CARIS HIPS and SIPS 10.

3 Vessel Editor

Reference Guide
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 Vessel Editor
Use Vessel Editor to create HIPS vessel files, and to edit sensor
offsets and uncertainty estimates in those files.

Vessel Editor Interface

Vessel Editor is launched from the HIPS and SIPS interface.
The image below displays a vessel file and a vessel outline in
Vessel Editor.

Sensor
Time stamps

Reference point

Vessel Editor displays a 3D wire-frame diagram of the vessel.

The display can be manipulated in three dimensions using the
3D Display controls. See 3D DISPLAY CONTROLS. The location of a
sensor is represented by a coloured dot or line. See “COLOUR OPTIONS

CARIS HIPS and SIPS Editors 45

 FOR SENSOR DISPLAY” ON PAGE 49 to change the colours of the sensor
display.
In the upper right-hand corner of the 3D display is a drop-down
list containing all the unique time stamps in the vessel file. You
can select a time stamp and view the outline configuration at
that single point in time.
Sensor data is displayed in a table below the 3D vessel outline.
This data can be edited.

HIPS Vessel File (HVF)

The HIPS and SIPS Vessel wizard is used to set the parameters
needed to create a new vessel file. The wizard takes you through
the steps to enter vessel information and sensor configuration
information based on the type of survey data.
The Vessel Wizard is launched from the New command. Step 1
of the Wizard asks for vessel information, such as the name of
the vessel and survey date. The number of dialog boxes that
follow Step 1 depends on the type of sonar selected in the step 2
dialog box.
To create an HVF using the Vessel Wizard see “CREATE A NEW HVF”
ON PAGE 30.

Once the vessel file is created you can enter the sensor position
data using a 3D outline for the vessel. See “CREATE VESSEL SHAPE
OUTLINE” ON PAGE 38.
Then you can enter or edit sensor information for the active
sensors as determined by the sensor parameters selected when
the vessel file was created. You can also designated other
sensors as active. See “SENSOR CONFIGURATION” ON PAGE 41

Open and Close Files

To open a saved file in Vessel Editor:
1. Select the Open command from the file menu.
The Open File dialog box is displayed.
2. Select the file from the list and click OK.
The file opens in Vessel Editor with the vessel’s outline
displayed in the editor, and a list of active sensors displayed in
the Sensors list box.

Vessel Configuration Files that were created in previous versions of HIPS and
SIPS can be opened and edited in Vessel Editor. The files are automatically
re-saved as HIPS Vessel Files.

46 CARIS HIPS and SIPS Editors

 To close an existing file:
1. Select the Close command from the File menu.
You are prompted to save changes made in Vessel Editor.
2. Select a Save command.
3. Click OK.
To create a text file listing the parameters entered in Vessel
Editor:
1. Open the HVF in the Vessel Editor.
2. Select the Vessel Report command. from the Tools menu.
The Save As dialog box is displayed. The default directory is
Hips\version number\HDCS_Data\VesselConfig.
Exit the Vessel Editor Close Vessel Editor and all files.
1. Select Exit from the File menu.

3D Display Controls
The outline displayed in the editor can be rotated, zoomed and
panned using the compass (control axes), keyboard, and mouse.
Compass Rotation along the X-Y-Z axis is handled by moving the arrow
heads at the ends of the compass.

1. To rotate the image up to 90º along the Z-axis, click the middle arrow
head and drag the cursor upward so that the image is rotated.
2. To rotate the image up to 360º along the X-Y axis, click any of the other
arrow heads and drag the arrow head in a left-right or up-down
direction.

CARIS HIPS and SIPS Editors 47

 3. Alternatively, the image can be rotated in the horizontal plane by
grabbing the Z-arrow, then pressing the <Ctrl> key and the left-mouse
button and moving the cursor up and down in the view. Rotation around
the Z-axis can be performed by pressing the <Shift> key and moving
the cursor left and right in these windows.
Pan There are three pan options:
• To pan along the X-Y axis: place the cursor in the 3-D area,
press the middle mouse button and drag the display to a new
location.
• To pan along the Z-axis: place the cursor in the 3-D area,
press and hold both the <Shift> key and middle mouse button
and move the cursor in the window.
• To centre the 3-D Display window on a selected point:
position the cursor over the point and click the middle mouse
button.
Zoom The zoom option is similar to pan.
1. Press and hold both the <Ctrl> key and right-mouse button while
dragging the mouse up or down to zoom in or zoom out.

Modify Toolbar
The Vessel Editor toolbar is visible below the menu bar when the
application is opened. The toolbar can be un-docked from this
location and positioned within the interface, or on your desktop.
You can also hide the default toolbar by removing the check
mark next to Toolbar on the View menu.
To make the toolbar visible again,
1. Select Toolbar from the View menu so it is checked.
Move toolbars Toolbars can be moved to any location on the desktop:
1. Position the cursor over any area of the toolbar not covered by a
button,
2. Press and hold the mouse button while dragging the toolbar to a new
location.
3. Release the mouse button to position the toolbar.
Toolbars will automatically dock when they are close to certain
areas of the interface. To stop the toolbar from automatically
docking, hold down the <Ctrl> key while moving the toolbar.
Modify appearance You can alter the appearance and size of toolbar buttons.
1. Select the Customize command.
Menu

View > Customize

The Customize dialog box is displayed.
2. Select any of the following three options by checking a box.

48 CARIS HIPS and SIPS Editors

 • Tool Tips: Display the name of a command button when the cursor is
placed over it.
• Cool Look: Remove the border outline from the buttons.
• Large Buttons: Display buttons with 32 x 32 pixel icons instead of
16 x 16 pixel icons.
3. Click OK.

Colour options for sensor display

The locations of sensors and other equipment in the Vessel
Shape 3D display are shown by colour markers. (You can set
other colours for sensor markers.)
1. Select the Options command.
Menu

Tools > Options

The Options dialog box is displayed.
2. Select the Options - Colours tab.

3. For each interface element, select a colour from the pull-down palette,
or create a custom colour from the standard Windows colour picker.
4. Click OK to activate the changes and close the Options dialog.

Vessel Shape - Step 1

Plan View This dialog box displays an outline of the vessel from the top.
There are three fields in this dialog box:
• The width of the vessel.

CARIS HIPS and SIPS Editors 49

 • The length of the vessel from the stern to the base of the bow.
• The length of the vessel from the stern to the tip of the bow.
Next Go to the next dialog box in the wizard.
Cancel Exit the wizard without implementing changes.

Vessel Shape - Step 2

Plan View RP This dialog box displays an outline of the vessel from the top.
There are two fields in this dialog box:
• The width of the vessel from the starboard to the Reference
Point.
• The length of the vessel from the stern to the Reference Point.
Back Go to the previous dialog box in the wizard.
Next Go to the next dialog box in the wizard.
Cancel Exit the wizard without making changes.

Vessel Shape - Step 3

Profile View The Profile Shape dialog box displays an outline of the vessel
from the side. There are two fields in this dialog box:
• Height of the vessel (from bottom to top of hull).
• Height of the vessel from the keel to Reference Point.
Back Go to the previous dialog box in the wizard.
Finish Complete the wizard and implement changes.
Cancel Exit the wizard without making changes.

50 CARIS HIPS and SIPS Editors

Create Vessel File
The HIPS Vessel file (HVF) defines the offset configurations and
associated error estimates for each of the sensors. These are
necessary for creating final position and depth records for survey
data.
The HIPS and SIPS workflow begins with creating an HVF, if
necessary, editing the sensor configuration data.

Vessel Files
The vessel file (HVF) in HIPS and SIPS describes the location
and calibration of sensor equipment installed on the survey
vessel. It defines the offsets and any associated error estimates
for each of the sensors.
For a description of the coordinate system upon which the vessel
configuration is based, see VESSEL COORDINATE SYSTEM.
The HVF is created in the HIPS Vessel Editor, and saved to the
folder …\HDCS_Data\VesselConfig.
If you create other data directories, the name of the
VesselConfig folder must not be changed and it always has to
be located inside the Raw Data directory on the same level as the
project directories.

In previous versions of HIPS and SIPS, a text file called the Vessel
Configuration File (VCF) was used. VCF files can still be opened and edited in
Vessel Editor, but when the file is re-saved, it is converted to HVF format.

The HVF is divided into a number of distinct sections, each

describing one type of sensor. The sections are time-tagged and
multiple entries can be defined for different time periods. These
entries can be edited in the Vessel Editor.
During the Merge process, corrected sensor data is combined
with the observed data to create a final position/depth record.

CARIS HIPS and SIPS Editors 51

Create a New HVF
A vessel file is created in HIPS Vessel Editor, a separate
application launched from within HIPS and SIPS. For a
description of the Vessel Editor and its properties, see VESSEL
EDITOR INTERFACE.
The main steps to creating and configuring a HIPS Vessel file in
Vessel Editor are:
• Open the HIPS and SIPS Vessel wizard to enter the
parameters for the vessel file, based on the type of data being
surveyed. (See NEW FILE.)
• Enter sensor position data using a 3D outline for the vessel.
(See CREATE VESSEL SHAPE OUTLINE.)
• Enter additional information such as the ellipsoid used in the
survey. (See DEFAULT ELLIPSOID.)
• Enter and edit sensor configuration data. (See SENSOR
CONFIGURATION.)

New file
Tools > Editors >
Menu

Vessel To open the Vessel Editor:

1. Click the Vessel Editor button on the Tools toolbar or select the
command from the Tools menu.
Tool

In Vessel Editor:
2. Select the New Vessel File command.
Menu

File > New The Vessel Wizard - Step 1 (Vessel Information) dialog box is
displayed.
Tool

52 CARIS HIPS and SIPS Editors

 The HVF will be saved to the \VesselConfig folder in your data
directory.
1. Select the directory holding your data, from the drop-down list.
2. Type a name to identify the vessel used in the survey.
The name must not include any spaces.
3. Click the Calendar button to insert the year and day the survey began.
The Vessel Date must be before the start of your data collection.
4. Click Next. TYPE OF SURVEY.

Type of Survey
The Step 2 dialog box prompts you to enter the sonar type used
in the survey.

CARIS HIPS and SIPS Editors 53

 1. Select a sonar type by clicking the appropriate check box.
The next step will depend on your choice of survey type
If you selected Side Scan Sonar, click Finish.
2. If you selected another survey type, click Next.
• If you selected Singlebeam, go to: MOTION SENSORS
• If you selected Multibeam, go to: MULTIBEAM
• If you selected Multi-transducer, go to: MULTI-TRANSDUCER

54 CARIS HIPS and SIPS Editors

 Multibeam
If you selected Multibeam in the Step 2 dialog box, Step 3 will
ask you for information on the sonar model and number of
transducers.

1. Select the appropriate check box to indicate that one or two

transducers were used in the survey.
2. Enter the number of beams in each transducer.
3. Select the sonar model from the drop-down list.
4. Click Next.
Continue with MOTION SENSORS.

CARIS HIPS and SIPS Editors 55

 Multi-Transducer
If you selected Multi-transducer in the Step 2 dialog box, you
now enter information on the number and types of transducers
and for TPU specific parameters.

1. Enter the Number of Transducers on a boom.

2. Select Yes if the transducers are mounted to a fixed boom or to the hull
of the vessel, or select No if the transducers are on a movable
(decoupled) boom.
3. Type the default Alongtrack value of all the transducers relative to the
ship's reference point.
4. Type the default Depth of all the transducers relative to the ship's
Reference Point.
5. Select the sonar model from the Model drop-down list.
Parameters for navigation to boom and motion recording unit
(MRU) to boom are necessary to calculate Total Propagated
Uncertainty.
6. Type the distances from the positioning system to the centre of the
boom in the Navigation to Boom X-Y-Z fields.
7. Type the distance from the motion recording unit to the centre of the
boom in the MRU to Boom X-Y-Z fields.
The Roll and Gyro misalignment values are needed for fixed-boom
system. However, for a decoupled boom, only a Gyro
misalignment value is needed.
The Squat and Heave percentage values are transducer responses
to overall heave and squat. For fixed-boom transducers this

56 CARIS HIPS and SIPS Editors

 should be 100% and less than 100% for decoupled-boom
transducers.
8. Type a degree offset in the Roll and Gyro fields.
9. Type a percentage value in the Squat and Heave fields.
10.Click Next.
Continue with CONFIGURATION OPTIONS.

Motion Sensors
This dialog box determines which attitude sensors are displayed
in the HVF.

1. Create entries for any (or all) of the following sensors by clicking the
appropriate check box:
• heave
• pitch
• roll
2. Select the Apply in Post Processing option to apply the motion data
during the Merge process or during Sound Velocity Correction.
3. Click Next.
Continue with CONFIGURATION OPTIONS.

CARIS HIPS and SIPS Editors 57

 Configuration Options
The Configuration Options dialog box is displayed

Use this dialog box to set configuration options:

• SVP (Sound Velocity Profile) pole parameters
• dynamic draft values
• waterline height variation
To include sound velocity corrections:
4. Enable the Define Parameters for Sound Velocity Corrections option.
If you select this option, an extra step is added to the wizard and
the Next button becomes active to go to SOUND VELOCITY CORRECTIONS.
To apply dynamic draft values to vessel speeds:
5. Enable the Apply Dynamic Draft option.
A draft-versus-speed table is created in the Vessel Editor. You
can enter values in this table once the vessel file is created.
To apply long period variations in the waterline height in
processing data:
6. Enable the Define Vessel Waterline Height Variation option.
7. Enable the appropriate Apply in Post Processing options, as needed.
8. Click Next if the button is active. Otherwise, click Finish.

58 CARIS HIPS and SIPS Editors

 Sound Velocity Corrections
The Sound Velocity Corrections dialog box is displayed only if
you selected the Define parameters for sound velocity corrections check box
in the Configuration Options dialog box.

In this dialog box you enter any transducer pole offsets.

Transducer head offsets must be taken into account when the
SVP is applied to the data.
1. Select the 180-degree Azimuth box if the transducer is reverse
mounted.
2. If the transducer is mounted with a large roll offset for use under
wharves or along banks, then select the Roll Offset check box
3. Type the amount of offset (in degrees) in the Roll Offset box.
4. If the transducer is mounted with a large pitch offset such that it is
pointed forward or backwards, then select the Pitch Offset check box.
5. Type the amount of offset (in degrees) in the Pitch Offset box.
6. Repeat the above steps for the second transducer if there are two
poles.
7. Click Finish.
A new HIPS Vessel File is created. You can now create an
outline for the vessel (see CREATE VESSEL SHAPE OUTLINE).

CARIS HIPS and SIPS Editors 59

Create Vessel Shape Outline
Create a 3-D outline of the vessel, by defining its length, width
and height, as well as the position of the reference point in the
vessel.
You can also revise an existing vessel outline.
Menu

Edit > Vessel Shape 1. Open the vessel file if it is not already open.
2. Select the Vessel Shape command.
Tool

The Plan View Shape dialog box is used for entering width and
length of the vessel.

1. Enter a width for the vessel in metres, measured from port to starboard.
2. Enter vessel length for the vessel from stern to the base of the bow.
3. Enter the length from the stern to the tip of the bow.
4. Click Next.
The Plan View PR dialog box is displayed. It is used to set the
position of the Reference Point (RP).

60 CARIS HIPS and SIPS Editors

 1. Type the distance from the stern to RP.
2. Type the distance from the starboard side to the RP.
3. Click Next.
The Profile View Shape dialog box is displayed.

Set the height measurements for the vessel:

1. Type the height of the vessel.
2. Type the height of the vessel RP from the keel.
3. Click Finish.

CARIS HIPS and SIPS Editors 61

 The outline of the vessel is displayed in Vessel Editor.

Sensor Time stamps

Reference point

Negative values are used for these measurements:

• from the origin (crosspoint of the axes) to port on the X axis,
• from the origin aft towards the stern on the Y axis,
• from the origin point up, on the Z axis.
Negative values on the axes are displayed with a minus sign (-).

62 CARIS HIPS and SIPS Editors

Sensor Configuration
The active sensors listed in the Vessel Editor are determined by
the sensor parameters you selected when creating the vessel file.
If you want to add data for a sensor not already included in the
vessel file, you can add a sensor to the list and enter its data.
You can also remove a sensor and its values from the vessel file.

Active Table of values related to the highlighted sensor.

sensors

In general, if sensor offsets or calibration values have already

been applied to logged data during data acquisition, then do not
enter the same offsets and calibration parameters in the Vessel
Editor.
Also, if compensation for heave, pitch, and roll has already been
made to the recorded sounding data during data acquisition, for
example as in Kongsberg data, then it must not be applied
again.

Active sensors
To add or remove sensors from the list of active sensors:
Menu

Edit > Active Sensors

1. Select the Active Sensors command.
Tool

The Active Sensors dialog box is displayed.

CARIS HIPS and SIPS Editors 63

 If a box is checked, the sensor is included in the vessel file and
displayed in the Editor table.
2. Check or clear the sensor check boxes as required.
3. Click OK.
The list is refreshed to show the selected active sensors.

Time Stamp
A vessel’s configuration changes over time. Different draft
settings may be used in a survey, or the position of the
transducers on a boom may change, or a different ellipsoid may
be used. A time stamp is used to keep track of these changes.
The time stamp records the time from which a configuration is
valid and is recorded with each entry to the HVF. Below is an
example of time stamps showing changes in vessel
configuration.

new nav. new nav.

antenna new ellipsoid/ antenna
new draft
position error datum position

1999-127 1999-263 2000-149 2000-170

14:10:1 09:23:0 17:10:3 10:0:0

Time in HIPS is based on the recorded reference time. No distinction is made

for UTC.

Time Correction
In the HVF, most sensors have a Time Correction field that contains
the time difference between the sensor clock and the reference
clock. Sensors are time tagged and all clocks are compared to the
reference clock so sensor readings can be synchronized.
The Time Correction field is specified in seconds and is positive if
ahead of the reference clock:

Time Correction = Recorded Time - Reference Time

64 CARIS HIPS and SIPS Editors

Sensors
Different sensors can require specific edits applied to the
parameter data. The following sections explain the individual
sensor data fields.
• “TRANSDUCER” ON PAGE 65
• “NAVIGATION” ON PAGE 67
• “GYRO” ON PAGE 69
• “HEAVE” ON PAGE 69
• “PITCH” ON PAGE 70
• “ROLL” ON PAGE 71
• “DYNAMIC DRAFT” ON PAGE 72
• “SVP” ON PAGE 73
• “SWEEP” ON PAGE 74
• “TOWED SENSORS” ON PAGE 75
• “WATERLINE HEIGHT” ON PAGE 76
• “TPU -TOTAL PROPAGATED UNCERTAINTY” ON PAGE 76

Transducer
The swath or multibeam sonar typically has beams that form a
fan shape, radiating from the centre of the transducer.
1. Click Transducer1 in the Sensors list box to highlight the selection and
display the swath data fields.
2. Type data as needed in the following fields:
• Date: The year and Julian day of current swath time stamp.
• Time: The hour and minute of the current swath time stamp.
• Time Correction: The time correction value.

The X-Y-Z fields set the location of the transducer from the
Reference Point (0).
• X: The athwart-ship distance of the transducer, positive to
starboard.
• Y: The along-ship distance of the transducer, positive to the
bow.
• Z: The vertical distance of the transducer, positive into the
water.
The Pitch, Roll and Yaw fields refer to misalignment of the
transducer, during mounting, from the vessel coordinate system.

CARIS HIPS and SIPS Editors 65

 • Pitch: The offset is positive when rotating the transducer
towards the bow (bow up).
• Roll: The offset is positive when rotating the transducer away
from starboard (starboard down).
• Yaw: Indicates the horizontal rotational offset and is positive
for a clockwise rotation.
• Manufacturer: The maker of the transducer.
• Model: The particular make of transducer. The model
information is necessary for the calculation of Total
Propagated Uncertainty.
• Serial Number: The serial number of the transducer.

Since the Kongsberg data read into HIPS is already corrected, the Transducer
values in the HVF must be set as follows:
• The X/Y/Z offsets are zero because the Kongsberg data
acquisition has already applied static draft and shifted the swath
profile to the vessel reference point.
• The Roll /Pitch /Yaw transducer mounting rotations are typically
zero because the Kongsberg data acquisition has already
applied patch test calibration results.

66 CARIS HIPS and SIPS Editors

 Navigation
The navigation section of the HVF describes the location of the
navigation source (for example, antenna or motion sensor). This
section is used as a link between the fixed positioning coordinate
system and the instantaneous vessel coordinate system.
Navigation can loaded from multiple sources for each line, and
each of these sources can have their own configuration in Vessel
Editor. If a configuration is not specified for a specific source
type, the default Navigation sensor configuration is used.
To configure navigation sources:
1. Click Navigation in the Sensors list box to highlight the selection and
Edit > Add Navigation enable the navigation data fields.
Menu

Sources
2. Select the Add Navigation Sources command.
The Add Navigation Sources dialog box is displayed.
Tool

3. Select the sources for the project from the list of available formats.
4. Click OK.

CARIS HIPS and SIPS Editors 67

 Each of the selected sources will be listed in the sensors table.

5. Type data as needed in the following fields:

• Date: The year and Julian day of the current navigation time stamp.
• Time: The hour and minute of the current navigation time stamp.
• Time Correction: The time correction value.
The X-Y-Z fields set the location of the navigation source from the
Reference Point (0).
• X: The athwart-ship distance of the source, positive to
starboard.
• Y: The along-ship distance of the source, positive towards the
bow.
• Z: The vertical distance of the source, positive into the water.
• Ellipsoid: From the drop-down list, select the ellipsoid on
which the navigation is based. The ellipsoid should be the
same as the one used in the survey.

If you will be applying GPS tide data it must use the ellipsoid selected here.

• Manufacturer: The maker of the navigation equipment.

• Model: The particular make of navigation equipment.
• Serial Number: The serial number of the navigation
equipment.

68 CARIS HIPS and SIPS Editors

 Gyro
The gyro sensor refers to any device providing a heading
orientation of the vessel.
1. Click Gyro in the Sensors list box to highlight the selection and display
the gyro data fields.
2. Type data as needed in the following fields:
• Date: The year and Julian day of the current gyro sensor time
stamp.
• Time: The hour and minute of the gyro sensor time stamp.
• Time Correction: The time correction value.

The Gyro Error is measured in degrees and is the difference

between the recorded sensor value and the applied heading of
the vessel:
Applied Heading = Recorded value - Gyro Error.
3. Click an Edit button in the Error column to open the Gyro Error Table.

4. Type new values in the Gyro and Error fields and click OK.
The Error Table is closed.
5. Type data as needed in the following fields:
• Manufacturer: The maker of the sensor equipment.
• Model: The particular make of sensor equipment.
• Serial Number: The serial number of the sensor equipment.

Heave
The heave sensor records the vertical motion of the vessel.
Although the heave sensor has its own section in the Vessel
Editor, it is part of the same sensor package as Pitch and Roll in
most survey configurations.

CARIS HIPS and SIPS Editors 69

 1. Click Heave in the Sensors list to highlight the selection and display the
data fields.
2. Type data (as needed) in the following fields:
• Date: The year and Julian day of the current heave sensor time
stamp.
• Time: The hour and minute of the current heave sensor time stamp.
• Time Correction: The time correction value.
The X-Y-Z fields set the location of the heave sensor from the
Reference Position (0).
The X-Y-Z location of the heave sensor must be defined ONLY
when you intend to apply heave data during Merge AND when
remote heave compensation is necessary.
• X: The athwart-ship distance of the sensor, positive to
starboard.
• Y: The along-ship distance of the sensor, positive to the bow.
• Z: The vertical distance of the sensor, positive into the water.
• Error: The applied instantaneous values for the heave sensor
are computed by subtracting the appropriate errors from the
recorded values:
Applied Heave = Recorded Heave - Heave Error.
• Apply: Select Yes to apply heave data in the merge process.
• Manufacturer: The maker of the sensor equipment.
• Model: The particular make of sensor equipment.
• Serial Number: The serial number of the sensor equipment.
The location of the heave sensor is shown in the Vessel Editor by
a coloured dot.

Kongsberg systems apply dynamic Heave, Pitch, and Roll values to the swath
data during survey. Therefore, the HVF must be set up with the Apply switches
for Heave, Pitch, and Roll set to '”No” so these values are not applied twice.

Pitch
Pitch refers to the rotational motion of the vessel around the X-
axis (port/starboard). Although the pitch sensor has its own
section in the Vessel Editor, it is part of the same sensor package
as roll and heave in most survey configurations.
1. Click Pitch in the Sensors list box so the selection is highlighted and the
data fields are displayed.
2. Type data (as needed) in the following fields:
• Date: The year and Julian day of the current pitch time stamp.

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 • Time: The hour and minute of the current pitch time stamp.
• Time Correction: The time correction value.
• Error: The applied instantaneous values for the pitch sensor are
computed by subtracting the appropriate errors from the recorded
values:
Applied Pitch = Recorded Pitch - Pitch Error.
• Apply: Select Yes to apply the pitch data in the merge process.
• Manufacturer: The maker of the sensor equipment.
• Model: The particular make of sensor equipment.
• Serial Number: The serial number of the sensor equipment.
The location of the pitch sensor is indicated in the Vessel Editor
by a coloured dot.

Kongsberg systems apply dynamic Heave, Pitch, and Roll values to the swath
data during survey. Therefore, the HVF must be set up with the Apply switches
for Heave, Pitch, and Roll set to '”No” so these values are not applied twice.

Roll
Roll refers to the rotational motion of the vessel around the Y-
axis (fore/aft). Although the roll sensor has its own section in the
Vessel Editor, it is part of the same sensor package as pitch and
heave in most survey configurations.
1. Click Roll in the Sensors list box to highlight selection and display the
roll data fields.
2. Type data (as needed) in the following fields:
• Date: The year and Julian day of the current roll time stamp.
• Time: The hour and minute of the current roll time stamp.
• Time Correction: The time correction value.
• Error: The applied instantaneous values for the roll sensor are
computed by subtracting the appropriate errors from the recorded
values:
Applied Roll = Recorded Roll - Roll Error.
• Apply: Select Yes to apply the roll data in the merge process.
• Manufacturer: The maker of the sensor equipment.
• Model: The particular make of the sensor equipment.
• Serial Number: The serial number of the sensor equipment.
The location of the roll sensor is indicated in the Vessel Editor by
a coloured dot.

Kongsberg systems apply dynamic Heave, Pitch, and Roll values to the swath
data during survey. Therefore, the HVF must be set up with the Apply switches
for Heave, Pitch, and Roll set to '”No” so these values are not applied twice.

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 Dynamic Draft
The squat and lift of a vessel changes as the speed changes. For
some vessels, if the squat/lift is not accounted for, significant
errors are introduced into the soundings. In this section, you can
specify up to 10 speed-draft value pairs. During merge, the
difference between the instantaneous draft and the static draft
is computed and the final depth compensated.
Draft is measured in metres/feet, and speed is measured in
knots. All draft values should be relative to the same reference,
but the actual reference is not important. The first Speed-Draft
pair must correspond to a state where no draft correction is
necessary. The delta draft values, relative to the initial draft, are
computed and used to correct observed soundings.
This formula is used to correct soundings for dynamic draft:
Depth = observed depth – waterline + delta draft.
Delta draft is computed from the present vessel speed, as
derived from the navigation system.
1. Click Dynamic Draft in the sensors list box to highlight the selection and
display the dynamic draft data fields.
2. Type data as needed in the following fields:
• Date: The year and Julian day of the current time stamp for the draft
table.
• Time: The hour and minute of the current time stamp for the draft
table.
• Apply: Select Yes to apply the table during merge (or No to not
apply the table).
3. Click Edit in the Error field.
A dialog box containing a table with up to 10 speed-draft pairs is
displayed.

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 4. Click inside the Speed cell and type a speed value.
5. Click inside the Draft cell and type a corresponding draft value.
6. Continue entering speed /draft pairs as needed.
7. Click OK.
The speed-draft table is saved in the HVF.

SVP
A sound velocity profile (SVP) records the speed of sound at
various depths in the water column. HIPS lets you apply SVP
data in sound velocity corrections, but not for all types of sonars
because some sonar data logging systems compensate for sound
velocity during data acquisition.
To ensure the SVP is accurately applied in HIPS, the transducer
X-Y-Z offset values must be entered.
1. Click SVP 1 in the Sensors list box.
The selection is highlighted and the SVP transducer data fields
are visible. If there is a second transducer then click SVP 2 and
complete the same procedures as listed below.
2. Type data as needed in the following fields:
• Date: The year and Julian day of the current SVP pole time stamp.
• Time: The hour and minute of the current SVP pole time stamp.
3. Select Yes if there are dual transducers or No if there is only a single
transducer.
The following three fields are for entering the X-Y-Z coordinates
of the pole. All coordinates are measured from the Reference
Point.
4. Type the transducer’s X-Y-Z offsets in the following fields:
• X: The athwart-ship distance of the transducer, positive to
starboard.
• Y: The along-ship distance of the transducer, positive to the bow.
• Z: The vertical distance of the transducer, positive into the water.

The Reference Point for Kongsberg data is the centre of rotation. It

should be possible to retrieve offset values from the Kongsberg
Installation Datagram.

The next fields refer to the alignment of the transducer. The

values you entered in the wizard when creating the HVF are
displayed in these fields. The fields are only to be used for large
transducer mounting offsets.
• Pitch: Pitch offsets of the transducer.
• Roll: Roll offsets of the transducer.

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 • Yaw: Rotation of the transducer (either 0 or 180 degrees).
For information on setting the sound velocity corrections, see
“SOUND VELOCITY CORRECTIONS” ON PAGE 59.

Sweep
Sweep systems typically contain multiple vertical beam
transducers mounted on a boom and pointed straight down. The
reference point for a sweep system can be anywhere on the X-Y
plane, but must be on the water surface.
1. Click Sweep in the Sensors list box to highlight the selection and display
the data fields.

2. Type data as needed in the following fields:

• Date: The year and Julian day of the current sweep time stamp.
• Time: The hour and minute of the current sweep time stamp.
• Time Correction: The time correction value.
• Transducers: Number of beams mounted on the boom.
3. Click the Edit button in the Transducer Status field.
The table of values for individual beams on the boom is
displayed.

4. Type values in the fields and click OK.

5. Click Edit in the TPU Status field.

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 The TPU Settings dialog box is displayed. Enter TPU values for
each beam on the boom and edit values entered during creation
of the new vessel file in the wizard.

6. Type values as needed and click OK.

Towed Sensors
If a towed sensor such as a side scan sonar is used on a survey,
then HIPS and SIPS can compute the sensor’s position relative
to the ship's position by calculating the horizontal layback and a
direction to the sensor.
1. Click Towed in the Sensors list box to highlight the selection and display
the Towed data fields.
2. Type data as needed in the following fields:
• Date: The year and Julian day of the current towed sensor time
stamp.
• Time: The hour and minute of the current towed sensor time stamp.
• Time Correction: The time correction value.
• Layback Error: The error in the computed or recorded horizontal
layback. This can be used, for example, to compensate the
recorded layback data or tow cable length for the distance between
the origin of the measurements and the defined tow point location in
the tow cable length. This value is subtracted from the computed
horizontal layback.
• X: Offset of the tow point from the vessel’s reference position.
• Y: Offset of the tow point from the vessel’s reference position.
• Z: Height of the tow point (negative upwards) in relation to the
datum that is referenced to the sensor depth (in most cases, this is
the waterline height).
• Manufacturer: The maker of the towed sensor.

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 • Model: The make of the towed sensor.
• Serial Number: The serial number of the towed sensor.

Waterline Height
This section of the vessel file defines long-period changes in the
vessel's draft due to fuel burn or other loading changes.
Specifically, it defines the height of the waterline below the
Reference Point.
If the Waterline Height is not defined here, HIPS uses a default
of zero as the height.
If you want waterline height to be applied during sound velocity
correction, there must be a value in the Waterline Height section
of the HVF.

No interpolation of waterline height is done during sound velocity correction.

1. Click Waterline Height in the Sensors list box to highlight the selection
and display the waterline data fields.
2. Type data (as needed) in the following fields:
Date: The year and Julian day of the current waterline time stamp.
Time: The hour and minute of the current waterline time stamp.
Waterline: The distance from the RP, positive when below the RP.
Apply: Select Yes to apply the waterline data in the Merge process.
Comments: A text field for your use.

For Kongsberg data, the Waterline value must be set to the same value
recorded as WLZ in the Kongsberg Installation Datagram.
This Waterline value will only be used during Sound Velocity Correction.
Set the Apply switch to “No”. If it is set to “Yes”, it will be applied twice, once in
SVC and again in Merge.

TPU -Total Propagated Uncertainty

The values entered here will be used in the calculation of Total
Propagated Uncertainty (TPU). TPU is derived from a
combination of estimates of the accuracy of each individual
sensor, estimates such as.
• nav/gyro/heave/pitch/roll/tide errors
• latency error estimate
• sensor offset error estimates

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 These uncertainty estimates are combined with individual sonar
model characteristics in DeviceModels.xml to calculate
horizontal and vertical uncertainty values for every sounding
along a track line when TPU is applied
Sensor accuracy values for various sonar types can be viewed on
the TPU Computation Resource page of the CARIS web site
www.caris.com/tpu.
Sensor accuracy values for TPU must be entered as 1-sigma.
1. Expand the TPU section of the HVF by clicking the + icon.
2. Type data as needed in the Offsets section:
• MRU to Transducer: The physical offset in three dimensions from the
motion recording unit to transducer 1 on the vessel.
• MRU to Transducer2: The physical offset in three dimensions from the
motion recording unit to transducer 2 on the vessel.
• Navigation To Transducer: The physical offset in three dimensions
from the navigation antenna to transducer 1 on the vessel.
• Navigation To Transducer2: The physical offset in three dimensions
from the navigation antenna to transducer 2 on the vessel.
• Transducer Roll: The mounting roll offset for transducer 1. The offset
is positive when rotating the transducer away from starboard
(starboard down).
• Transducer Roll 2: The mounting roll offset for transducer 2. The
offset is positive when rotating the transducer away from starboard
(starboard down).
3. Uncertainty values used Type data as needed in the Standard
Deviation section:
• Motion Gyro: The measurement standard deviation of the heading
data in degrees.
• Heave % Amplitude: An additional heave standard deviation
component that is the percentage of the instantaneous heave.
• Heave (m): The measurement for standard deviation of the heave
data. Most heave manufacturers quote heave error as being
determined from StaticHeave or PercentageOfHeave depending on
which value is larger.
• Roll: The measurement standard deviation of the roll data in
degrees.
• Pitch: The measurement standard deviation of the pitch data in
degrees.
• Position Nav: The standard deviation associated with the
measurement of positions for the vessel. This is usually the error of
the GPS sensor being used.
• Timing Trans: Standard deviation in transducer time stamp
measurement.
• Nav Timing: Standard deviation in navigation time stamp
measurement.
• Gyro Timing: Standard deviation in gyro time stamp measurement.

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 • Heave Timing: Standard deviation in heave time stamp
measurement.
• Pitch Timing: Standard deviation in pitch time stamp measurement.
• Roll Timing: Standard deviation in roll time stamp measurement.
• Offset X: Standard deviation for the X measured offset on the vessel.
• Offset Y: Standard deviation for the Y measured offset on the vessel.
• Offset Z: Standard deviation for the Z measured offset on the vessel.
• Vessel Speed: The standard deviation for the vessel speed
measurements.
• Loading: Vertical changes during the survey because of fuel
consumption, etc.
• Draft: The standard deviation in the vessel draft measurements.
• Delta Draft: The standard deviation in the dynamic vessel draft
measurements.
• MRU Align StdDev Gyro: This value is the uncertainty of the motion
recording unit placement within the vessel fixed coordinate frame.
• MRU Align StdDev Roll/Pitch: This value is the uncertainty of the
motion recording unit placement within the vessel fixed coordinate
frame.
• Comments: Any additional information.

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Vessel Coordinate System
Vessel configuration is based on a three-dimensional coordinate
system, which is used to record the location of sensors and other
equipment, as illustrated below.

Reference Point Sensor positions are described using X-Y-Z axis coordinates
relative to a Reference Point (RP). The RP is a location from
which all other positions are derived.
The location of the RP depends upon the type of sonar system
used in the survey. Its location is usually at the centre of gravity
of the ship. This position is used as the centre of the ship’s
rotation when applying the pitch/heave/roll parameters, and
must be applied as accurately as possible.
Coordinate definitions The axes are defined as follows:
• The Y-axis is oriented along the vessel’s fore/aft axis, positive
forward.
• The X-axis is oriented along the vessel’s port/starboard axis,
perpendicular to the Y-axis, positive to the starboard.
• The Z-axis is perpendicular to the X-Y plane, and positive into
the water.
This is illustrated in the following image.

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 The location of the vessel’s coordinate system within the local
fixed coordinate system is determined by the navigation system
and tide. The orientation of the coordinate system is defined by
the vessel’s gyro and attitude sensors (pitch and roll). Gyro,
pitch and roll observations are defined as follows:
• A positive gyro observation is defined as the clockwise
rotation of the vessel (from 0 and 360 degrees) within the
navigation coordinate system.
• A positive pitch is observed when the bow of the vessel is
down (bow down).
• A positive roll is observed when the starboard side of the
vessel is up (starboard up).

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Default Ellipsoid
The HVF must contain the ellipsoid and datum used by the
navigation system in the survey vessel, regardless of whether or
not the data contains projection coordinates or geographic
coordinates.
The list of available ellipsoids is maintained in the file named
datum.dat referenced by the environment variable named
uslXdatum. By default, this file is located in the System
directory.
Set the ellipsoid for a new vessel file to be the same as the one
used in the survey.
Menu

Tools > Options

1. Select the Options command.
The Options dialog is displayed.

2. Select the General tab.

3. Select an ellipsoid from the list.
4. Click OK.
You are returned to Vessel Editor and the name of the ellipsoid
is displayed in the Navigation section.

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82 CARIS HIPS and SIPS Editors