0010162 RV D 19 OCT 2012 OPERATION AND MAINTENANCE MANUAL FOR THE EDGETECH USBL BROADBAND ACOUSTIC TRACKING SYSTEM (BATS) (Includes Desktop Models 4460C, 4213C-B and 4113C-DT And Portable Models 4461C, 4213C-B and 4113C) EdgeTech, 4 Little Brook Road, West Wareham, MA 02576 USA Phone: 508-291-0057 Fax: 508-291-2491 http://www.edgetech.
Record BATS Configuration Data BATS Transceiver Model: _______________S/N: _____________ Hydrophone Model: ______________S/N: ___________ (Frequency Band: 8-16kHz [_______]; 17-30kHz [_______]; Other __________) Deck Cable Model: ____________________ Length: __________________ Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________ or Xmt Code: ___________ Beacon Model: _____________ S/N: _____________ Rcv Freq: ________ Xmt Freq: ________ or Xmt Code: ___________ Beacon Model:
TABLE OF CONTENTS TABLE OF CONTENTS ...................................................................... i GLOSSARY OF TERMS ....................................................................iv PRECAUTIONS ............................................................................... vi SECTION 1. PAGE GENERAL INFORMATION .......................................................................... 1-1 1.1 LIST OF TYPICAL BATS EQUIPMENT .................................................................
TABLE OF CONTENTS 2.3 PORTABLE BATS TRANSCEIVER ........................................................................... 2-32 2.3.1 PORTABLE BATS LINE VOLTAGE ...................................................................... 2-32 2.3.2 PORTABLE BATS - ETHERNET CABLE WIRING .................................................... 2-35 2.3.3 PORTABLE BATS - HYDROPHONE CABLE ........................................................... 2-35 2.3.4 PORTABLE BATS – COM#1 CABLE WIRING (GPS TIME) .......
TABLE OF CONTENTS 3.3.6 3.4 HELP MENU ................................................................................................... 3-59 TRACKING TRANSPONDERS, RESPONDERS AND PINGERS ...................................... 3-60 3.4.1 TRANSPONDER MODE .................................................................................... 3-61 3.4.2 RESPONDER MODE ........................................................................................ 3-63 3.4.3 FIXED (ARTIFICIAL) TARGET ............
TABLE OF CONTENTS 5.1 CALIBRATION FILES ............................................................................................5-1 5.2 FUSE REPLACEMENT (RACKMOUNT) ......................................................................5-2 5.2.1 PRINTED CIRCUIT BOARD (PCB) REMOVAL/REPLACEMENT ...................................5-2 5.2.2 PCB HANDLING ...............................................................................................5-2 5.3 PROCESSOR MODULE (PC) .......................
GLOSSARY OF TERMS NAME Azimuth DESCRIPTION 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.) BATS Stand for Broadband Acoustic Tracking System. EdgeTech’s Model 4460C or 4461C USBL Tracking System. A Spread Spectrum, high accuracy, USBL Tracking System. For survey quality underwater navigation. Beacon Any underwater sound source. Sometimes abbreviated as "BCN".
GLOSSARY OF TERMS 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- Beacon sponse to an interrogation. The first reply is the navigation pulse for the BATS and the second reply is the telemetry pulse.
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.
PRECAUTIONS viii
SECTION ONE GENERAL INFORMATION
BATS GENERAL INFORMATION The Model 4460C has the same features and functions as the 4460B but internally has a new CPU and IDE interface. These new components allow for faster data processing with reduced stress on the internal CPU. 1. GENERAL INFORMATION The EdgeTech Broadband Acoustic Tracking System (BATS) is an Ultra Short BaseLine (USBL) underwater tracking/navigation system.
BATS GENERAL INFORMATION 16kHz frequency band for the receiver and tuned to 12 to 17kHz for the transmitter. For the 4213C-B-V1634, which is larger (4.5 inches diameter X 17.5” Long) and has a lower frequency interrogation element , the transmission is tuned in the 10-14kHz band. Keyboard/Mouse and Display The Keyboard & LCD Monitor (Model 4452A) are an integrated unit packaged in a 2U (3.5 inch height) rack mount chassis. The LCD monitor and Keyboard are on rack slides which lock in the out position.
BATS GENERAL INFORMATION Hydrophone Model 4610B – Not Compatible.
BATS GENERAL INFORMATION Beacons The Model 4370A series of beacons are compatible with the BATS. They can be configured for Transponder or Responder operation. They typically output a 10ms discrete chirp signal. This means that the composite signal is made up of a series of discrete frequencies. External Sensors The EdgeTech MRU (Motion Reference Unit) Model 4760B provides dynamic pitch and roll compensation for the BATS. 1.
BATS GENERAL INFORMATION or… Portable System with customer furnished Laptop or PC. See Figure 1-5. ITEM PART NUMBER DESCRIPTION QTY Shipboard: 1. 0003223 (1) MODEL 4461A PORTABLE BATS TRANSCEIVER 1 2. 0007978 MODULE MODEL 4213C-B HYDROPHONE (17-30 kHz) 1 3. 0002935 MODEL 4113C DECK CABLE 1 4. 0009638 MOTION REFERENCE UNIT 1 5. 0009612 MODEL 4370A MULTIBEACON 1 6.
BATS GENERAL INFORMATION BATS CONSOLE - FRONT VIEW FIGURE 1-1 1-7
BATS GENERAL INFORMATION BATS CONSOLE, VIEW WHEN IN OPERATION FIGURE 1-2 1-8
BATS GENERAL INFORMATION BATS COMPONENTS FIGURE 1-3 1-9
BATS GENERAL INFORMATION BATS DESKTOP CONFIGURATION: FRONT & REAR VIEW FIGURE 1-4 1-10
BATS GENERAL INFORMATION PORTABLE BATS TRANSCEIVER FIGURE 1-5 1-11
BATS GENERAL INFORMATION PORTABLE BATS TRANSCEIVER SIDE PANEL FIGURE 1-6 1-12
BATS 1.2 GENERAL INFORMATION DESK TOP SYSTEM SPECIFICATIONS BATS DESK TOP OR RACK MOUNT SPECIFICATIONS SYSTEM ACCURACY Transponder/Responder - Absolute Accuracy in SPECIFICATION 0.5% RMS of Slant Range (Does not include motion.) Horizontal Position (over entire hemisphere) Repeatability Accuracy Angular Resolution 0.25% RMS of Slant Range 0.08° Slant Range Accuracy 0.3 meter RMS (assuming correct speed of sound) Slant Range Resolution 0.
BATS GENERAL INFORMATION 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 50C) 0.
BATS GENERAL INFORMATION Temperature Rating Operating: -4° to 40° C Frequency MF: 17-30kHz DECK CABLE Storage: -40° to 70° C or LF: 8-16kHz MODEL 4113C-DT Length 50ft (15m) or 100ft (30m) Diameter Dry End: 2.35 in (6cm) Wet End: 1.38 in (3.5cm) Weight 50ft - 7 lbs (3.2kg) or 100ft - 14 lbs (6.4kg) RACK MOUNT SYSTEM OPTIONAL COMPONENTS KEYBOARD/MOUSE/LCD MODULE MODEL 4452B Interfaces with PC for Communication and Display. (Runs EdgeTech’s Trackman Software which interfaces with the BATS.
BATS Power supply: GENERAL INFORMATION 110V 220V AC Input, 12V 5A Output (75W) PC MODEL 4451A Power Supply 300 Watt ATX Power Supply Processor Minimum: Intel P4- 1GHz Socket 370 Single Board Computer Socket 370 Single Board Computer, P4, 100MHz FSB, w/ AGP Video, Ethernet, 2-RS232 ports, 1-Parallel port, PS2Key\Mouse Memory Minimum: 1GB Hard Drive Minimum: 80 GB IDE Hard Drive, 7200 RPM Floppy Drive 1.
BATS GENERAL INFORMATION MISCELLANEOUS XCEIVER, PC, KEYBD DISPLAY 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) Weight with 6U Rack Enclosure 107 lbs (48.
BATS GENERAL INFORMATION TRANSCEIVER MODULE Processor(s) MODEL 4461C (Portable) mPGA 478 Socket, Intel Celeron M/Pentium M processor w/ FSB400MHz RS232 Ports 3 - COM1: GPS Time, COM 2 & 3: P/R & Compass Enclosure Watertight Material: HPX® High Performance Resin Color: Yellow Dimensions W 19.2” (48.8 cm) x H 7.3” (18.5 cm) x D 15.2” (38.6 cm) Weight 23.5 lbs (10.
BATS GENERAL INFORMATION 1-PPS INPUT Via rear panel BNC Accepts a 1-PPS trigger from GPS; Opto-coupler input. Requires ZDA and GGA input also. ETHERNET Via Side Panel Connector Provides communications with PC (Data & Commands) TRANSMITTER SPECS Frequency MF: 15-23kHz, LF: 13-17kHz Pulse Width 1-15ms in 0.1 ms increments Repetition Rate 0.
BATS GENERAL INFORMATION calculated position is typically sent to a Navigation software package / processor for positioning of targets in latitude /longitude coordinates. OPTIONAL: MRU MODEL 4760B Material Aluminum Silicon Bronze Connector Subconn MCBH6M Temperature -4° to 40°C Pressure Depth 2000 meters Input Voltage 8 to 30 VDC Input Power 0.75 Watts Communications RS232 Baud Rate 38.4 or 115.
SECTION TWO INSTALLATION
BATS AND PORTABLE BATS 2. INSTALLATION INSTALLATION This section includes instructions for implementing a 4213C Hydrophone mounting assembly, making proper attachment of the 4113C Deck Cable and also the Transceiver side panel interface connections. 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.
BATS AND PORTABLE BATS 2.1.1 INSTALLATION 4213C SUGGESTED HYDROPHONE MOUNTING ASSEMBLY The main function of the mounting assembly is to support the hydrophone vertically in the water and orient it with respect to the bow of the vessel. See Figure 2-1 for Hydrophone dimensions. Mount it at reasonable distance from the vessel's hull and below the level of the keel. The mounting should be rugged enough to withstand the expected forces during the planned operation, and easy to raise and lower.
BATS AND PORTABLE BATS 2.1.2 INSTALLATION ATTACHING HYDROPHONE TO ANGLE MOUNT The hydrophone centerline, or zero bearing, is indicated by the index mark (mark is just above the potted section of the hydrophone which is aligned with the slot in the pressure case as opposed to the pin which faces aft or 180 from bow reference) and is generally aligned so that it corresponds to the vessel heading.
BATS AND PORTABLE BATS INSTALLATION CAUTION * When mating connectors DO NOT allow any silicone spray (or grease) to contact the black potting of the hydrophone. Should silicone come in contact with the hydrophone potting, proper sound transfer from water to hydrophone will be prevented. Attempting to remove silicone from the hydrophone can damage the potting material.
BATS AND PORTABLE BATS INSTALLATION 4213BE0055 – Hydrophone Outline Drawing FIGURE 2-1 2-5
BATS AND PORTABLE BATS INSTALLATION 4213BE0055–V1634 Hydrophone Outline Drawing FIGURE 2-1A 2-6
BATS AND PORTABLE BATS INSTALLATION 4213BE0010 – Pg 1 - HYDROPHONE MTG ARRANGEMENT FIGURE 2-2 2-7
BATS AND PORTABLE BATS INSTALLATION 4213BE0010 - Page 2 Pipe & Angle Bracket arrangement FIGURE 2-3 2-8
BATS AND PORTABLE BATS INSTALLATION 4213BM0010 - Angle Bracket Drawing FIGURE 2-4 2-9
BATS AND PORTABLE BATS INSTALLATION Deck Cable for Desktop, 4113BA0010 FIGURE 2-5 2-10
BATS AND PORTABLE BATS INSTALLATION Deck Cable for Portable, 4113BA0009 FIGURE 2-6 2-11
BATS AND PORTABLE BATS 2.1.3 INSTALLATION 4213C-B SUGGESTED MTG FOR SEALED SHAFT INSTALLATION The Model 4213C Hydrophone can also be installed 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. Figure 2-7 (4213CM0053) shows the suggested machining dimensions necessary for mounting the hydrophone to an extension shaft (Flanged).
BATS AND PORTABLE BATS INSTALLATION Elastomers can be seriously degraded if exposed to direct sunlight or high ozone levels for extended periods of time. CAUTION * When mating connectors DO NOT allow any silicone spray (or grease) to contact the black potting of the hydrophone. Should silicone come in contact with the hydrophone potting, proper sound transfer from water to hydrophone will be prevented. Attempting to remove silicone from the hydrophone can damage the potting material.
BATS AND PORTABLE BATS INSTALLATION 4213CM0053 - Suggested Mounting Arrangement in Machined Shaft – Flange OTS FIGURE 2-7 2-14
BATS AND PORTABLE BATS INSTALLATION 4450CM0154 - Suggested Hydrophone Shaft Machining – Through Hull FIGURE 2-8 2-15
BATS AND PORTABLE BATS INSTALLATION FIGURE 2-9 2-16
BATS AND PORTABLE BATS 2.2 INSTALLATION BATS DESK TOP CONSOLE (TRANSCEIVER) The convenience and comfort of the operator are the primary considerations for installing the Desk Top console & PC. The BATS consists of a single 2U enclosure (3.5 inches high each), configurable for either Rack mount or Desktop operation, and couples to a Customer Furnish PC or laptop. Place the unit where it is most conveniently operated (LED’s visible) and protected from foul weather and sea spray. E.g.
BATS AND PORTABLE BATS 2.2.2 INSTALLATION BATS - ETHERNET CABLE WIRING (BETWEEN BATS & PC) Connect the Ethernet cable (provided) between the BATS console (rear panel) and the PC. The Ethernet cable is 10-base-T and runs at 100MHz. A straight through cable is required (cross-over is performed inside the BATS console). 2.2.3 BATS - HYDROPHONE CABLE Connect the Hydrophone/Interrogator Deck Cable Model 4113C-DT (Figure 2-8) from the Hydrophone to the Transceiver Model 4460C.
BATS AND PORTABLE BATS INSTALLATION VIDEO KEYBOARD/MOUSE CONNECTIONS FIGURE 2-10 2-19
BATS AND PORTABLE BATS INSTALLATION RACKMOUNT PC REAR PANEL CONNECTIONS FIGURE 2-11 2-20
BATS AND PORTABLE BATS INSTALLATION BATS SIGNAL INTERFACE MODULE REAR PANEL CONNECTIONS FIGURE 2-12 2-21
BATS AND PORTABLE BATS 2.2.6 INSTALLATION BATS - COM#2 COMPASS NMEA INPUT (Cable Wiring; 9-PIN MALE `D' CONNECTOR) The Transceiver (Model 4460C) 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 below for wiring. See section 3 for NMEA formats accepted. May require a Null Modem depending on the Compass wiring.
BATS AND PORTABLE BATS 2.2.7 INSTALLATION BATS - COM#3 PITCH/ROLL NMEA INPUT (Cable Wiring; 9-PIN `D' CONNECTOR) The Transceiver (Model 4460C) COM #3 I/O port is wired the same as a PC ("DTE", Data Terminal Equipment). It is used for the input of NMEA Pitch and Roll sensors. See Figure below for wiring. If an EdgeTech MRU is interfaced to COM#3 the wiring has been crossed-over in the MRU so that a null modem is not required.
BATS AND PORTABLE BATS 2.2.8 INSTALLATION BATS - SYNCHRONIZATION INTERFACE The SYNC connector on the BATS Transceiver allows input of an external trigger source and also outputs a Sync pulse on each interrogation. For example, a tow fish responder that triggers the beacon can also trigger the Transceiver to Sync the two units together. Also, a responder on an ROV can be triggered via the differential signal at the SYNC connector.
BATS AND PORTABLE BATS 2.2.8.2 INSTALLATION TRIGGER OUT A synchronization cable is provided (4450BA0079) for Trigger In, Trigger_Out1 and /Trigger_Out1. See Figure 2-10. The TRIGGER out consists of a positive going TTL pulse on one BNC and a negative going TTL pulse on another. By using both positive and negative signals, a differential TTLcompatible pulse, occurring at the time of interrogation for a transponder or a responder, is available.
BATS AND PORTABLE BATS INSTALLATION SYNC INTERFACE CONNECTOR ON DESK TOP UNIT FIGURE 2-13 2-26
BATS AND PORTABLE BATS INSTALLATION SYNC INTERFACE CONNECTOR (DESK TOP CONSOLE) FIGURE 2-14 2-27
BATS AND PORTABLE BATS INSTALLATION ANALOG INTERFACE CONNECTOR (DESK TOP CONSOLE) FIGURE 2-15 2-28
BATS AND PORTABLE BATS INSTALLATION ANALOG INTERFACE CONNECTOR (DESK TOP CONSOLE) FIGURE 2-16 2-29
BATS AND PORTABLE BATS 2.2.9.1 INSTALLATION DEPTH INPUTS The analog output voltage from a depth sensor (typically located on a vehicle being tracked) connects to the ANALOG input connector located on the rear panel of the Transceiver. See Figure 1-4. The BATS converts this analog voltage (0 - 6 VDC maximum) to a target depth. 2.2.9.2 ANALOG COMPASS INPUT The analog output voltage from a compass (0 - 6 VDC maximum) connects to the COMPASS input of the ANALOG connector. See Figure 2-15.
BATS AND PORTABLE BATS INSTALLATION Also see the newer EdgeTech MODEL 4760B MRU. It uses MEMS technology to provide very accurate pitch and roll data. It connects to the Analog Connector for its power and to COM#3 for its data.
BATS AND PORTABLE BATS 2.3 INSTALLATION PORTABLE BATS TRANSCEIVER The Portable BATS Transceiver (Model 4461A) is splash proof when the case cover is closed and interface cables are mated properly. A laptop or PC is required to interface to the unit via Ethernet port. The Ethernet cable (4450BA0133) provided is 16 feet (5m) long (Figure 2-13). Make sure the laptop or PC is well protected unless it is also splashproof.
BATS AND PORTABLE BATS INSTALLATION TP3 PORTABLE - COMMS CONNECTOR; 4450BA0044 FIGURE 2-17 2-33
BATS AND PORTABLE BATS INSTALLATION ORE Offshore BATS PORTABLE AC CORD; B958608 FIGURE 2-19 2-34
BATS AND PORTABLE BATS 2.3.2 INSTALLATION PORTABLE BATS - ETHERNET CABLE WIRING Connect the Ethernet Cable (4450BA0133) to the Transceiver’s “ETHERNET & 1PPS” underwater connector. See Figure 2-17. At the other end connect the “BATS LINK” cable (RJ45 Jack) to the PC. This TCP/IP communication link configures the Transceiver (target & system parameters) using the BATS Windows® Configuration management software, “Trackman”.
BATS AND PORTABLE BATS INSTALLATION OPTIONAL INTERFACE INTER-CONNECTS 2.3.4 PORTABLE BATS – COM#1 CABLE WIRING (GPS TIME) The COM#1 input port is only used for inputting the GPS sentences into the BATS to synchronize the GPS time to the BATS time. An Interface Cable is provided, 4450CA0044, to allow connection to the systems three comports. Install a 9-pin (F) cable from the COM1 port of the 4450CA0044 COMS Cable and the GPS RS232 output.
BATS AND PORTABLE BATS INSTALLATION BATS-PORTABLE COMMS CABLE FIGURE 2-20 2-37
BATS AND PORTABLE BATS 2.3.6 INSTALLATION PORTABLE BATS - COM#3 PITCH/ROLL NMEA INPUT (Cable Wiring; 9-PIN `D' CONNECTOR, Figure 2-20, 4450CA0044) The Transceiver (Model 4461A) COM #3 I/O port is wired the same as a PC ("DTE", Data Terminal Equipment). It is used for the input of NMEA Pitch and Roll sensors. See Figures below for wiring. If an EdgeTech MRU is interfaced to COM#3 the wiring has been crossed-over in the MRU so that a null modem is not required.
BATS AND PORTABLE BATS 2.3.7 INSTALLATION PORTABLE BATS - SYNCHRONIZATION INTERFACE The SYNC connector on the BATS Transceiver allows input of an external trigger source and also outputs a Sync pulse on each interrogation. For example, a tow fish responder that triggers the beacon can also trigger the Transceiver to Sync the two units together. Also, a responder on an ROV can be triggered via the differential signal at the SYNC connector.
BATS AND PORTABLE BATS INSTALLATION BATS-PORTABLE SYNC CONNECTOR FIGURE 2-21 2-40
BATS AND PORTABLE BATS INSTALLATION BATS-PORTABLE SYNC CABLE; 4450CA0165 FIGURE 2-22 2-41
BATS AND PORTABLE BATS 2.3.7.1 INSTALLATION INPUT TRIGGER The Transceiver can be externally triggered via the “SYNC” connector located on the side panel of the Portable unit. A synchronization cable is provided (4450BA0165) for Trigger In and /Trigger_Out1. See Figure 2-22. This can be connected between an external key source (trigger source can range from TTL to +15V) and the BATS Transceiver. Connect the external trigger between the TRIG-IN1-LO and the TRIG-IN1-HI3.
BATS AND PORTABLE BATS INSTALLATION BATS-PORTABLE ANALOG CONNECTOR FIGURE 2-23 2-43
BATS AND PORTABLE BATS INSTALLATION BATS-PORTABLE ANALOG CONNECTOR FIGURE 2-24 2-44
BATS AND PORTABLE BATS 2.3.8.3 INSTALLATION VRU INTERFACE (MODEL 4414B) The VRU input of the ANALOG connector accepts PITCH and ROLL analog signals from an external dynamic motion sensing system, such as the EdgeTech Model 4414B. (See Figure 2-24.) The pitch and roll signals compensate target position for vessel motion. The analog inputs can accept voltages up to +/-10 VDC.
BATS AND PORTABLE BATS 2.4 INSTALLATION HYDROPHONE OFFSETS The BATS computes range and bearing relative to the hydrophone, unless the system is instructed to add or subtract corrections (offsets) which relate range and bearing to some other reference point on the vessel. The hydrophone centerline, or zero bearing, is indicated by the index mark (see Figure 2-1, 2-2 & 2-3), and is generally aligned so that it corresponds to the vessel heading.
BATS AND PORTABLE BATS INSTALLATION The bearing value is the number of degrees that you need to add or subtract to the displayed 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 2-26. 6.
BATS AND PORTABLE BATS INSTALLATION FIGURE 2-25 2-48
BATS AND PORTABLE BATS INSTALLATION HYDROPHO NE BOW ALIGNM ENT HYD 0 deg ref BEACON LOCATION #1 d1 5.0° Hydrophone is mounted with a 5 degrees positive bearing offset. Target (beacon) bearing on Trackpoint reads 355 degrees at location #1 and 175 degrees at location #2. To correct for this enter a positive 5 degrees Bearing Offset under the USBL Hydrophone Parameters menu in the Trackman Software.
BATS AND PORTABLE BATS INSTALLATION 2.4.2 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.
BATS AND PORTABLE BATS INSTALLATION 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.
BATS AND PORTABLE BATS INSTALLATION FIG- URE 227 2-52
BATS AND PORTABLE BATS INSTALLATION 2.4.3 HYDROPHONE-VRU OFFSET The VRU offset is the difference in angle between the installed hydrophone and vertical (static offset). (It can also represent the offset between the Remote Dynamic Motion Sensor and the Hydrophone.) Offsets can occur either due to a mis-aligned hydrophone or from changes in trim to the vessel.
BATS AND PORTABLE BATS INSTALLATION ENTERING X AND Y OFFSETS TRACKING WINDOW GRID SPACING 25yd Y X X OFFSET = 0yd Y OFFSET = 0yd X X OFFSET = 7yd Y OFFSET = 0yd X X OFFSET = 7yd Y OFFSET = -10yd STD.
BATS AND PORTABLE BATS 2.5 INSTALLATION SOFTWARE INSTALLATION The BATS control and display software, “Trackman”, is provided on a cd. The minimum hardware requirements are… Operating System Win-2000 or XP (XP recommended) Hardware Platform A PC with Pentium-3 or better processor, SVGA graphics (the software will run on 640 x 480 VGA, but this is not recommended) and at least 512 Megabytes of RAM is required as a minimum or 1GByte recommended for optimal performance of the TRACKMAN software.
BATS AND PORTABLE BATS 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 “autorun.inf” file the installation program begins 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.
BATS AND PORTABLE BATS INSTALLATION Readme information on the Packer used to compress 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 different 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.
BATS AND PORTABLE BATS INSTALLATION The installation program displays the Target Folder path that it will create and install 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 finishing. Click the Cancel button to stop the install. 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.
SECTION THREE OPERATION
BATS AND PORTABLE BATS 3. OPERATION OPERATION Once Trackman software is installed (if PC not supplied) and all cables are connected as per section 2; Open up display panel and keyboard. Turn on Display/Keyboard from rear of unit. Turn on Transceiver from front of unit. Turn on Processor from rear of unit and then open up front panel access with key. Press momentary switch at left. See Figure 3-1.
BATS AND PORTABLE BATS OPERATION NOTE: The Hydrophone calibration data is used by the Trackman software. A set of calibration files (included with every Hydrophone) is copied into its directory. Changing of the Hydrophone requires that the two files that comprise the calibration factors be installed into the Trackman PC’s folder; C:\Program Files\ORE Offshore\Trackpoint MMI\CalFiles\InUseCAL\. The BATS Transceiver, Model 4460C, front panel is shown in Figure 3-2.
BATS AND PORTABLE BATS OPERATION DSP RX1 When illuminated (green), indicates that the internal data acquisition DSP card is receiving data from the internal SBC (Single Board Computer) . It illuminates when the Trackman software sends a system parameter to the Transceiver. TX1 When illuminated (yellow), indicates that the internal data acquisition DSP card is transmitting data to its internal SBC. It illuminates when the the DSP is sending data to the SBC.
BATS AND PORTABLE BATS OPERATION MODEL 4460B FRONT PANEL FIGURE 3-2 3-4
BATS AND PORTABLE BATS 3.1 OPERATION “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 developed this way.
BATS AND PORTABLE BATS OPERATION Menu Structure: File Menu Create New Job Open Existing Job Disk Services Printer Services Exit Creates a new job configuration Opens an existing job configuration Open Disk Services dialog Open Printer Services dialog Exits the application View Menu Display Options Project Clear Grid Clear Status Bar Open Display Options dialog Brings the Project Tree into view when not docked Clear the Plotting Grid Clear all Status Bar messages Setup Menu Beacon Wizard Beacon List De
BATS AND PORTABLE BATS OPERATION 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 move or be 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.
BATS AND PORTABLE BATS The communication function OPERATION 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 Sockets. Each "device" (BATS, depth sensor, compass, gyro, GPS, etc.) that Trackman connects to creates a 'copy' of TrakComX for that "device". (See Technical Note below.
BATS AND PORTABLE BATS OPERATION 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 new copy using the same Serial Port will fail.
BATS AND PORTABLE BATS 3.2 OPERATION “TRACKMAN” MAIN WINDOW Application Overview The TrackMan Windows application provides a user-friendly interface for managing the EdgeTech BATS or BATS Portable USBL (Ultra Short Base Line) underwater navigation systems. The interface to the BATS is via the Ethernet port. Other peripherals (Compass, Motion, or Depth Sensors) may connect via a COM (serial) port connection or a TCP/IP socket. This interface is handled by the TrakComX ActiveX control internal to Trackman.
BATS AND PORTABLE BATS OPERATION 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 beacons whose names show as sub-nodes to the Beacon Node.
BATS AND PORTABLE BATS OPERATION Project Tree: Press and Hold right mouse button. Drag Project Block off to the side. The Block can then be closed or hidden by changing the Trackfull . It can be viewed again by se- out by clicking on the man main screen to lecting View from main menu and then “Project”. Dragging Project Block back over grid area using right mouse button and releasing causes block to re-position itself next to the grid.
BATS AND PORTABLE BATS OPERATION Plot Screen Options: Right click on Plotting Window to bring up the Grid Customization 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. Target Status: This block shows the processed USBL data for each target.
BATS AND PORTABLE BATS 3.3 OPERATION “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.
BATS AND PORTABLE BATS OPERATION 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 parameter files saved in a separate subfolder. Select a job from the ‘Job Name’ pull down menu. The ‘Job Description’ is then displayed for that job. Select OK to set the system up using those previously set parameters.
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION 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 adjust to changes in the Full Scale Spacing. The scale is dependent on the Horizontal Distance to the farthest target.
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION 3.3.3 SETUP MENU Setup Beacon List The Beacon List window displays all beacons at once, in a table 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.
BATS AND PORTABLE BATS OPERATION 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 Number of the beacon as a record of use. Symbol: Scroll bar allows selection of a symbol to represent the beacon in use. Beacon Status: Selects either Active, Disabled or Fixed Target.
BATS AND PORTABLE BATS OPERATION Acoustic Parameters Tab Type: Selects target type, either Transponder Transponder (acoustic), (Hardwired), Re- sponder or Pinger. If the Transponder or Responder has TimeDecode 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 designated as a Pinger it is the only target that can be enabled at one time. Disable any other targets.
BATS AND PORTABLE BATS OPERATION Reply Frequency Setup Parameters: This is the Reply Frequency of the beacon. Select the Reply Type; CW (continuous wave/tone), Shift (linear frequency shifted, also known as chirp or FM), Coded (special such as Remus codes), M-FSK (multiple- frequency shift keyed; typical for Model 4370A beacons) and PRN (pseudo random number generated codes). CW (tone) The CW waveforms are typical of the ORE legacy beacons, Model 4320 or 4330 series (see note below).
BATS AND PORTABLE BATS OPERATION PRN Pseudo Random Number codes. These consist of a single frequency but with 180° phase shifts at various bits within the sequence. Enter the frequency in kHz (in 1 Hz increments), the PRN code in octal and chip length in micro-seconds increments (minimum chip length is 100.000 microseconds). The PRN code describes the phase shifting pattern. The chip length is the waveform period times the number of cycles.
BATS AND PORTABLE BATS OPERATION Depth Tab The Depth Tab configures the target depth function. Select the Mode in which the depth is input from; Telemetry, Analog, Serial Port (PC), Manual. If the Beacon is a (time-proportional) Depth Telemetry version then select “Telemetry“ and then under “Depth Mode Setup” configure the Beacon’s Telemetry parameters. If depth is via an analog sensor, e.g.
BATS AND PORTABLE BATS OPERATION reply frequency, and also to change the zero delay, full-scale delay 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 calculated 12 depth then a `C' appears next to the depth value. If the depth telemetry replies are not received, the last valid telemetry reply is used for the depth.
BATS AND PORTABLE BATS OPERATION PEIV1 - Depth of Target (EIVA Navipak) 1 | 2 | 3 | $PEIV1,x.x,yy*hh 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.
BATS AND PORTABLE BATS OPERATION FILTERING provides operator a choice of various combinations of averaging, filtering, threshold settings and also limits on certain parameters. Filtering includes averaging, target velocity checking, range gating, signal threshold, minimum xponder range, maximum xponder range and signal rejection via signal quality checking. The filtering parameters are individual per target. Filter Level: The Filter Level setting is variable from 1 to 10.
BATS AND PORTABLE BATS OPERATION -25 meters x # Active targets 4 -20 meters x # Active targets 4 8 -15 meters x # Active targets 4 9 -10 meters x # Active targets 4 10 -5 meters (-3.3 ms) x # Active targets 6 7 NOTE 1: 4 4.5 m/s + X % SR 2 2.1:1 2.3 m/s + X % SR 2 2.0:1 2.3 m/s + X % SR 2 1.9:1 2.3 m/s + X % SR 2 1.8:1 2.3 m/s + X % SR 2 1.8:1 For Range Gate description see Transponders and Responder below. Pingers utilize a Time Gating system, see Pingers below.
BATS AND PORTABLE BATS OPERATION 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 expected 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.
BATS AND PORTABLE BATS OPERATION aging 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 position and slant range.
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION Acoustic Release Tab The “Acoustic Release Tab” allows Commandable Beacons / Releases to be commanded directly from within the BATS unit using the interrogation element within the Hydrophone to send the BACS commands and the “A” channel receive element to provide the feed-back from the Commandable Beacon. 1.) Activate the Target. Navigate to the Acoustic release tab within the Beacon setup dialog. 2.
BATS AND PORTABLE BATS OPERATION For the EdgeTech PORT Acoustic Release, the acknowledgment pings for the Acoustic Commands received are shown in table below; Command Frequency Time between Number of Pings when Number of Pings when Pings (sec) release is Vertical release is tilted >45 ENABLE NOTE 1 2 6 3 DISABLE NOTE 1 2 NOTE 2 NOTE 2 RELEASE NOTE 1 2 6 3 NOTE 1: Tone is a CW burst whose frequency is noted on the supplied Configuration Sheet.
BATS AND PORTABLE BATS OPERATION Code (Octal) Frequency Number Desired Frequency 100 000 F1 17483 177 777 F2 17986 600 000 F3 18519 677 777 F4 19084 Not currently used F5 19685 3-34
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION The setup parameters for the TrackPoint BATS Device are… Connection Type IP Network Settings IP Address Port Number Sentence Input to Trackman Use Checksum Sentence Output from Trackman IP (net) TCP 192.168.3.X (X usually = 9 but check on top cover of the BATS Transceiver for IP address.
BATS AND PORTABLE BATS OPERATION Remote Interface Dialog Box 3-37
BATS AND PORTABLE BATS OPERATION 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 input). There is no Sentence Input to Trackman as in the Remote Interface Setup. Setup the Data Output dialog to output the format that is compatible with the navigation software. The Connection Type can be either “COM Port” or “IP (net)”.
BATS AND PORTABLE BATS OPERATION need to make a point-to-point connection so there's no connection to break when a listener stops listening. Normally, the Trackman is the “CLIENT” while the software you are connecting to is a “SERVER”. If the interface software13 requires that Trackman be a SERVER then click on the check box below the IP Address. The Sentence Output from Trackman is the data format sent from the PC to the Navigation System.
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION 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 EdgeTech Model 4760B MRU ($POREM output).
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION TSS HHRP2 –Heave, Roll, Pitch and Heading 1 | | 2 34 | || | || 5 67 | || | || 8 91 | |0 | || 1 1 1 2 | | :DDDDSMHHHHQMRRRRSMPPPPM Field Number: 1) Start Character “:” 2) Heading X 100 degrees 3) Space Character 4) Space if positive, Minus if negative 5) Heave (centimeters) (N/A) (positive is above datum) 6) Status Flag 7) Space if positive, Minus if negative 8) Roll X 100 degrees 9) Space Character 10) Space if positive, Minus if negative 1
BATS AND PORTABLE BATS OPERATION PSXN - Pitch, Roll, Heading and Heave 1 | 2 | 3 | 4 | $PSXN,23,-xx.xx,-xx.xx,xxx.xx,,*CS 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) 19 5) Heave (meters) (Positive Up) (N/A) 6) CS = CheckSum 19 If using heading also, make sure to check the “Use Heading From Attitude Sensor” box.
BATS AND PORTABLE BATS OPERATION 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 BATS 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.
BATS AND PORTABLE BATS OPERATION 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 Trackman’s RS-232 data does not need to be corrected for North reference. However, Trackman requires a compass input to compensate for vessel motion within its filtering algorithms.
BATS AND PORTABLE BATS OPERATION 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: info@nmea.org 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: CustomerService@pnicorp.
BATS AND PORTABLE BATS OPERATION HDG - Heading, Deviation and Variation 1 | 2 | 3 | 4 | 5 6 | | $--HDG,x.x,x.x,a,x.x,a*CS 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) * = EOS Delimiter & CS = CheckSum Trackman calculates magnetic heading by adding Easterly deviation to, or subtracting Westerly deviation from, the magnetic sensor reading.
BATS AND PORTABLE BATS OPERATION PSXN - Pitch, Roll, Heading and Heave 1 | 2 | 3 | 4 | $PSXN,23,-xx.xx,-xx.xx,xxx.xx,,*CS 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) * = EOS Delimiter & CS = CheckSum To setup a Compass Sensor that is input to the PC, (Trackman Software is installed on this PC) click on the “Trackman (PC)” button.
BATS AND PORTABLE BATS OPERATION Trackman 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 output word. For example, setup the unit to only output compass, pitch & roll. See following; $C328.3P28.4R-12.4*CHECKSUM The pitch and roll received from this string can be used for either dynamic or static offsets depending on the Hydrophone - Offset - Status Command within Trackman.
BATS AND PORTABLE BATS OPERATION 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 Hints (Tool Tips) Enables the tool tips. Toggles on or off.
BATS AND PORTABLE BATS OPERATION 3.3.4 USBL MENU Pertains to functions/parameter settings on the BATS Transceiver. USBL GPS/Time Sync From the USBL main menu select GPS/Time Sync to bring up the USBL GPS/Time Sync setup parameter dialog box. Comport#1 on the BATS Transceiver is reserved for the GPS time. By clicking on the “Port Settings” button another dialog appears in which to set the comport specific parameters. Select either the ZDA format or the GGA format.
BATS AND PORTABLE BATS OPERATION 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 target position to the pitch / roll center of the vessel. The system uses the hydrophone offsets to reposition the target with respect to the pitch/roll center of the vessel and also to correct for the hydrophone’s dynamic motion.
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS OPERATION 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 meters/ 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.
BATS AND PORTABLE BATS OPERATION 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, Velocity.
BATS AND PORTABLE BATS OPERATION USBL Send TrackPoint (BATS) Config Synchronizes the BATS Transceiver with the saved parameters from Trackman. USBL Get Sensor Data Queries the Transceiver 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.
BATS AND PORTABLE BATS OPERATION 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 window). WINDOW Cascade Places Plotting Window and Status Block one behind the other. WINDOW Arrange Icons Not available.
BATS AND PORTABLE BATS OPERATION 3.3.6 HELP MENU HELP Contents HELP About Shows the Trackman version number and the Processor’s Physical Memory (RAM) in % used.
BATS AND PORTABLE BATS 3.4 OPERATION TRACKING TRANSPONDERS, RESPONDERS AND PINGERS The BATS tracks up to four (4) Beacons (non-telemetry) simultaneously, consecutively or a combination of simultaneously/consecutive targets.
BATS AND PORTABLE BATS OPERATION To track multiple targets (simultaneously) the BATS sequences through the various reply frequencies while interrogating 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.
BATS AND PORTABLE BATS OPERATION 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 decrease the Interrogation Interval to less than two seconds as the Interrogation Interval for a single target is the total of the intervals. E.g., interrogate #1 at 17kHz every 1.
BATS AND PORTABLE BATS OPERATION 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 24. With a transponder at close range the Quality Factors should typically be 9’s or 10’s.
BATS AND PORTABLE BATS OPERATION 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. Select 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. Under Beacon Status select Fixed Target. In the box below it enter in the target’s bearing and horizontal distance.
BATS AND PORTABLE BATS OPERATION BATS 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. Beacon# 1 2 3 4 1 etc. Time 2 2 2.5 3.5 2 etc. seconds 17 19 18 20 17 etc. kHz Xmit Frequency All Beacons are internally triggered. Each Beacon’s interrogation rate is adjusted for its intended range.
BATS AND PORTABLE BATS OPERATION BATS 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 Transceiver goes into Trigger In 1 of BATS. External triggering: Only Target #1 can be externally triggered. All other targets (if enabled) are forced to external trigger mode. Beacon 1 LED’s (Trigger-In (yel), Interrogate (grn), Receive (red)) show status.
BATS AND PORTABLE BATS OPERATION BATS 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) Enter in the repetition rate of the beacon. Beacon 1 LED (Receive) shows status Trigger-In 1 Not applicable. Trigger-Out 1 Not applicable. The interrogation rate is set to the pingers repetition rate. The Interrogation rate should be asynchronous to the pinger.
BATS AND PORTABLE BATS OPERATION BATS 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. All beacons have same interrogation frequency but different reply codes/frequencies. Beacon 1 triggered internally.
BATS AND PORTABLE BATS 3.5 OPERATION 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.
BATS AND PORTABLE BATS OPERATION BRIEF ERROR CODE LISTING CODE TARGET ERROR DESCRIPTION 60 Warning: Measured depression angle questionable (using calculated value) System ignores the phase count depression angle and uses the slant range and input depth to calculate horizontal range.
BATS AND PORTABLE BATS OPERATION 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 interface, 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.
BATS AND PORTABLE BATS OPERATION EXPLANATION OF ERROR CODES CODE DESCRIPTION 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.
BATS AND PORTABLE BATS OPERATION EXPLANATION OF ERROR CODES CODE DESCRIPTION Raise or lower the Excluded Peak Width Fraction (1.50 = default) 18 MODEL 4460B: Max Interchannel Time Exceeded (To differentiate from EC 01 and EC 16.) SUGGESTION: High Multipath may cause this error. This is a check for detection on two channels, verifying that the time between the two are less than the parameter setting of 2.5ms. WARNINGS ONLY ( > 20) 21 Unusable Telemetry Signal received.
BATS AND PORTABLE BATS OPERATION EXPLANATION OF ERROR CODES CODE DESCRIPTION con Setup dialog/ Depth Tab, Telemetry/Reply Frequency Setup) VS Beacon label to make sure the Telemetry code is correct. If no Navigation Reply received then refer to the “No Nav Signal Detected” (06) first.
BATS AND PORTABLE BATS OPERATION EXPLANATION OF ERROR CODES CODE DESCRIPTION 52 This warning is set when the target is a pinger and the depression angle is less than 20 degrees from the horizontal. Its purpose is to notify the on-line computer system, via the RS232, 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.
BATS AND PORTABLE BATS OPERATION EXPLANATION OF ERROR CODES CODE DESCRIPTION 70 Reserved. 71 Depth exceeds last Velocity Profile entry, new profile may be needed. 72 Velocity Profile error, profile will not be used.
BATS AND PORTABLE BATS 3.6 OPERATION TROUBLESHOOTING ACOUSTIC PROBLEMS 3.6.1 TRANSPONDER MODE A transponder emits an acoustic signal of a known frequency in response to an acoustic interrogation pulse sent from the BATS Transceiver. 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.
BATS AND PORTABLE BATS OPERATION sponder will stop replying when the BATS transmitter is turned off, and begin replying when the transmitter is turned back on, still with erratic ranges. If this is occurring, the operator should lower the output power of the transmitter by changing the output jumper on the transmitter board, or increase the transponder's lock-out time and use a longer interrogate interval. D. Transponder replies accurately (in slant range) , but signals are distorted by mul- ti-path.
BATS AND PORTABLE BATS 3. OPERATION Check that hydrophone shaft is not strumming or vibrating excessively. This causes excess noise at hydrophone. 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 transceiver.
BATS AND PORTABLE BATS 3.7 OPERATION RS-232C INTERFACE, BATS TRANSCEIVER The BATS Transceiver uses the standard EIA RS-232C serial communications interface to communicate with other peripherals such as GPS TimeSync (COM1), heading or pitch/roll sensors. These can be configured from the individual Devices setup dialog boxes. The interface to Trackman is via the Ethernet port. COM#1 “USBL to GPS Time” COM1 is reserved for the GPS/TimeSync interface.
BATS AND PORTABLE BATS OPERATION 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 Transceiver does not utilize its transmit capabilities. The Transceiver’s COM#2 interface is designed to act as a Data Terminal Equipment (DTE) (E.g. Processor Module or PC), If interfacing to a module that has the same protocol, a null modem is required between the two devices.
BATS AND PORTABLE BATS OPERATION Some of the formats can have their range parameters changed from either Meters, Feet, or yards. NMEA Formats General Statement on NMEA Formats: The NMEA data sentences are output in accordance 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".
BATS AND PORTABLE BATS OPERATION 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 9 1 COMMA ASCII "," CHARACTER NA NA 10-11 2 HOURS ASCII 00-23 HOURS 12-13 2 MINUTES ASCII
BATS AND PORTABLE BATS 3.7.2.2 OPERATION “POREB” DATA OUTPUT FORMAT Applicable To: TP3 Model 4450A, TP3P Model 4430C, BATS Model 4460C & BATS-P Model 4461C 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.
BATS AND PORTABLE BATS OPERATION 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 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 below.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT “NMEA” $POREB BYTE LENGTH DATA WORD REPRESENTATION DATA FIELD RANGE UNITS SEE NOTE 1 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 B ASCII "B" CHARACTER NA NA 7 1 COMMA ASCII "," CHARACTER NA NA 8-9 2 TARGET NUMBER ASCII 0099 NA 10 1 COMMA ASCII "," CHARACTER NA NA
BATS AND PORTABLE BATS 3.7.2.3 OPERATION “POREG” DATA OUTPUT FORMAT Applicable To: TP3 Model 4450A, TP3P Model 4430C, BATS Model 4460C & BATS-P Model 4461C 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.
BATS AND PORTABLE BATS OPERATION 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 (Raw DA). (Raw Depression Angle is the default. No Pitch, Roll or Compass corrections applied.
BATS AND PORTABLE BATS OPERATION To add the SNR figure to the end of the $POREG sentence modify the following file; c:\Program Files\ORE Offshore\Trackpoint MMI\SENT_OUT.INI. Under [$POREG] … add ,G031 to the end of the sentence format structure as shown below.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT “POREG” (ORE special for analyzing data) BYTE LENGTH 1 1 $ DATA WORD ASCII "$" CHARACTER REPRESENTATION DATA FIELD RANGE 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 G ASCII "G" CHARACTER NA NA 7 1 COMMA ASCII "," CHARACTER NA NA 8-9 2 TARGET NUMBER ASCII 00 to 99 NA 10 1 COMMA ASCII "," CHARACT
BATS AND PORTABLE BATS OPERATION 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.
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT "STANDARD-EC" WITH EC#6 BYTE LENGTH DATA WORD REPRESENTATION RANGE 1-9 UNITS 1 1 TARGET NUMBER ASCII 2 1 SPACE ASCII SPACE CHARACTER 3-4 2 HOURS ASCII 5 1 COLON ASCII COLON CHARACTER 6-7 2 MINUTES ASCII 8 1 COLON ASCII COLON CHARACTER 9-10 2 SECONDS ASCII 11 1 SPACE ASCII SPACE CHARACTER 12-14 3 COMPASS HEADING ASCII 15 1 SPACE ASCII SPACE CHARACTER 16-17 2 TARGET BEARING ASCII SPACE CHARACTE
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT "STD-EC W/PR" WITH EC#6 BYTE LENGTH DATA WORD REPRESENTATION RANGE 1-9 UNITS 1 1 TARGET NUMBER ASCII 2 1 SPACE ASCII SPACE CHARACTER 3-4 2 HOURS ASCII 5 1 COLON ASCII COLON CHARACTER 6-7 2 MINUTES ASCII 8 1 COLON ASCII COLON CHARACTER 9-10 2 SECONDS ASCII 11 1 SPACE ASCII SPACE CHARACTER 12-14 3 COMPASS HEADING ASCII 15 1 SPACE ASCII SPACE CHARACTER 16-17 2 TARGET BEARING ASCII SPACE CHARACTE
BATS AND PORTABLE BATS 3.7.2.
BATS AND PORTABLE BATS OPERATION 3.7.2.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT "REV 4-EC" BYTE LENGTH DATA WORD REPRESENTATION RANGE 1 1 TARGET NUMBER ASCII 2 1 SPACE ASCII SPACE CHARACTER N/A 3 1 SPACE ASCII SPACE CHARACTER N/A 4-8 5 TARGET BEARING ASCII 9 1 SPACE ASCII SPACE CHARACTER 10-13 4 DEPRESSION ANGLE ASCII 14 1 SPACE ASCII SPACE CHARACTER 15-19 5 SLANT RANGE ASCII 20 1 SPACE ASCII SPACE CHARACTER 21-26 6 X ASCII 27 1 SPACE ASCII SPACE CHARACTER 28-33 6 Y
BATS AND PORTABLE BATS OPERATION 3.7.2.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT "NUWC-1 EC" BYTE LENGTH DATA WORD REPRESENTATION 1 1 TARGET NUMBER ASCII 2 1 SPACE ASCII SPACE CHARACTER 3-4 2 HOURS ASCII 5 1 COLON ASCII COLON CHARACTER 6-7 2 MINUTES ASCII 8 1 COLON ASCII COLON CHARACTER 9-10 2 SECONDS ASCII 11 1 PERIOD ASCII PERIOD CHARACTER, “.
BATS AND PORTABLE BATS OPERATION TRACKING DATA MESSAGE FOR FORMAT "NUWC-1 EC" WITH EC#6 BYTE 1 2 3-4 5 6-7 8 9-10 11 12-13 14 15-17 18 19-20 21 22 23 24 25 26 27 28 29 30-33 34 35 36 37 38-42 43 44 45 46 47-51 52 53 54 55 56-59 60 61 62 63 64-68 69 70 71 72 73-74 75 76-77 78 79 80 81 82-83 84 85 86 87 88 LENGTH 1 1 2 1 2 1 2 1 2 1 3 1 2 1 1 1 1 1 1 1 1 1 4 1 1 1 1 5 1 1 1 1 5 1 1 1 1 4 1 1 1 1 5 1 1 1 1 2 1 2 1 1 1 1 2 1 1 1 1 1 DATA WORD REPRESENTATION RANGE UNITS TARGET NUMBER SPACE HOURS COLON MI
BATS AND PORTABLE BATS OPERATION 3.7.2.12 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 24hour time on the screen of the Trackman PC.
BATS AND PORTABLE BATS NOTE: OPERATION 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.
BATS AND PORTABLE BATS 3.7.2.13 OPERATION 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 (EdgeTech Proprietary) or NCSC.
BATS AND PORTABLE BATS OPERATION TARGET SETUP COMMAND 1 BYTE 1 2 3-5 6 7 8 9-13 14 15-18 19 20-23 24 25-26 27 28 29 30-31 32 33 34 LENGTH 1 1 3 1 1 1 5 1 4 1 4 1 2 1 1 1 2 1 1 1 DATA WORD START OF TEXT SPACE MESSAGE ID SPACE TARGET NUMBER SPACE TURN AROUND TIME SPACE REPLY FREQUENCY SPACE INTERROGATE FREQUENCY SPACE REPETITION INTERVAL SPACE TRACKING SPACE CHECKSUM SPACE CARRIAGE RETURN LINEFEED REPRESENTATION ASCII START OF TEXT CHAR ASCII SPACE CHARACTER ASCII CHARACTERS "TR1" ASCII SPACE CHARACTER A
BATS AND PORTABLE BATS OPERATION TARGET SETUP COMMAND 3 BYTE 1 2 3-5 6 7 8 9-12 13 14-16 17 18-21 22 23-26 27 28-29 30 31-34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52-53 54 55 56 LENGTH 1 1 3 1 1 1 4 1 3 1 4 1 4 1 2 1 4 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 1 1 1 DATA WORD START OF TEXT SPACE MESSAGE ID SPACE TARGET NUMBER SPACE TELEMETRY FREQUENCY SPACE ZERO DELAY SPACE FULL SCALE DELAY SPACE SPAN SPACE PULSE WIDTH SPACE PINGER REP RATE SPACE TYPE SPACE DEPTH SELECT SPACE DEPTH MODE SPACE TEL
BATS AND PORTABLE BATS OPERATION SYSTEM SETUP COMMAND 1 BYTE LENGTH 1 2 3-5 6 7-12 13 14-19 20 21-26 27 28-32 33 34-39 1 1 3 1 6 1 6 1 6 1 5 1 6 40 41-47 1 7 48 49 1 1 50 51-52 53 54 55 1 2 1 1 1 DATA WORD START OF TEXT SPACE MESSAGE ID SPACE X HYDROPHONE OFFSET SPACE Y HYDROPHONE OFFSET SPACE Z HYDROPHONE OFFSET SPACE BEARING OFFSET SPACE ANALOG DEPTH MIN DEPTH SPACE ANALOG DEPTH MAX DEPTH SPACE COMPASS OFF, ANAL,NMEA SPACE CHECKSUM SPACE CARRIAGE RETURN LINEFEED REPRESENTATION ASCII START OF
BATS AND PORTABLE BATS OPERATION SYSTEM SETUP COMMAND 3 BYTE LENGTH DATA WORD REPRESENTATION RANGE UNITS 1 1 START OF TEXT ASCII START OF TEXT CHARACTER 2 1 SPACE ASCII SPACE CHARACTER N/A N/A 3-5 3 MESSAGE ID ASCII CHARACTERS "SY3" N/A 6 1 SPACE ASCII SPACE CHARACTER N/A 7-8 2 HOURS ASCII 9 1 SPACE ASCII SPACE CHARACTER 10-11 2 MINUTES ASCII 12 1 SPACE ASCII SPACE CHARACTER 13-14 2 SECONDS ASCII 15 1 SPACE ASCII SPACE CHARACTER 16-17 2 MONTH ASCII 18
BATS AND PORTABLE BATS OPERATION SYSTEM SETUP COMMAND 4 BYTE LENGTH DATA WORD REPRESENTATION RANGE UNITS 1 1 START OF TEXT ASCII START OF TEXT CHAR N/A 2 1 SPACE ASCII SPACE CHARACTER N/A 3-5 3 MESSAGE ID ASCII CHARACTERS "SY4" N/A 6 1 SPACE ASCII SPACE CHARACTER 7-13 7 ANALOG1 MIN. UNITS ASCII 14 1 SPACE ASCII SPACE CHARACTER 15-21 7 ANALOG1 MAX. UNITS ASCII 22 1 SPACE ASCII SPACE CHARACTER 23-26 4 ANALOG1 MIN.
BATS AND PORTABLE BATS OPERATION SYSTEM SETUP COMMAND 5 BYTE LENGTH DATA WORD REPRESENTATION RANGE UNITS 1 1 START OF TEXT ASCII START OF TEXT CHAR N/A 2 1 SPACE ASCII SPACE CHARACTER N/A 3-5 3 MESSAGE ID ASCII CHARACTERS "SY5" N/A 6 1 SPACE ASCII SPACE CHARACTER 7 1 RS232 UNITS ASCII 8 1 SPACE ASCII SPACE CHARACTER 9-10 2 RS232 FORMAT ASCII 11 1 SPACE ASCII SPACE CHARACTER 12 1 COMPASS SELECT ASCII 13 1 SPACE ASCII SPACE CHARACTER 14-19 6 COMPASS OFFSET
BATS AND PORTABLE BATS OPERATION SYSTEM SETUP COMMAND 6 BYTE LENGTH DATA WORD REPRESENTATION RANGE UNITS 1 1 START OF TEXT ASCII START OF TEXT CHAR N/A 2 1 SPACE ASCII SPACE CHARACTER N/A 3-5 3 MESSAGE ID ASCII CHARACTERS "SY6" N/A 6 1 SPACE ASCII SPACE CHARACTER 7-12 6 ANT X OFFSET (N/A) ASCII 13 1 SPACE ASCII SPACE CHARACTER 14-19 6 ANT Y OFFSET (N/A) ASCII 20 1 SPACE ASCII SPACE CHARACTER 21 1 HYD DEPTH SEL ASCII 0=Manual, 1=Analog via Compass BNC Input, 2 =
BATS AND PORTABLE BATS 3.8 OPERATION 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 BATS can then be turned off from the front panel power switch.
BATS AND PORTABLE BATS OPERATION 3-116
SECTION FOUR PRINCIPLES OF OPERATION
BATS AND PORTABLE BATS 4. PRINCIPLES OF OPERATION PRINCIPLES OF OPERATION BATS (Broadband Acoustic Tracking System) measures and analyzes sound waves sent from an acoustic sound source that is attached 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 Transceiver and then to the PC for further processing by the Trackman Software.
BATS AND PORTABLE BATS PRINCIPLES OF OPERATION 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: Z HR = tan where Z is the target depth and is the depression angle. Slant range (SR) is calculated by: Z SR = sin where Z is the target depth and the depression angle.
BATS AND PORTABLE BATS PRINCIPLES OF OPERATION HR = SR cos (sin-1 ) SR C. In INPUT depth MODE and when the target is within a 40 degree cone (value of () greater than 70 degrees), slight variations between the slant range and the input depth causes large horizontal position differences. In this situation the horizontal range is calculated by: Z HR = tan D.
BATS AND PORTABLE BATS PRINCIPLES OF OPERATION 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. Figures 4-3A & B, the Transceiver Block Diagram, presents an overview of the BATS. The individual components of the system function as described in the following sections.
BATS AND PORTABLE BATS PRINCIPLES OF OPERATION 4-5
BATS AND PORTABLE BATS 4.1 PRINCIPLES OF OPERATION HYDROPHONE Model 4213C-B Hydrophone Assembly The hydrophone assembly consists of the hydrophone and the pressure case/electronics. In the hydrophone, the three receiving elements and the transmitting element 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 on the Amplifier Board.
BATS PRINCIPLES OF OPERATION BATS BLOCK DIAGRAM FIGURE 4-3A 4-7
BATS PRINCIPLES OF OPERATION BATS BLOCK DIAGRAM FIGURE 4-3B 4-8
BATS PRINCIPLES OF OPERATION PORTABLE BATS BLOCK DIAGRAM FIGURE 4-4A 4-9
BATS PRINCIPLES OF OPERATION PORTABLE BATS BLOCK DIAGRAM FIGURE 4-4B 4-10
SECTION FIVE MAINTENANCE
BATS AND PORTABLE BATS 5. SYSTEM MAINTENANCE 5.1 CALIBRATION FILES MAINTENANCE The hydrophone assembly is calibrated at the factory. The Trackman Software uses the Hydrophone calibration files to correct for the offsets within the Hydrophone. The calibration files consist of two binary files; XXXXYYYY.bhi & XXXXYYYY.blo. These files contain offsets which compensate for the variances from hydrophone to hydrophone. When ordered as a system, these files are installed in the PC at the factory.
BATS AND PORTABLE BATS 5.2 MAINTENANCE FUSE REPLACEMENT (RACKMOUNT) 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) The Portable units fuse is located on the right side connector panel. It is a sealed screw-on fuse receptacle and is a 3AG type fuse. (1.25 X ¼”) 5.2.
BATS AND PORTABLE BATS 5.3 MAINTENANCE PROCESSOR MODULE (PC) The Model 4451A Processor Module is a PC with a Pentium 4 Processor 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.
BATS AND PORTABLE BATS MAINTENANCE 5-4
APPENDIX A CARE OF CABLES
BATS AND PORTABLE BATS 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.
BATS AND PORTABLE BATS APPENDIX A A-2
APPENDIX B STATIC DISCHARGE
BATS AND PORTABLE BATS 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.
BATS AND PORTABLE BATS APPENDIX B B-2
APPENDIX C WARRANTY
BATS AND PORTABLE BATS APPENDIX-C APPENDIX C WARRANTY STATEMENT On standard catalogue products, EdgeTech 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 specified in this order, its liability under this warranty being limited to repairing or replacing, at EdgeTech’s option, items which are returned to it prepaid within twelve (12) months from delivery to the BUYER and found to EdgeTech‘s satisfaction, to have
BATS AND PORTABLE BATS APPENDIX C C-2
APPENDIX D DRAWINGS
BATS AND PORTABLE BATS APPENDIX-D APPENDIX D DRAWINGS D1 4400CE0044 BATS Mechanical Outlines D2 4400CE0045 BATS Portable Mechanical Outlines D-1
BATS AND PORTABLE BATS APPENDIX D D-1
BATS AND PORTABLE BATS APPENDIX D D-2
BATS AND PORTABLE BATS APPENDIX D D-3
APPENDIX E EDGETECH BEACON REPLY/INTERROGATE FREQUENCIES AND CHANNEL CODES
BATS AND PORTABLE BATS APPENDIX-E ORE M-FSK WAVEFORMS, PRN CODES ORE M-FSK SPREAD SPECTRUM WAVEFORMS CODE FREQUENCY BAND (kHz) PULSE WIDTH (ms) NOTES ORE-01 22.936 – 27.174 10.13 Omni ORE-02 27.174 – 22.936 10.13 Omni ORE-03 17.007 – 21.008 11.17 Omni ORE-04 21.008 – 17.007 11.17 Omni ORE-05 24.038 – 28.090 9.88 Directional (Typ) ORE-06 28.090 – 24.038 9.88 Directional (Typ) ORE-07 17.007 – 21.008 16.76 Directional (Typ) ORE-08 21.008 – 17.007 16.
BATS AND PORTABLE BATS PRN REPLY FREQUENCY CHANNEL CODES CODE FREQUENCY (kHz) CHIP LENGTH (us) OCTAL CODE 1 22.727 352.00 045 2 24.510 326.40 051 3 26.042 345.60 057 4 27.473 327.60 067 5 24.510 326.40 073 6 26.042 345.60 075 7 25.773 349.20 045 8 27.174 331.20 051 9 28.735 348.00 057 10 25.773 349.20 073 11 27.174 331.20 075 12 22.727 528.00 045 13 24.510 489.60 051 14 26.042 494.20 057 15 27.473 509.60 067 16 25.773 504.40 045 17 27.
BATS AND PORTABLE BATS CW INTERROGATE FREQUENCY CHANNEL CODES CODE FREQUENCY (kHz) PULSE WIDTH (ms) 1 16.0 6 2 17.0 6 3 18.0 6 4 19.0 6 5 20.5 6 6 21.5 6 7 22.
BATS AND PORTABLE BATS E-4
BATS AND PORTABLE BATS APPENDIX F BATS / TRACKMAN BEACON SETUP GUIDE
BATS AND PORTABLE BATS APPENDIX F F-1
BATS AND PORTABLE BATS APPENDIX F F-2
BATS AND PORTABLE BATS APPENDIX F F-3
BATS AND PORTABLE BATS APPENDIX F F-4
BATS AND PORTABLE BATS APPENDIX F F-5
