified of any
claims within three (3) months from the date work is performed. Any products manufactured by
others and resold by ORE Offshore shall bear the warranty of the original manufacturer, to the ex-
tent that such warranties may be legally transferred, assigned and passed on to BUYER. ORE Off-
shore assumes no responsibility for the performance of products manufactured to BUYER’s design
or specification, nor for defects in raw material, parts, or subassemblies furnished by BUYER or his
agents.
This warranty is in lieu of, and excludes any other warranties, whether statutory, expressed or im-
plied, and the goods are accepted by BUYER with that understanding. ORE Offshore MAKES NO
OTHER WARRANTIES, EXPRESSED OR IMPLIED, AND SPECIFICALLY, EDGETECH MAKES NO WAR-
RANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. ORE Offshore’s liability
on any claim of any kind, including negligence, for loss or damages arising out of, connected with
or resulting from this AGREEMENT, or from the performance or breach thereof, or from the manu-
facture, sale, delivery, resale, repair or use of any GOODS or services covered by or furnished un-
der this AGREEMENT shall in no case exceed the price allocable to the item or service or part
thereof which gives rise to the claim. In the event ORE Offshore fails to manufacture or deliver
GOODS required to be manufactured or delivered hereunder, or manufactures such GOODS in a
defective manner, ORE Offshore’s exclusive liability and BUYER’s exclusive remedy whether at law
or in equity shall be the release of BUYER from the obligation to pay the purchase price. Any prod-
uct or service repaired or replaced under this warranty shall be warranted for the unexpired portion
of the original warranty period only.
IN NO EVENT SHALL ORE Offshore BE LIABLE FOR ANY SPECIAL, INCIDENTAL OR CONSEQUENTIAL
DAMAGES.
C-1
TRACKPOINT 3 APPENDIX C
C-2
APPENDIX D
DRAWINGS
TRACKPOINT 3 APPENDIX D
APPENDIX-D DRAWINGS
D1 4400CE0041 TrackPoint 3 Mechanical Outlines
D2 4450BE0019 4450A Interconnection Diagram (2)
D3 4450DA0022 DSP Card Assembly
D4 4450DA0025 Target Acquisition Module Assembly
D5 4450DA0011 Peripheral Interface Card Assembly (2)
D6 4450BS0012 Rear Panel Schematic (3)
D7 4450DA0012 Rear Panel Assembly (2)
D8 4450BS0017 Front Panel Schematic (2)
D9 4450DA0017 Front Panel Assembly (2)
D10 4410BS0024 Transmitter Schematic (2)
D11 4450DA0024 Transmitter Assembly (2)
D12 4110CA0002 Deck Cable
D13 4110CA0002-01 Deck Cable
D14 100437 Model 4610B Hydrophone Assembly
D15 100925 Model 4610B Interconnection Diagram
D16 4740CW0006 Model 4740A Interconnection Diagram
D17 4211CW0003 Model 4211A Hydrophone Wiring Diagram
D18 4410BA0123 Cable, Remote Pitch / Roll Interface
D19 4450BA0079 Cable, Synchronization TP3
D20 4450BA0084 Cable, Synchronization TP3-S
D-1
TRACKPOINT 3 APPENDIX D
D-2
5 4 3 2 1
D D
TP3 - REAR PANEL INTERFACE BOARD
C 1.) D1 and D2 silkscreen backwards C
2.) Move Speaker to allow installation of BNC. Make holes for Speaker leads larger diameter.
3.) Move JP1 out from under J2 as the backside of the header leads shorts against the housing of the Amphenol aluminum connector body.
4.) P3 8 & 9 add wiring for Depth 3 & 4 if necessary. Allow jumpering to R1 and R2 of Synchro input as that would be the least likely to be used in conjunction with it.
5.) Use COM3 also as the Micromodem I/O port. Have jumper selectable. Use CTS line also.
6.) Add connector from Hydrophone for the linear output of Channel "A" for input to the micromodem.
7.) Move silkscreen lettering for TP5 as it gets cut off by hole next to it.
8.) P11 & P12 mating connectors hit end to end. Space out more.
B 9.) Change schematic so the P1-G (pin 7 on layout) is wire jumpered to P7 pin 2. Add via. B
PCB = 4450PC0012 REV A

A
SCH = 4450BS0012 REV A A
ASY = 4450BA0012 REV A Title

Rear Panel Interface Board
Size Document Number Rev
B 4450BS0012 A
Date: Wednesday, September 07, 2005 Sheet 1 of 3

5 4 3 2 1
A
B
C
D
1
2
43650-0216
FAN_PWR
P5
C1
F1 FUSE_THERMAL
100uF50V
+12VDC
1 1 2
2
+
43650-0216
P16
F2 FUSE_THERMAL
MODEM_PWR
C2
100uF50V
5
5
-12VDC
1 2
+
+5VDC
1
TP1
VCC
2
3
+
4
TP4
P5V
5
TP2
POWER_IN
C3
6
43650-0616
TP5
P6
100uF50V
TP3
J1
DIG_COM
P12V ANA_COM N12V
1 0A TRIG-IN-1-LO
2 0B TRIG-IN-1-HI
3 0C TRIG-IN-2-LO
4 0D TRIG-IN-2-HI
5 0E TRIG-IN-3-LO
6 0F TRIG-IN-3-HI
7 0P TRIG-IN-4-LO
8 0R TRIG-IN-4-HI
9 0M TRIG-OUT-1
10 0L TRIG-OUT-1
11 0K TRIG-OUT-2
12 0J TRIG-OUT-2
SYNCHRONIZATION
13 0H
SYNC SIGNALS
TRIG-OUT-3
14 0G TRIG-OUT-3
15 0T TRIG-OUT-4
16 0S
4
4
TRIG-OUT-4
RESPONDER KEY LINES

17 0N COMMON
18
19
20 97-3102A-20-29S
87831-2020
P2
1 S1
2 S2
3 S3
4 R1
SYNCHRO
5 R2
43650-0516
CONVERTER
P7
VCC
COMPASS
K1
2
1 ANALOG COM
TO/FROM SYNCHRO
D1 1N4001
ANALOG
70543-0001
4
3
1
COMPASS 4
16
13
P8
JP2
wire jumper.
9
8
6
11
2
1
PZC02DAAN
G6A-274P-ST-US-DC5
1 ANALOG COM
of P1 through on-board
3
3
2 DEPTH-1
3 DEPTH-2
NOTE: V7 connects to pin G
COMPASS
V7
P1
4
EXTERIOR OF REAR PANEL
5 ROLL
6 PITCH 0A
TEMP R1
7 0B R2
8 DEPTH-3 0C PWR_COM
ANALOG SIGNALS
9 DEPTH-4 0D +12VDC
INTERIOR TO CHASSIS
10 0E -12VDC
ANALOG SIGNALS
0F S1
VCC
87831-1020 0G S2
ROLL
P3
K2
0H
PITCH
S3
0J COMPASS
D2 1N4001
0K DEPTH-1
0L
1
4
16
13
PITCH
HDG_VRU_DEP
0M SIGNAL COM
0N DEPTH-2
0P PITCH COM
0R
9
8
6
ROLL COM
11
0S
G6A-274P-ST-US-DC5
ROLL
JP1
97-3102A-24-5P
SIG_SHLD_COM
2 1
4 3
6 5
J2
PZC03DAAN
1
H
2
2
2 0A CH-A-HI
A
3 0B CH-A-LO
L
4 0C ROLL
5 0D PITCH
B
6 0E +12VDC
7 0F -12VDC
8 0G PWR_COM
C
9 0H HYD_CTRL
10 0J CH-B-LO
CHANNEL INPUTS
11 0K
ELEMENT SIGNALS
CH-B-HI
12 0L CH-C-SHLD
B
Title
Size
Date:
0M CH-A-SHLD
87831-1220 0N
HYDROPHONE
VRU-SHLD-COM
P4
0P XMT-LO
V1
0Q XMT-HI
0R XMT-SHLD
0S TEMP
0T CH-B-SHLD
0U CH-C-HI
0V CH-C-LO
Document Number
97-3102A-28-16S
JP4
3
2 2
1 1
Thursday, September 08, 2005
MODEM
70543-0001
PIN-H SELECT
P17
1
1
PZC03SAAN
Sheet
4450BS0012
SHIELDED CABLE
HV
SUB-ASSEMBLY FOR XMIT
2
XMIT

SIGNAL
of
HYD_CTRL
3
VRU_INT_REM
CONTROL LINES
A
Rev
COMP_EXT_SYNCHRO
A
B
C
D
5 4 3 2 1
EXTERIOR OF REAR PANEL
COM2 COM3 COM1

CONTROL_LINES COMPASS-IN_NMEA DGPS_INPUT_(time) RS232 TO CPU 1_PPS_GPS_CLOCK TELEM_INPUT SPARE SPEAKER
172-E15-242-011
172-E09-142-011
172-E09-142-011
172-E09-242-011
J3 P9 P10 J4 2 J5 2 J6 2 J7 SP1
D D
31-71059-1010
31-71059-1010
31-71059-1010
AT-3108
9
8
7
6
5
4
3
2
1
9
8
7
6
5
4
3
2
1
1
2
10
11
12
13
14
15
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
9-pin female
(DCE) direct to
CPU's RS232
I/O
RX2
RX3
RX1
TX2
TX3
TX1
C
JP3 C
V2 V3
1 2
3 4
5 6
COM3-SELECT
PZC03DAAN
HYD_CTRL
CTS_MODEM
RX_MODEM
TX_MODEM
VRU_INT_REM
COMP_EXT_SYNCHRO
B B
V4 V5 V6
GND_MODEM
87831-1620
87831-2220
43650-0416
70543-0002
70543-0003
10
11
12
13
14
15
16
17
18
19
20
21
22
10
11
12
13
14
15
16
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
2
3
4
3
2
1
4
3
2
1
P11 P15 P12 P13 P14
CONTROL LINES RS232_MODEM RS232_I/O TELEMETRY AUDIO

A A
CONTROL LINES TO TRANSMITTER REMOTE BURST TTL INPUT

COMMUNICATION LINES
Title
INTERIOR TO CHASSIS Size
B
Document Number Rev
A
4450BS0012
Date: Thursday, September 08, 2005 Sheet 3 of 3
5 4 3 2 1
5 4 3 2 1
D D
FRONT PANEL LED INDICATOR BOARD

C C
1.) Open holes up for mounting to 6-32 clear.

2.) Diode D27 reversed.
3.) Add wire trace from SPARE_LED_03 of connector to D23.
B B
A A
Title
B
4450BS0017 A

5 4 3 2 1
5 4 3 2 1
P_5V
C1 D1 GRN LED R1 150

100uF50V TRIG_1
+
D2 GRN LED R2 150
TRIG_2
D3 GRN LED R3 150

D D
TRIG_3
D4 GRN LED R4 150

TRIG_4
D5 YEL LED R5 150

FROM PIC EXT_TRIG_1
P1 D6 YEL LED R6 150

EXT_TRIG_2
1 TRIG_1
2 TRIG_2 D7 YEL LED R7 150
3 TRIG_3 EXT_TRIG_3
4 TRIG_4
5 EXT_TRIG_1 D8 YEL LED R8 150
6 EXT_TRIG_2 EXT_TRIG_4
7 EXT_TRIG_3
8 EXT_TRIG_4 D9 RED LED R9 150
9 DETECT_1 DETECT_1
10 DETECT_2
11 DETECT_3 D10 RED LED R10 150
12 DETECT_4 DETECT_2
13 COM1_XMT
14 COM1_RCV D11 RED LED R11 150
C
15 COM2_XMT DETECT_3 C
16 COM2_RCV
17 COM3_XMT D12 RED LED R12 150
18 COM3_RCV DETECT_4
19 GPS_1PPS
20 SPARE_LED01 D13 YEL LED R13 150
21 SPARE_LED02 COM1_XMT
22 SPARE_LED03
23 D14 GRN LED R14 150
24 V1 Spare LED 04 COM1_RCV
25 V2
26 V3 D15 YEL LED R15 150
27 V4 COM2_XMT
28 TP1
29 V5 GND D16 GRN LED R16 150
30 COM2_RCV
31 V6
32 D17 YEL LED R17 150
33 COM3_XMT
P_5V
34
35 D18 GRN LED R18 150
SELF_TEST P_5V COM3_RCV
36
37 P_24V
38 D19 YEL LED R19 150
B P_12V GPS_1PPS B
39 N_12V
40
D20 YEL LED R20 150
SPARE_LED01
87831-4020 D21 YEL LED R21 150

FP LEDS SPARE_LED02
D22 YEL LED R22 150

TP2 TP3 TP4 TP5 SPARE_LED03
-12V +12V +24V +5V
D23 RED LED R23 150
MNT_Hole SELF_TEST
PAD1
R24 200 D24 RED LED
P_5V
MNT_Hole
PAD2 R25 1.5K D25 YEL LED
P_24V
MNT_Hole R26 680 D26 RED LED

PAD3 P_12V
R27 680 D27 GRN LED

A
MNT_Hole N_12V A
PAD4
MNT_Hole
PAD5 Title
MNT_Hole Size Document Number Rev
PAD6 B
4450BS0017 A

5 4 3 2 1
5 4 3 2 1
D D
TRANSMITTER CARD
C C
Next Rev...
1.) REV-A = Add gnds to input.
B B
PCB: 4450PC0024 - REV A

SCH: 4450BS0024 - REV A
BOM: 4450AL0024-01 - REV A NO TELEMETRY ORE Offshore
4 Little Brook Road
BOM: 4450AL0023-02 - REV A WITH TELEMETRY West Wareham, MA 02576
ASY: 4450BA0023 - REV A PH: 508-291-0960
FAX: 508-291-0975
A A
Title
TRANSMITTER, 24V, P3
COVER PAGE Size
B
Document Number Rev
4450BS0024 A
Date: Tuesday, March 14, 2006 Sheet 1 of 3
5 4 3 2 1
5 4 3 2 1
FOR T1
JUMPER JUMPER FOR EXTERNAL 115VAC TRANSFORMER TO FOOTPRINT...
SUPPLY THE DC FOR THE TRANSMITTER.
J1 REQUIRES 100V CAPS. BIGGER FETS ETC. XT1
1 3 5 6 5 10
2 J2 4 4
7
10,000uF@35V
10,000uF@35V
10,000uF@35V
10,000uF@35V
10,000uF@35V
10,000uF@35V
10,000uF@35V
10,000uF@35V
C1
C2
C3
R2
C4
C5
C6
C7
C8
3
+ + + + + + + +
10K 1W
1
6
D
2 D
D1 R1 2 8 3 1
1 9
S3GB-13 10 25W 10
D2 4 8
BOTTOM VIEW
On extended part of board that gets cut off when assembling 4229 PCB MTG CORE
P1 S3GB-13
COMMON for the V1302 (Telemetry) units. Transformer is used in place of
1
+24VDC 2 the extra caps. P2 provides power for the +12VDC not the U1
regulator.
+24V D3 D4 D5 1N4148
S3GB-13 S3GB-13
Charges in 300msec
D6
S3GB-13 R3 62 1W U1 R4 0
1 4 IN IN OUT OUT
2 J3 5
3 6 COM COM
C9 + C10 +
UA78L12ACPK D7
1000UF 35V 2.2 25V 1N4148
C C
+12V
P2 1 P12V
2
COMMON C11 +
C12
0.1 25V 22uF 25V P3
1
T1 2 HI PWR
5 10 3
Q1 R5
D
D8 1N4148 IRF3415 4700 3W
2
C13 R7 100 SHIELD COM
3 1
A_PHASE G
C14
R6 1000 0.1 50V 0.1 400V
S
R8 4 8 P4
22K D9 1
13V 4430-0021-24 2 LOW PWR
B B
D10 D11 3
S3GB-13 S3GB-13
Q2
D
D12 1N4148 IRF3415
C15 R10 100
G C16 D13
B_PHASE
R9 1000 0.1 50V 0.047 400V 91V 1W
S
SCREW SCREW SCREW R11
XR1-A XQ1-A XQ2-A 22K D14
WASHER WASHER WASHER 13V
XR1-B XQ1-B XQ2-B
SIL_PAD SIL_PAD SIL_PAD

XR1-C XQ1-C XQ2-C
1
D13 ALTERNATE: 2EZ91D5DO41MSCT-ND
HS1
Manufacturer Part Number 2EZ91D5DO41
MNT_Hole MNT_Hole MNT_Hole Description ZENER DIODE 91V 5% 2W DO-41
HeatSink-4450-0038 P5 P6
MH2 MH4 MH8
A A
SCREW SCREW SCREW SCREW
XHS1-A XHS1-B XHS1-C XHS1-D
WASHER WASHER WASHER WASHER

XHS1-A XHS1-B XHS1-C XHS1-D
Title
MNT_Hole MNT_Hole MNT_Hole MNT_Hole
MH1 MH3 MH5 MH7
TRANSMITTER, 24V, TP3
TRANSMITTER OUTPUT STAGE Size
B
Document Number Rev
A
4450BS0024
5 4 3 2 1
5 4 3 2 1
R12 0
1
U2A 3
2 14011
1
U3A 3 A_PHASE
2 14011
P12V 5
D D
R13 0 U2B 4
6 14011
JP1
R14 1 2
4.7K 3 4
P12V
P12V 8
U2C 10
P12V 9 14011
P12V
JUMPERS TO CONFIGURE SIGNAL INPUTS: 5
SINGLE ENDED INPUT = JP1 ALL U3B 4
DIFFERENTIAL INPUT = JP2 ALL B_PHASE
R15 6 14011
OPTIONAL TELEMETRY = JP3 ALL
R16 R17 4.7K
12
100K 100K U2D 11
13 14011
P7 JP2
C
8 C
XMIT DRVR 1 1 2 U3C 10
2 3 4 8 9 14011
3
3 5 6 14077
4 7 8
3 U4 12
1 U5A U3D 11
2 13 14011
JP3 P12V
R18 R19 1 2
1 1 100K 100K 3 4 5
2
5 6 7
7 8 6 R20
2 2 47
TLC372
4 R21 P8
3 3
1
4 4 P12V 10K Q3 2
2N3904 3
DIFFERENTIAL SINGLE ENDED 4
5
4
14077
R22
B B
R24 R23 Q4 CON5
4.7K 4.7K U5B 8.2K 2N3906 5V OUT
INPUT 2-10V P-P
8-35kHz
2.86V
DUTY CYCLE 10% ?? C17
0.1 25V
P9 T2 R25
6
TELEMETRY INPUT 1 1 5 150 +
2 180T
COMMON 3 180T 6 #32 C18
#32 7 2.56V 2.2 25V
180T
4 8 #32 FOR T2
U5C FOOTPRINT...
4450-0036 D15 8 R26 200 4 5
1N4148 10 XT2
9 3 6 1 5
C19
U5D 14077 2 7 6
D16 12 0.01 25V 7
1N4148 11 1 8
13 4 8
D17 R27 D18 R28 14077 BOTTOM VIEW 2616 PCB MTG CORE
A A
MIN 2.86V 1N4148 47K 1N4148 47K D19
1N4148
2.56V 0.65V
D20 Title
0.65V 1N4148
TRANSMITTER, 24V, TP3
NORMAL, TELEMETRY & DIFFERENTIAL INPUTS B
4450BS0024 A
5 4 3 2 1
THIS DRAWING IS LOANED WITHOUT OTHER CONSIDERATION THAN THE AGREEMENT
AND CONDITION THAT IT IS NOT TO BE REPRODUCED, COPIED, OR OTHERWISE
DISPOSED OF, DIRECTLY OR INDIRECTLY, AND IS NOT TO BE USED IN WHOLE OR IN
PART TO ASSIST IN MAKING OR TO FURNISH ANY INFORMATION FOR THE MAKING
OF DRAWINGS, PRINTS, APPARATUS, OR PARTS THEREOF.
ORE / Accusonic Part No: 4110-0002

25 Bernard St. Jean Drive
ORE Offshore Division E. Falmouth, MA 02536
TEL: (508) 495-6600
FAX: (508) 495-6699
MODEL 4110B DECK CABLE
4110CA0002 A4
NOT A CONTROLLED DOCUMENT UNLESS MARKED CONTROLLED

THIS DRAWING IS LOANED WITHOUT OTHER CONSIDERATION THAN THE AGREEMENT
AND CONDITION THAT IT IS NOT TO BE REPRODUCED, COPIED, OR OTHERWISE
DISPOSED OF, DIRECTLY OR INDIRECTLY, AND IS NOT TO BE USED IN WHOLE OR IN
PART TO ASSIST IN MAKING OR TO FURNISH ANY INFORMATION FOR THE MAKING
OF DRAWINGS, PRINTS, APPARATUS, OR PARTS THEREOF.
Email: [email protected]
Phone: 508-495-6600 Fax: 508-495-6699
East Falmouth, MA 02536-4420 USA
Accusonic Technologies Inc.
ORE Offshore Division

ORE Offshore Division E. Falmouth, MA 02536
TEL: (508) 495-6600
FAX: (508) 495-6699
MODEL 4610A & 4610B HYDROPHONE

ASSEMBLY
100437 C2
NOT A CONTROLLED DOCUMENT UNLESS MARKED CONTROLLED

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Extend the life of your critical industrial, Planning to upgrade your current Visit us at artisantg.com for more info
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OPERATION AND MAINTENANCE MANUAL

(Includes Models 4450A, 4451A and 4452B)

(Also, Models 4610B, 4211A & 4740A)

ORE Offshore, 4 Little Brook Road, West Wareham, MA 02576 USA

Phone: 508-291-0960 Fax: 508-291-0975 http://www.ore.com

Copyright ©2001 ORE Offshore

All Rights Reserved

Deck Unit Model: ____________________S/N: ___________________

Filter/Limiter S/N: ________________ (Portable Only)

Hydrophone Model: ____________________S/N: _________________

(Frequency Band: 8-14kHz [____]; 22-30kHz [____]; Other __________)

TABLE OF CONTENTS ...................................................................... i

1.1 LIST OF TYPICAL TRACKPOINT EQUIPMENT .......................................................... 1-2

1.2 SYSTEM SPECIFICATIONS .................................................................................. 1-7

2. INSTALLATION ......................................................................................................... 2-1

2.1 HYDROPHONE INSTALLATION ............................................................................. 2-1

2.1.1 4610B SUGGESTED HYDROPHONE MOUNTING ASSEMBLY ................................... 2-2

2.1.1.1 ATTACHING MOUNTING BRACKET TO PIPE.................................................. 2-4

2.1.1.2 ATTACHING HYDROPHONE TO MOUNTING BRACKET .................................... 2-4

2.1.2 4211A SUGGESTED MOUNTING INSTRUCTIONS................................................. 2-4

2.1.3 4740A VRU/AMPLIFIER SUGGESTED INSTALLATION ........................................... 2-8

2.1.4 CONNECTING DECK CABLE ............................................................................. 2-8

2.2 TRACKPOINT 3 CONSOLE ................................................................................. 2-11

2.2.1 LINE VOLTAGE (IEC CONNECTOR) ................................................................. 2-13

2.2.2 VIDEO........................................................................................................ 2-13

2.2.4 HYDROPHONE CABLE ................................................................................... 2-16

OPTIONAL INTERFACE INTER-CONNECTS…................................................................. 2-16

2.2.5 SIM - COM#2 COMPASS NMEA INPUT............................................................. 2-16

2.2.6 SIM - SYNCHRONIZATION INTERFACE ............................................................ 2-17

2.2.6.1 SIM - REMOTE-IN TRIGGER .................................................................... 2-17

2.2.6.2 SIM - TRIGGER-OUT .............................................................................. 2-18

2.2.7 SIM - HDG/VRU/DEPTH ANALOG INTERFACE ................................................... 2-18

2.2.7.1 DEPTH INPUT ....................................................................................... 2-19

2.2.7.2 ANALOG COMPASS INPUT....................................................................... 2-19

2.2.7.3 GYRO INTERFACE (OPTIONAL) ................................................................ 2-19

2.2.7.4 ATTITUDE SENSOR................................................................................ 2-20

2.3 HYDROPHONE OFFSETS ................................................................................... 2-21

2.3.1 BEARING OFFSET ........................................................................................ 2-21

2.3.2 HYDROPHONE X AND Y OFFSETS AND HYDROPHONE DEPTH.............................. 2-25

2.3.3 HYDROPHONE-VRU OFFSET .......................................................................... 2-28

2.4 SOFTWARE INSTALLATION ............................................................................... 2-30

2.4.1 INSTALLATION FROM CD .............................................................................. 2-30

3. OPERATION ............................................................................................................. 3-1

3.1 “TRACKMAN” SOFTWARE PHILOSOPHY................................................................. 3-4

3.2 “TRACKMAN” MAIN WINDOW .............................................................................. 3-9

3.3 “TRACKMAN” MAIN & SUB-MENUS ..................................................................... 3-13

3.3.1 FILE MENU.................................................................................................. 3-13

3.3.2 VIEW MENU ................................................................................................ 3-16

3.3.3 SETUP MENU............................................................................................... 3-18

3.3.4 USBL MENU ................................................................................................ 3-45

3.3.5 WINDOW MENU........................................................................................... 3-52

3.3.6 HELP MENU................................................................................................. 3-53

3.4 TRACKING TRANSPONDERS, RESPONDERS AND PINGERS .................................... 3-54

3.4.1 TRANSPONDER MODE .................................................................................. 3-55

Deck Unit Model: __S/N: _

Hydrophone Model: ____S/N: _

(Frequency Band: 8-14kHz []; 22-30kHz []; Other ______)

*********** WARNING * *********