Triangulation with the TA isn't nearly as good as triangulation you get with a UUV because the lines are almost parallel. A very small bearing error can lead to a significant change in range on the solution. Does that mean it's worthless? No, far from it. At times it can be quite accurate. But if you have something better to go on (like a solid unambiguous solution with a known contact speed), go with that.
Something else to keep in mind is that the first bearing lines for new contacts/sensors will be off a little because they aren't on the 2-minute interval so that is going to throw a triangulation off, and obviously there is also the issue where the TA bearing gets thrown off during turns.
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