Pro 4 SeaTrac USBL
Standard Operating Procedures

This manual can be found at: https:download.videoray.com/documentation/sop_usbl_seatrac_pro_4

Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Copyright Notice

This material is copyright protected. No material may be reproduced or transmitted in any form or by any means for any purpose without expressed written consent of VideoRay LLC.

Copyright © 2022, VideoRay LLC - The Global Leader in Micro-ROV Technology

Cover image Copyright © 2021, Blueprint Subsea

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Table of Contents

About this Document

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Beyond this Document

There is no substitute for experience and/or training, especially with respect to the real purpose for which you plan to use this equipment. We encourage you to explore options beyond the scope of these materials to expand your knowledge and skills necessary to support your applications. In addition to this documentation, VideoRay offers training and technical support and hosts a general user discussion forum and user image gallery.

We also realize that collectively, users of our products spend considerably more time operating our systems than we do ourselves. Users also encounter more diverse operating environments across an extremely broad range of applications. We highly value this vast experience base, and invite and encourage you to share your experiences and suggestions with us. Please feel free to contact us by any of the methods listed below.

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My_Notes are easy to incorporate directly into the pages of this manual. They can be used to clarify content, add additional information, or document your custom settings, operational tactics or procedures. My_Notes are page specific and display at the bottom of the desired page under the "My_Notes" heading. No programming is required - it is as simple as saving a file with your notes.

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When you reload the page, your My_Note will appear - there is nothing else to install or configure. A sample My_Note file has been included to display the My_Note below. You can use this file as a model for creating your own My_Notes.

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Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

How to Get Help

Help for your Pro 4 SeaTrac USBL is available through several channels.

All Hours Self-Service / Crowd-Source Tools

Operator's Manuals and Standard Operating Procedureswww.videoray.com/support/manuals.html
Software Downloadswww.videoray.com/support/downloads.html
Frequently Asked Questionswww.rovfaq.com
ROV User Forumwww.rovinfo.com

Global Support

Emailsupport@videoray.com
Phone+1 610-458-3000 (select option 1)
Additional messaging services are available.Contact us using one of the above methods for options supported.
Remote Sessionswww.videoray.com/support/remote-support.html (by appointment )

Regional Support

VideoRay Authorized Dealers and Service Centerswww.videoray.com/dealer.html

Training

Emailtraining@videoray.com
Phone+1 610-458-3000 (select option 1)
Training OpportunitiesTraining Overview

Operational Strategies and Tactics Support

If you need help understanding how to apply your system to a specific project, contact VideoRay or you local VideoRay dealer. We can provide guidance or help you find a certified consultant.

>

Before Contacting Support

Please make sure to consider the following information before contacting VideoRay's Technical Support to report a problem. The following information should available:

  • User name and contact information
  • Name of the owner if not the same as the user
  • System model
  • Serial Number of the affected component(s)
  • Accessories in use
  • Detailed information about the issue:
    • Symptoms
    • Operating conditions that create the symptoms
    • Anything new or unusually about the system or operations

Once you have collected the recommended information, visit the "How to Get Help" page for contact information.

In addition, please review VideoRay's Support website for additional information about:

  • Principles of Customer Interactions
  • Customer Care Philosophy
  • Technical Support Policy
  • Third Party Accessory Support Statement
  • Use of Non-VideoRay Supplied Computers
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

USBL Systems Overview

The Blueprint Subsea SeaTrac USBL acoustic positioning system allows users to track the location of VideoRay ROVs.

The USBL system includes a topside beacon and an ROV beacon. The topside beacon initiates the tracking process by transmitting an acoustic ping. The ROV beacon responds, and the time from the initial ping until the response is used to calculate the distance of the ROV from the topside beacon. The topside beacon has several receivers and uses these to determine the bearing of the ROV with reference to an index heading. This information can be used to ascertain the location of the ROV relative to the topside beacon.

When coupled with a GPS receiver to determine the location of the topside beacon, the geolocation of the ROV can be determined as well. Usually, the GPS receiver and the topside beacon are not in the same location, and the offset between the two must be known to compute the geolocation of the ROV.

The SeaTrac USBL system requires that offsets and other parameters be set properly to ensure accurate position tracking. This Standard Operating Procedures Guide describes the step-by-step procedures required to properly set up the system, enter required parameter data, and operate the tracking mode.

This Standard Operating Procedures Guide is supplemental to basic product information provided by Blueprint Subsea. See Blueprint Subsea's SeaTrac website and manuals for additional information.

The SeaTrac manuals are installed with the software and should also be accessible on the host computer.

This guide is written for using the USBL system with the PinPoint software. For use with a Mission Specialist system with Greensea Workspace software, see the Greensea Workspace manual, and the Pro 4 vs Mission Specialist Use in the Appendices.

Parts Identification

The primary parts included in the Blueprint Subsea SeaTrac USBL beacon are shown here:

USBL X150 Topside Beacon

USBL X150 Topside Cable

USBL X010 ROV Beacon

USBL X010 ROV Beacon Operating Cable

USBL X010 ROV Beacon Configuration Cable

This cable is only used to configure the X010 and is not required during operation.

USBL Computer USB / Power Interface Cable

USBL Power Supply

Additional miscellaneous components are included with the product, but are not shown here.

All images are not to the same scale.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Tips for Use

The following tips may help you operate the USBL system with better performance, or diagnose problems if they arise.

  1. For tracking, the X150 Topside Beacon and the X010 ROV Beacon must be submerged underwater. During operations, the X010 ROV Beacon will be deeper than the X150 Topside Beacon. Tracking performance may decrease the farther the ROV is from the X150 Topside Beacon, especially if the ROV is shallow.

  2. Underwater Acoustic systems require line of sight be maintained between beacons to operate. Moving the X010 ROV Beacon around a corner of a pier wall or behind an acoustic "shadow" will result in performance decline or loss of tracking. Tracking will resume when the line of site between beacons is restored.

  3. Units of measure can be independently specified in several locations in the PinPoint software. Make sure the units are selected correctly where applicable.

  4. There are many settings that affect the fundamental operation and tracking precision. Make sure to use and follow the checklists to avoid missing a step or setting.

  5. Geolocation of the ROV is computed by combining several measurements, including the calculated relative offset of the ROV from the topside station and the relative offset of the topside station from the GPS reference point. The GPS reference point may additionally be offset from a "logical" reference point, such as the operator station. An error in any one of these measurements can result in an inaccurate final geolocation of the ROV.

  6. The system uses sensors that can be subject to permanent or transient local influences including GPS, acoustic and magnetic interference. An error caused by any one of these influences can result in inaccurate final geolocation of the ROV.

  7. USBL beacons have IDs. Typically, they will be set to appropriate default values when the system is received. If for any reason the Beacon IDs need to be changed, note that these IDs are implemented at the hardware and software levels. The hardware level governs and the PinPoint software must be configured to match the hardware assigned beacon IDs. To change the hardware IDs the SeaTrac Tools program must be used. See the Initial Configuration section in the Appendices for more information.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Deployment Platforms

SeaTrac is designed to be used from a vessel (where GPS is required) or a fixed deployment platform (where GPS is optional). The set up steps for each are slightly different.

See the Parts Identification page to ensure you have all the necessary requirements and are familiar with the components before starting.

At several points during the set up, you will be required to select options or enter values. The options presented in this Standard Operating Procedure are only the minimum requirements for a typical operation. There are more input options available. See the SeaTrac PinPoint manual for information about these additional options and whether they apply to your requirements or preferences.

Unfortunately, there is currently no way to save the platform settings so they can be recalled easily, so if you regularly operate from several platforms or locations, you should record the settings for easier/quicker set up at each location.

Follow the step by step procedures for your choice of operating platform:

Do not leave the USBL system or ROV powered on for long periods in air. They could overheat.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Vessel Operations

Follow these steps if working from a vessel:

Set Up the Topside Hardware:

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable.
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Connect the GPS antenna into the desired USB port.
  8. Mount the GPS receiver.
    1. Ensure there is a clear view of the sky from the mounting location for best performance.
  9. Mount the X150 Topside Beacon.
    1. The X150 Topside Beacon should be submerged below the keel for 360 degree tracking. If it is not below the keel, you will only be able to track the ROV on the same side of the vessel on which the X150 Topside Beacon is mounted.
    2. While strictly not required, the reference index mark ">|<" on the X150 Topside Beacon should face the same direction as the bow.

Set Up the ROV Hardware:

  1. Connect the X010 ROV Beacon cable between the X010 ROV Beacon and ROV accessory port.
  2. Make sure the accessory port connection is not exposed to water by using a terminated accessory, or use a dummy plug.
  3. Mount the X010 ROV Beacon on the ROV.
  4. Power on the ROV.
  5. Start the ROV control software.

Start the PinPoint Program

  1. Start PinPoint using the desktop icon or the start menu.
  2. Click on the Gear icon button in the lower left to enter settings.
    1. Select the desired units of measure.
    2. Modify any other settings as desired (see the SeaTrac PinPoint manual for more information).
  3. Click on the Platform Setup icon button.
    1. Click on the Vessel Setup icon button.
      1. Select the Vessel Type for the ship's display (Simple, or DXF).
      2. Select the desired units of measure.
      3. Enter the vessel dimensions.
    2. Click on the GPS icon button.
      1. Select the Dynamic Position option for the Position Source
      2. Select the desired units of measure.
      3. Enter the offsets of the GPS from the origin of the vessel coordinate system.
    3. Click on the Topside Beacon icon button.
      1. Select the desired units of measure
      2. Enter the offsets of X150 Topside Beacon from the origin of the vessel coordinate system.
  4. Close the settings by clicking on the Checkmark icon button in the lower right.
  5. Click on the Connect icon button in the upper left to enter live tracking mode.
    1. PinPoint may display an error message about not being able to open required devices.
    2. If no errors are reported, you can skip these steps.
    3. If errors are reported, initial set up is required. Initial set up should only be required one time, unless changes are made to the hardware configuration. Follow these steps to complete the initial configuration:
      1. Dismiss any errors.
      2. Click on the Gear icon button in the lower left to enter settings.
      3. Click on the Wrench icon button in the upper right to enter Port setup.
      4. You should see panels for the Seatrac device (X150 Topside Beacon) and NMEA device (GPS Receiver).
        1. If you do not see both device panels, see the Initial Configuration section in the Appendices.
      5. Click on the (A) icon button on the middle left to auto detect and set up the required COM ports.
        1. If an error is reported or tracking still results in errors, see the Initial Configuration section in the Appendices.

Verify the Setup

  1. Click on the GPS icon button.
    1. Confirm its operation and that the location appears to be correct.
  2. Click on the USBL icon button.
    1. Confirm the attitude and heading are responsive and that they appear to be correct.
      1. If the attitude appears inverted (sky at the bottom, earth above), see the Beacon Configuration section and enable the "Inverted" checkbox.
  3. Click on Map icon button.
    1. Click on the Focus on the Local Beacon icon button to center the Topside Beacon in the center of the display.
    2. Adjust the zoom level as desired so the GPS and USBL icons are not overlapping (you may need to zoom in).
    3. Verify the GPS icon is displayed and its location appears correct.
    4. Verify the topside USBL icon is displayed and its location appears correct.

Verify the Tracking and Commence the Operation

  1. Adjust the zoom level so the operating area fits the display area as desired.
  2. Launch and submerge the ROV.
  3. Confirm tracking is operational and that the ROV's location appears correct.
  4. Begin the mission.
  5. Initiate recording as desired.

Post Mission

Follow your standard procedures for post mission activities, which should include at least the following:

  1. Recover the ROV and USBL systems.
  2. Make sure the components are secured for transport.
  3. Soak the submerged components in fresh water for at least 30 minutes.
  4. Archive any recorded data.
  5. Inspect, dry and store the equipment.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Fixed Platform Operations, such as from a Pier or a Dock

When operating from a fixed platform, a GPS receiver is optional. In general, using known coordinates of a fixed point (or an observable point on a map) is easier to set up and provides better performance since there are no GPS drift errors introduced.

If using a GPS receiver is desired, follow the steps for operating from a vessel, but select "None" for the Vessel type and offsets should be measured from either the operating station location as the reference origin (rather than the center of the ship), or the GPS offsets should be set to 0,0 and the USBL offsets measured from the GPS receiver's location.

Follow these steps if working from a fixed platform without using a GPS receiver:

Set Up the Topside Hardware:

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable.
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Mount the X150 Topside Beacon.
    1. The X150 Topside Beacon should be submerged so that it remains below any swells or surface chop.
    2. While strictly not required, the reference index mark ">|<" on the X150 Topside Beacon should face to the North.

Set Up the ROV Hardware:

  1. Connect the X010 ROV Beacon cable between the X010 ROV Beacon and ROV accessory port.
  2. Make sure the accessory port connection is not exposed to water by using a terminated accessory, or use a dummy plug.
  3. Mount the X010 ROV Beacon on the ROV.
  4. Power on the ROV.
  5. Start the ROV control software.

Start the PinPoint Program

  1. Start PinPoint using the desktop icon or the start menu.
  2. Click on the Gear icon button in the lower left to enter settings.
    1. Select the desired units of measure.
    2. Modify any other settings as desired (see the SeaTrac PinPoint manual for more information).
  3. Click on the Platform Setup icon button.
    1. Click on the Vessel Setup icon button.
      1. Select the "None" option for the Vessel Type.
    2. Click on the GPS icon button.
      1. Select the Platform Type.
        1. Select the Fixed Position (Floating Platform) option for the Position Source if the X150 Topside Beacon will be hanging from its cable.
        2. Select the Fixed Position (Fixed Platform) option for the Position Source if the X150 Topside Beacon will be rigidly mounted.
      2. Select the desired units of measure.
      3. Enter the Latitude and Longitude of the origin reference.
        1. This should be the location of a point with known coordinates (survey benchmark) or a point that can be visually identified and precisely located in the map view (such as a corner of a pier).
      4. Enter the offset of the GPS from the origin of the vessel coordinate system.
        1. Typically this will be 0,0 (using the previously identified known point or map visual reference point).
    3. Click on the Topside Beacon icon button.
      1. Select the desired units of measure
      2. Enter the offsets of X150 Topside Beacon from the origin reference.
        1. Offset to the North should be entered as the X value (for South, use a negative (-) value).
        2. Offset to the East should be entered as the Y value (for West, use a negative (-) value).
  4. Close the settings by clicking on the Checkmark icon button in the lower right.
  5. Click on the Connect icon button in the upper left to enter live tracking mode.
    1. PinPoint may display an error message about not being able to open required devices.
    2. If no errors are reported, you can skip these steps.
    3. If errors are reported, initial set up is required. Initial set up should only be required one time, unless changes are made to the hardware configuration. Follow these steps to complete the initial configuration:
      1. Dismiss any errors.
      2. Click on the Gear icon button in the lower left to enter settings.
      3. Click on the Wrench icon button in the upper right to enter Port setup.
      4. You should see a panel for the Seatrac device (X150 Topside Beacon).
        1. If you do not see the SeaTrac device panel, see the Initial Configuration section in the Appendices.
      5. You may also see a for a NMEA device (GPS Receiver).
        1. If you do see a NMEA device panel, click on the panel and then click on the (-) icon button on the lift to remove it.
      6. Click on the (A) icon button on the middle left to auto detect and set up the required COM port.
        1. If an error is reported or tracking still results in errors, see the Initial Configuration section in the Appendices.

Verify the Setup

  1. Click on the USBL icon button.
    1. Confirm the attitude and heading are responsive and that they appear to be correct.
      1. If the attitude appears inverted (sky at the bottom, earth above), see the Beacon Configuration section and enable the "Inverted" checkbox.
  2. Click on Map icon button.
    1. Click on the Focus on the Local Beacon icon button to center the Topside Beacon in the center of the display.
    2. Adjust the zoom level as desired so the GPS and USBL icons are not overlapping (you may need to zoom in).
    3. Verify the GPS icon is displayed and its location appears correct.
    4. Verify the topside USBL icon is displayed and its location appears correct.

Verify the Tracking and Commence the Operation

  1. Adjust the zoom level so the operating area fits the display area as desired.
  2. Launch and submerge the ROV.
  3. Confirm tracking is operational and that the ROV's location appears correct.
  4. Begin the mission.
  5. Initiate recording as desired.

Post Mission

Follow your standard procedures for post mission activities, which should include at least the following:

  1. Recover the ROV and USBL systems.
  2. Make sure the components are secured for transport.
  3. Soak the submerged components in fresh water for at least 30 minutes.
  4. Archive any recorded data.
  5. Inspect, dry and store the equipment.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Appendices

The appendices provide information about configuring and troubleshooting the system.

Configuration, including various settings and the COM port assignments for the X150 Topside Beacon and the GPS receiver, is required before the system can be used. This configuration generally only needs to be completed once, unless you make changes to the hardware or change the COM ports being used.

The procedures for these steps are described on the following pages.

The initial configuration includes the following items:

  1. Setting up the COM ports
  2. Configuring the Beacons
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Hardware Connections

Connections for Operations

Connections for Configuration

The connection for the Topside Beacon configuration is the same as the connection for operations.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Geolocation

The ROV's Geolocation is computed by adding the topside offsets to the local coordinates from the Topside Beacon to the ROV Beacon.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

COM Port Assignments

The computer COM ports for the X150 Topside Beacon and the GPS receiver are assigned when these devices are plugged into the computer. The PinPoint and SeaTrac Tools software need to be configured to match the COM port assignments. The X010 ROV Beacon requires power only, so there are no COM port configuration requirements for it.

It is recommended that you use the same USB ports for the X150 Topside Beacon and GPS receiver so that you will not have to configure the communications setup each time you run PinPoint or SeaTrac Tools.

Follow these steps to determine the computer assigned COM port numbers:

Set Up the Topside Hardware:

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Connect the GPS receiver into the desired USB port.
  8. Open Device Manager (click the Windows start icon from the taskbar and type "Device Manager" and then enter.)
  9. Click on the ">" to the left of Ports to expand the list of ports.
  10. Note the COM Port numbers for the following devices:
    1. Serial Device (the USBL topside Beacon)
    2. Prolific Serial Device (the GPS)
  11. If you do not see one or both of these devices, or they have a yellow "?," a driver may be required. Contact VideoRay Support for additional assistance.
  12. Close Device Manager.

Follow these steps to configure the PinPoint Software for these devices and port assignments:

  1. Open PinPoint (Double click the PinPoint program icon or select it from the start menu.)
  2. Open the settings using Gear icon in lower left.
  3. Click on the Wrench icon tab.
  4. If you do not see the X150 Topside Beacon or the GPS receiver, you will need to add each. To add a device follow these steps:
    1. Click on the Plus (+) icon.
    2. To add the X150 Topside Beacon, select SeaTrac and click on the check mark at the bottom of the window.
    3. Enter the COM Port number determined from Device Manager and click on the check mark at the bottom of the window to apply and save the change.
    4. To add the GPS receiver, select NMEA and click on the check mark at the bottom of the window.
    5. Enter the COM Port number determined from Device Manager.
    6. Enter the Baud Rate specified by the manufacturer of your GPS receiver and click on the check mark at the bottom of the window to apply and save the change.
  5. If the devices are present, check that the COM port numbers match those determined from Device Manager and the baud rate for the GPS receiver matches the manufacturer's specification.
    1. If the COM port numbers do not match what was determined in Device Manager, or the baud rate does not match the information from the manufacturer, change the values by double clicking on the device, selecting the appropriate COM port number or baud rate for that device and clicking the check mark at the bottom of the window to apply and save the change.
  6. Close Pinpoint.

SeaTrac Tools COM Port Setup.

The SeaTrac Tools program tries to use the COM port from the last time the program was executed. If the COM port assigned is not the same as the last time, the program will display an error message. Dismiss the error message and select the COM port from the pull-down list at the bottom of the window, the click the Open button.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Beacon Configuration

Beacon Configuration consists of the following settings:

  1. X150 Topside Beacon
    1. Setting the Beacon ID
    2. Defining the mounting orientation
    3. Configuring PinPoint software to recognize the beacon
    4. Selecting its display color
    5. Other less common settings, not typically required to be changed
  2. X010 ROV Beacon
    1. Setting the Beacon ID
    2. Configuring PinPoint software to recognize the beacon
    3. Selecting its display color
    4. Other less common settings, not typically required to be change

Beacon IDs apply at two levels:

  1. The hardware stored ID
  2. Configuring PinPoint software to recognize the IDs of beacons in use.

The first item to address is the hardware stored ID. Each Beacon ID must be a unique number from 1 to 15. The Blueprint Subsea default for the X150 Topside Beacon ID is configured as 15 and the X010 ROV Beacon ID is configured as 1. VideoRay default Beacon IDs are 1 for the X150 Topside Beacon and 2 for the X010 ROV Beacon. The number selected for the Beacon ID is generally not critical as long as it is unique and except when used with VideoRay Mission Specialist systems using Greensea Workspace, which must use the VideoRay defaults.

Determining the currently assigned hardware stored Beacon IDs

When power is applied to a beacon, its LED will blink one long flash followed by a number of short flashes equal to the Beacon ID.

Configuring the X150 Topside Beacon in SeaTac Tools

These steps are only required if you want to change the X150 Topside Beacon ID or want to mount it with its cable pointing upward. Additional settings and diagnostic tools are also available. For information about these, see the SeaTrac manuals.

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Determine the COM port assigned to the Beacon using Device Manager.
  8. Start SeaTrac Tools.
  9. If the SeaTrac Tools COM port does not match the currently assigned COM port, dismiss the error and select the correct COM port in the lower left of the SeaTrac Tools window and click on the Open button.
  10. Once connected, select the Settings tab.
  11. The SeaTrac Tools window may not open large enough to see all settings on a tab. If you don't see a setting, expand the window to expose it.
  12. Select the Transceiver sub-tab and enter the desired Beacon ID.
  13. If you plan to mount the USBL Topside Beacon with its cable connection pointing upward (which is typical), select the Beacon sub-tab and make sure the "Inverted" checkbox is checked.
  14. Click on the Apply button in the lower right of the window.
  15. Close SeaTrac Tools.

Configuring the USBL ROV Beacon in SeaTrac Tools

These steps are only required if you want to change the X010 ROV Beacon ID. Additional settings and diagnostic tools are also available. For information about these, see the SeaTrac manuals.

  1. Connect the X010 ROV Beacon to the X010 ROV Beacon Cable
  2. Connect the X010 ROV Beacon Cable to the Computer Interface / Power Cable.
  3. Connect the Computer Interface / Power Cable to the power supply.
  4. Plug the USBL power supply into a power source.
  5. Connect the X010 ROV Beacon USB into the desired USB port.
  6. Determine the COM port assigned to the Beacon. This should be the same as the COM port of the Topside Beacon - the COM port assignment actually applies to the serial device interface built into the USB connector.
  7. Start SeaTrac Tools.
  8. If the SeaTrac Tools COM port does not match the currently assigned COM port, dismiss the error and select the correct COM port in the lower left of the SeaTrac Tools window and click on the Open button.
  9. Once connected, select the Settings tab.
  10. Select the Transceiver sub-tab and enter the desired Beacon ID.
  11. Click on the Apply button in the lower right of the window.
  12. Close SeaTrac Tools.

Configuring the Beacons in PinPoint

These steps are only required if you want to confirm or change PinPoint's configuration for Beacon IDs or change any other Beacon settings.

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Start SeaTrac Pinpoint.
  8. Open the Settings using Gear icon in lower left.
  9. Click on the Beacon icon button.
  10. Double click on the X150 Topside Beacon.
  11. Select the assigned X150 Topside Beacon ID.
  12. Select the desired display color.
  13. Make any other desired changes.
  14. Click on the Check mark at the bottom to apply and save the settings.
  15. Double click the X010 ROV Beacon (the Beacon does not need to be connected to the ROV or even powered on).
  16. Select the assigned X010 ROV Beacon ID.
  17. Select the desired display color.
  18. Make any other desired changes.
  19. Click on the check mark at the bottom to apply and save the settings.
  20. Close PinPoint.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Pro 4 vs Mission Specialist Use

  • For Mission Specialist Systems, VideoRay default Beacon IDs are 1 for the X150 USBL Topside Beacon and 2 for the X010 USBL ROV Beacon.

  • The VideoRay Pro 4 requires that the Blueprint Subsea's SeaTrac PinPoint software be used. VideoRay Mission Specialist systems can use either the Greensea Workspace software, or PinPoint. When using Greensea Workspace, the mission is recorded in a coordinated set of files that can be played back synchronously. When using Pinpoint, the video and tracking recordings are independent and not synchronized. When using PinPoint on a Mission Specialist system, the PinPoint software must be run on a a Windows computer. An Ubuntu version of PinPoint is planned.
Pro 4 SeaTrac USBL

Standard Operating Procedures, 1.00.00

Troubleshooting

See the SeaTrac manual for basic troubleshooting tips. If you are unable to resolve a problem, you can try the following steps to verify the basic operation and potentially find the source of the problem.

Verify that the Beacon ID settings in PinPoint match the Beacon IDs indicated by the flashing LEDs on each beacon. If they do not match you will need to change the Beacon IDs in PinPoint or on the beacons themselves using SeaTrac Tools.

If the system reports errors when trying to start tracking, check the COM port settings for each device.

If you are not using the GPS receiver, you should remove it from the COM port setup so PinPoint does not try to open it.

If you do not see the ROV Beacon panel in the map view, you need to add the X010 ROV Beacon in the Beacon setup section of the settings.

If you are not getting ping responses from the ROV Beacon, check to make sure it is enabled on the ROV Beacon panel in the upper left of the map view. It's icon button should be highlighted. If not, click the icon button.

If you can't immediately resolve the problem using the above information follow these procedures to verify that everything is set up correctly.

  1. Power on the computer.
  2. Connect the X150 Topside Beacon to the X150 Topside Beacon Cable
  3. Connect the X150 Topside Beacon Cable to the Computer Interface / Power Cable.
  4. Connect the Computer Interface / Power Cable to the power supply.
  5. Plug the USBL power supply into a power source.
  6. Connect the X150 Topside Beacon USB into the desired USB port.
  7. Connect the GPS antenna into the desired USB port.
  8. Connect the X010 ROV Beacon to the interface cable.
  9. Connect the interface cable to the ROV.
  10. Power on the ROV.
  11. Place the Beacons near each other.
  12. Start Pinpoint.
  13. Click the Connect icon button in the upper left.
  14. Click on GPS icon button on the left.
  15. Verify the GPS is operational and the position fix is valid.
  16. Click on USBL icon button on the left.
  17. Verify the USBL Topside Beacon Attitude through all orientations.
  18. Verify the USBL Topside Beacon Heading through all bearings.
  19. If the Attitude or Heading is not correct, follow the calibration instructions in the BluePrint Subsea Beacon manual.
  20. Click on the Map icon button on the left.
  21. Make sure GPS and USBL map icon displays are enabled in the Topside Beacon panel in the upper right.
  22. Make sure ROV beacon is enabled in the ROV Beacon panel in the upper right.
  23. Click on the zoom to topside button.
  24. Verify that the topside location on map is approximately correct.
  25. Verify that the topside is pinging the ROV, receiving replies and the ROV's location is approximately correct.

If you observe any problems during the above steps, double check that the COM port settings and beacon configurations are correct. If you still cannot get it working, contact VideoRay Support for additional assistance.