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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: [phone] Fax: [phone] 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: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________
Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________

TABLE OF CONTENTS
i
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

TABLE OF CONTENTS
ii
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

TABLE OF CONTENTS
iii
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

TABLE OF CONTENTS
iv
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

GLOSSARY OF TERMS
v
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 Tracking of more than one target by alternating (cycling through) the inter- rogation signals between all of the targets.
Depression An-
gle The downward angle measured from the plane of the hydrophone receive 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
Range The distance from the hydrophone or offset point to the target on the X, Y 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-
face A standard interface for serial communications.
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
Tracking Ability to track more than one target at the same time, either by triggering 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-

GLOSSARY OF TERMS
vi
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
Time A preset time delay, built into a transponder or responder, between when a
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.

PRECAUTIONS
vii
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.
C A U T I O N
A "WARNING" is used where an injurious or life threatening condition to an operator, installer or
troubleshooter could occur.
* * * * * * * * * * * * * W A R N I N G * * * * * * * * * * * *
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: [phone] Fax: [phone] http://www.ore.com
Copyright ©2001 ORE Offshore

PRECAUTIONS
viii

SECTION ONE
GENERAL INFORMATION

TRACKPOINT 3 GENERAL INFORMATION
1-1
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.

TRACKPOINT 3 GENERAL INFORMATION
1-2
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-
FACE MODULE 1
(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-
FACE MODULE 1
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

TRACKPOINT 3 GENERAL INFORMATION
1-3
TRACKPOINT 3 CONSOLE - FRONT VIEW
FIGURE 1-1

TRACKPOINT 3 GENERAL INFORMATION
1-4
TRACKPOINT 3 CONSOLE, VIEW WHEN IN OPERATION
FIGURE 1-2
0
Status
LED’s PWR
ON
Keyboard / Monitor
Trackpoint Interface Module
Trackpoint Processor
Keyboard can be
stored (slid inside rack
so as not to protrude)
once system is set up.
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.
3.4 inches
19 inches
10.5 inches

TRACKPOINT 3 GENERAL INFORMATION
1-5
TRACKPOINT 3 SYSTEM COMPONENTS
FIGURE 1-3