UM-CASIUS 6

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Issue A Rev 1

Date of Issue: 2nd August 2018

Sonardyne International Limited T. +44 (0) 1252 872288

Blackbushe Business Park F. +44 (0) 1252 876100
Yateley, Hampshire E. support@sonardyne.com
GU46 6GD, United Kingdom www.sonardyne.com
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© 2018 Sonardyne International Limited. All rights reserved.

This user manual is the copyright and intellectual property right of Sonardyne International Limited
(“Sonardyne”) and is provided solely for the customer’s use of the Sonardyne equipment as described
in this user manual and in accordance with Sonardyne’s then prevailing terms and conditions of sale.
This user manual has been compiled to the best of Sonardyne’s knowledge and belief, but no
representation, warranty (whether express or implied) or guarantee is made to any persons or legal
entities as to the accuracy, reliability or completeness of the information contained in this user manual.
This user manual contains the proprietary, confidential information of Sonardyne and other third parties
and as such may not be used, disclosed or placed in the public domain (by whatever means) by the
customer except expressly in accordance with and subject to the above referenced terms and
conditions of sale.
The copyright and any and all intellectual property rights of any and all third parties which may be
referenced in this user manual or which may have provided proprietary products and/or software
and/or documentation (in whatever format) to Sonardyne in respect of the Sonardyne equipment as
described in this user manual are hereby duly acknowledged. The provision of any and all such
products and/or software and/or documentation by Sonardyne shall be subject to and in accordance
with the relevant third parties’ terms and conditions or the Sonardyne then prevailing conditions of sale,
as appropriate.
The Sonardyne equipment described in this user manual is protected by various UK and US Patents
and other patents internationally and registered trademarks of Sonardyne International Limited.

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Contacting the Sonardyne Support Team

24-hour Emergency Telephone Helpline: +44 (0) 1252 877600
The Sonardyne 24-hour helpline is answered at the UK Headquarters during normal office hours
(08:00 to 17:00). Outside these hours, your call is automatically transferred to an agency, which logs
the details of your emergency and alerts the appropriate Sonardyne personnel.
Our aim is to make sure emergency requests are dealt with immediately during office hours, and are
responded to within 30 minutes at all other times.
Please note the helpline is for emergency use only.
If you require NON-EMERGENCY product support, please contact your nearest Sonardyne office.
Alternatively, contact the Sonardyne Head Office:
Sonardyne International Ltd
Blackbushe Business Park
Yateley
Hampshire
GU46 6GD
United Kingdom
Telephone: +44 (0) 1252 872288
Fax: +44 (0) 1252 876100
Email: support@sonardyne.com
Note
Email and telephone support is available during normal UK office hours (08:00 to 17:00).

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Contents
Contacting the Sonardyne Support Team ii
Amendment History v
Section 1 – Introduction 1
1.1 Scope of this Manual 1
1.2 Purpose of this Manual 1
1.3 Related Publications 1
1.4 Conventions 1
Section 2 – Technical Description 2
2.1 CASIUS 6 Overview 2
2.2 Calibration Verification 3
2.3 Calibration Procedure 3
Section 3 – CASIUS 6 Calibration Processing 4
3.1 Introduction 4
3.1.1 Opening CASIUS 6 in Marksman and Ranger 2 4
3.2 CASIUS 6 Configuration and Data 7
3.2.1 Configuration Settings 7
3.2.2 Data 10
3.3 Processing the Data Collection 10
3.3.1 Process 10
3.3.2 Plots 12
3.4 Exporting Results 16
3.5 CASIUS 6 Calibration Report 17
3.6 Loading and Saving CASIUS 6 Data Collection Exports 24
3.6.1 Loading a Data Collection Exported File 24
3.6.2 Saving a File Processed Data Collection 24
Section 4 – CASIUS 6 Frequently Asked Questions 26
Appendix A – Manually Opening CASIUS 6 29
A.1 Introduction 29
A.2 Opening CASIUS 6 29
A.3 Loading and Saving CASIUS 6 Data Collection Exports 29

Figures
Figure 2–1 Data Collection Example 2
Figure 3–1 CASIUS 6 Calibration Report 19

Tables
Table 1–1 Related Publications 1
Table 1–2 Conventions used in this Manual 1
Table 3–1 Configuration - Engine Settings 8
Table 3–2 Configuration - Sound Speed Settings 9

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Table 4–1 CASIUS 6 Frequently Asked Questions 26

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Amendment History
The amendment history records all amendments and additions made to this manual.
Issue Revision Date Comments Section Page
A 1 20-07-2018 CASIUS 6 First Issue with MM/R2 V6.00 All All

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Section 1 – Introduction
1.1 Scope of this Manual
This manual refers to the Calibration of Attitude Sensors In USBL Systems (CASIUS 6) software,
introduced with Marksman and Ranger 2 V6.00. It provides important information about the software
and how to calibrate and operate it safely and effectively.
Note
Some features shown in the software screen captures may not be available in your installation,
depending on the exact product and options purchased.

1.2 Purpose of this Manual

This manual contains information for anyone involved with operating and diagnosing CASIUS 6
software together with Marksman and Ranger 2 systems.
This manual may be printed in part or whole by the user but cannot be copied or changed. Copyright of
this manual remains with Sonardyne International Limited at all times.

1.3 Related Publications

Table 1–1 Related Publications

Publication Title
UM-8250 Marksman L/USBL, Ranger 2 Pro/Survey/DP USBL V6.00 User Manual
UM-8251 Ranger 2 USBL V6.00 User Manual
UM-8245 Mini-Ranger 2 USBL User Manual

1.4 Conventions
Table 1–2 Conventions used in this Manual

Format Conventions
Boldface Type User Input, Menu Options, Keys, e.g. Click OK
Italic Type References to Figures, Tables, Sections and other internal/external source
Arrow (> ) Selection of an additional menu item e.g. File > Save

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Section 2 – Technical Description

2.1 CASIUS 6 Overview
CASIUS 6 USBL calibration tool is a Microsoft Windows® based software application installed with
Marksman and Ranger 2 software applications. CASIUS 6 optimises the performance and accuracy
of Ultra-Short BaseLine (USBL) acoustic positioning systems by accurately calibrating a vessel’s
attitude sensors such as Gyros and Vertical Reference Units (VRUs).
CASIUS 6 can use the location and time that the data is collected at to model, and correct for changes
in tide and refraction.
The process starts by deploying a reference acoustic transponder on the seabed. Next, the vessel
sails in a pre-determined calibration pattern over and around the transponder whilst simultaneously
collecting DGPS, USBL, VRU and Gyro Compass data. During this process, the data is logged by the
USBL system and CASIUS application for post-processing.
The data collection area should be set to one third of the water depth, but at least 40 metres and no
more than 500 metres (Sonardyne changed the data collection area from half to one third of water
depth when Wideband was adopted due to the increased range accuracy and to save time).

Figure 2–1 Data Collection Example

Notes
Data collection should be turned off when the vessel is outside the data collection area.

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Once the vessel has performed its calibration pattern over the seabed transponder, the DGPS and
USBL acoustic range data is processed by CASIUS to compute an unbiased estimate of the
reference beacon position, the grid sound velocity and the antenna offsets.
USBL data is then compared with predicted data from the DGPS/reference transponder to estimate
the pitch, roll and heading errors.

2.2 Calibration Verification

The Average Fix Tool can be used to confirm that an existing USBL system calibration is still valid, and
so avoid the need to spend valuable time re-calibrating the system unnecessarily. The tool allows a
report of current system settings, and performance to be produced, which when compared to the
result of the previous CASIUS 6 calibration can be used to decide whether a new calibration is
required.
A transponder is placed on the seabed, either at an arbitrary position, or a known location co-ordinate,
and the vessel carries out some basic manoeuvres, such as spins, or figures of eight above the
transponder, before sailing a short distance away. The tool produces an estimate of the position of the
transponder with respect to the GNSS, and the spread. A report can be generated that provides the
installation settings that were used, and the achieved position performance. This report can be either
used as evidence of the performance of the system following a fresh calibration, or as evidence that
the existing calibration achieves the required survey performance, and so a new calibration was not
necessary.

2.3 Calibration Procedure

CASIUS 6 achieves improved accuracy and precision by working directly from the Sonardyne
Wideband signals, modelling tidal variation during the data collection, and compensating for refraction
to estimate misalignments between the USBL transceivers and other reference sensors.
Data that may have already been collected for verifying the existing calibration can be supplemented
with additional data either from fixed locations spread around a transponder that has been placed on
the seabed, or by carrying out recommended manoeuvres while collecting GNSS, AHRS and USBL
data. The modelling of tidal changes, means that data collected at different stages of the tide can be
accurately processed.
CASIUS 6 then computes an unbiased estimate of the position of the seabed transponder, the lever
arm between the USBL and the GNSS antenna, and the pitch, roll and heading misalignments
between the USBL transceiver and the reference sensors. A report can be generated that
summarises the performance of the system before, and after the calibration. This report is commonly
included within a survey report.

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Section 3 – CASIUS 6 Calibration Processing

3.1 Introduction
CASIUS 6 is opened from the Marksman and Ranger 2 application.
CASIUS 6 can also be manually opened from the Windows® Start menu; see Appendix A "Manually
Opening CASIUS 6".

3.1.1 Opening CASIUS 6 in Marksman and Ranger 2

1. In Marksman/Ranger 2 select Tools>CASIUS.

2. CASIUS 6 opens on the Data Collection tab ready to start data collection.

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3. On the Data Export tab, selected Data Collection legs can be exported ready for processing.

4. After the export has completed CASIUS 6 displays the the Results and Plots as shown in the
examples below.
Note
A Data Collection export must first be performed before the CASIUS Process window opens
(shown below).

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5. The GNSS positions for each Data Collection leg are also displayed; see Section 3.3.2.

Note
The exported Data Collection file (.CAS2 file) can also be opened manually outside of
Marksman/Ranger 2 for processing; see Appendix A "Manually Opening CASIUS 6".

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3.2 CASIUS 6 Configuration and Data

3.2.1 Configuration Settings
The Configuration tab displays Engine and Sound Speed Settings and instruments that were
selected for the Data Collection.
Note
If there are multiple devices for each setting, select the devices to be used for processing. This can
be useful to compare the trending performance of the system using different sensors.

Tooltips are displayed for some Engine Settings options by moving the cursor over the selection.

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The Engine Settings are described in Table 3–1.

Note
After changing settings, click "Apply" to update the Engine Settings.

Table 3–1 Configuration - Engine Settings

Item Description
Max Iterations Not normally modified
Convergence Threshold Not normally modified
Mode Box-in of beacon only, or estimate USBL alignment + beacon
MAD Threshold Median Absolute Deviation (lower valus cause more data to be
identified as outliers; higher values cause fewer measurements to
be identified as outliers)
Exclude Outliers Exclude or weight against outliers
Use Priors Use initial values as observations of values being computed
Estimate Height Offset Estimate the difference in depth between USBL transceivers (only
with more than one USBL)
Height Correction Allows use of GNSS height, or a tidal model to compensate for
tide during the collection
Seperate Box-in and Angular Calculations Process box-in before estimating angular corrections, or optimise
both at the same time
Refraction Correct Estimate correction for refraction
Deweight Angle Deweight elevation estimates above this angle (sometimes useful
in shallow water)

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Sound Speed Settings

The Surface and Average Sound Speed and Error can be manually entered or the system will
calculate these if Use Auto is selected.
When entering Sound Speed Settings manually, it's recommended to compare the values being
entered to the Auto values. Large discrepancies may indicate errors.
Note
After changing settings, click "Apply" to update the Sound Speed Settings.

Table 3–2 Configuration - Sound Speed Settings

Item Description
Surface Sound Speed Sound speed at the transducer depth
Surface Sound Speed Error Estimate of accuracy
Average Sound Speed Average through water column
Average Sound Speed Error Estimate of accuracy
Use Auto No measurement is available

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3.2.2 Data
The Data tab displays the start and end time and how many ranges were performed by each beacon
for each leg. The number of ranges in each leg should be statistically meaningful.
In the Used column, legs can be selected/cleared to test for bad or biased data and the Data
Collection can be re-processed; see Section 3.3.
Note
Unselecting individual legs in the ‘Data’ tab (below) before clicking ‘Process CASIUS’ excludes
them from the result.
Unselecting individual "CASIUS Data" legs in the chart legend does not change the
result, but allows the operator to check that the none of the datasets are biased from the central
solution.

3.3 Processing the Data Collection

Before processing, it is recommended to adjust settings (see Section 3.2) to optimise the Data
Collection before comparing and reviewing the results.

3.3.1 Process
1. Click Process>Process CASIUS to start processing the Data Collection.

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2. The Results tab displays the corrected transceiver offsets and the beacon before and after
positions.

3. The CASIUS Plots window displays the vessels GNSS position for each Data Collection leg
and a set of tabs displaying backplots based on the beacons selected in the Data Collection; see
Section 3.3.2.

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3.3.2 Plots
The Plots can be displayed and interacted with as follows:
l On the right side of the plot each leg can be individually selected by selecting/clearing the
check box.
l Moving the cursor over a CASIUS Data leg highlights that trace on the chart.
l Scrolling the mouse wheel zooms in and out of the backplot.
GNSS
CASIUS Data 6 leg selected.

CASIUS Data 2, 4, 5 and 7 selected.

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2D Before 2701
All CASIUS Data legs and Drms selected.

2D After 2701
It can be seen that the North and East data points are more tightly compacted after the process.

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3D Before 2701
On the 3D plots the image can be rotated 360° in any direction by clicking the image, holding the left
mouse button and then moving the mouse.

The image below has been rotated.

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3D After 2701

The 3D After 2701 plot below has been rotated.

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The 3D After 2701 plot below has been rotated.

3.4 Exporting Results

The results can be exported back into to the Marksman/Ranger 2 system.
Note
Results can only be exported back to Marksman/Ranger 2 if CASIUS 6 is opened in Marksman or
Ranger 2. If CASIUS 6 is opened from the Start menu (as described in Appendix A), the "Export
results to USBL" button will be greyed out and the new transceiver offsets will have to be manually
input into the Marksman/Ranger 2 system.

1. On the Results tab click Export results to USBL system.

2. The updated settings overwrite the previous transceiver settings in the Marksman/Ranger 2
system.

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3.5 CASIUS 6 Calibration Report

A PDF report can be created and depending on the instruments in the setup typically displays:
l Transceiver Settings
l GNSS Settings
l Pitch, Roll & Heading Settings
l Beacon Settings
l Sound Speed
l Beacon result
l Transceiver Result
l Summary Stats
l Engine Settings
l Data Summary
l Backplot (After)

Note
Before creating the report, zoom each plot to the required level as this is how it will appear in the
pdf report.

To create a PDF report:
1. Click File>Save PDF Report.

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2. By default the PDF report is saved in the same file location as the .CAS2 file.
3. Select a new file location if required and then click Save.

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4. The PDF report is shown below.

Figure 3–1 CASIUS 6 Calibration Report

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3.6 Loading and Saving CASIUS 6 Data Collection Exports

3.6.1 Loading a Data Collection Exported File
To load a CASIUS 6 Data Collection exported file:
1. Click File>Load CASIUS File.

2. Browse to and select the Data Collection exported .CAS2 file and then click Open.

3.6.2 Saving a File Processed Data Collection

To save a CASIUS 6 processed Data Collection:
1. Click File>Save CASIUS File.

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2. Click Save to save the file in the default location or browse to a new location and then click Save.

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Section 4 – CASIUS 6 Frequently Asked Questions

Examples of frequently asked questions (FAQ) asked when collecting and processing data using
CASIUS 6 are shown in Table 4–1 below. For any questions not listed below, or further information on
CASIUS 6, contact Sonardyne Support.
Table 4–1 CASIUS 6 Frequently Asked Questions

Question Answer
What happens if I collect data beyond one Within one third water depth refraction has a very small impact
third water depth away from the beacon? on the estimate of the beacon position, and the angular
corrections, and so a more precise result is produced. In
shallow water, it is sometimes necessary to collect data further
from the beacon. This will still produce a good result, but
CASIUS 6 may need to compensate for more refraction. In this
situation, using an up to date sound speed profile is
recommended.
Why can’t I manually exclude outliers? CASIUS 6 includes controls that allow the operator to adjust the
sensitivity of its automatic outlier identification, and to allow the
operator to choose whether to fully reject, or to weight against
outliers. The outlier rejection is capable of identifying whether
the range, the USBL direction or both are in error, and so
maximises the useable data. Manually rejecting outliers could
exclude essential data and could bias the result which may
mask an underlying issue.
What if I don’t know the exact sound speed? It is always best to measure the sound speed before carrying
out a CASIUS 6 calibration, but if this is not possible, CASIUS
6 has an ‘Auto’ sound speed facility, which will use a seasonally
adjusted average sound speed for the work area. It is always
wise to verify that the estimated beacon depth, and the
estimated sound speed in the results tab match what the
operator expected. An error in sound speed would cause the
estimated beacon depth to be biased. If the actual beacon depth
is well known (from charts, and strop length) then enter that in
the beacon properties, and set the error figure to a realistic small
number. This will constrain the CASIUS algorithm to hold the
depth, and estimate a sound speed that matches the depth.
Why is the data worse on certain headings? When choosing data collection patterns, consider the direction
that thruster and prop wash will be generated given the direction
of the current. Changing the headings that data is collected on
by +/-10 degrees can significantly improve the quality of the
USBL measurements. Contact Customer Support for more
information.
Can I drift while collecting data? The acoustic signal to noise ratio is often improved while
drifting, which may improve the USBL data, but there are
frequent instances where the vessel drifts in a plume of aerated
water reducing system performance.

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Table 4–1 CASIUS 6 Frequently Asked Questions (continued)

Question Answer
Why use Sonardyne CASIUS 6 when a Survey suites are excellent tools for estimating whether there is
survey suite has its own calibration tool? any residual bias in the USBL system after a CASIUS 6
calibration; however, they do not accurately model the true raw
USBL measurements, and do not have access to the precisely
time tagged raw data which is processed within CASIUS 6
which is the culmination of over 40 years of experience.
CASIUS 6 is the tool that Sonardyne endorses to quantify
system operation. Without undertaking this procedure there’s
limited ability to diagnose problems or offer support.
Why do I still see unresolved clusters in my Data can be biased by poor line of sight in certain directions
2D after data plot? generally through thruster wash or the vessel hull configuration.
Pole movement when the vessel changes heading, or refraction
variations when exceeding ½ water depth can often leave data
unresolvable. Contact Customer Support for more information.
My survey will be in 3 times layback to water When tracking more than 45 degrees elevation because surface
depth should I collect my CASIUS data reflection and variable refraction influence the vertical
beyond 1/3 water depth? resolution.
How do I collect data with a tilted USBL This is not a common occurance.Contact Customer Support to
head? obtain the white paper on this subject.
Why am I not achieving the quoted accuracy The CASIUS 6 result is a system result which amalgamates all
of the USBL? GNSS and VRU errors and any pole movement which is very
detrimental on accuracy.
Why are shallow <100 m calibrations In less than 100 m of water the error in the GNSS can be a
generally worse statistics than deep water significant proportion of the system error, and the seabed
calibrations? reference beacon needs to be absolutely static – ideally the
reference beacon should be deployed in a frame. Also, in
shallow water acoustic noise from the vessel reflecting off the
seabed can be a problem and reduce the acoustic precision.
Coastal waters are prone to rapid sound speed variation which
can also affect precision.
If the data is noisy are the results affected? A good result can still be produced provided that the data is
randomly distributed and the clusters can be resolved to
adequate precision; however, noise could be indicative of
instrument error of pole fatigue. Contact Customer Support for
more information.
How can I obtain a better result? The example data in this manual was collected using a Lodestar
Gyro USBL and a precise Real-Time Kinematic (RTK) GPS
over a seabed reference in a tripod in calm conditions. The pole
was hydraulically clamped and surveyed offsets between the
GNSS and the USBL pole were measured using a total station.
Using higher specification equipment helps to obtain better
results. Contact Sonardyne Sales for equipment upgrades.
Will collecting more data give a better result? Yes, as long as it’s collected overhead and evenly around the
transponder. However, when collecting data over a longer
period you are more likely to encounter environmental changes
and this can bias the result. Two quick calibrations in agreement
are better than a large erroneous one.

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Table 4–1 CASIUS 6 Frequently Asked Questions (continued)

Question Answer
Is it better to zero the previous calibration CASIUS 6 uses raw data so it makes no difference but using
values before running a new calibration? the existing results can improve navigation guidance while
collecting data and help avoid biased sail patterns. It is also
more intuitive to retain the previous result and confirm
agreement with the new.
Why are the angular correction results In most cases variation is indicative of a problem such as
different to previous CASIUS when nothing instrument error or that something has moved like the pole,
has changed? gyro, GNSS. Contact customer support for more information.
What should I do if my CASIUS 6 calibration Send a CAS2 file to Customer Support. This can be reviewed
fails to solve? against our database of 100s of known affects and may be a
simple resolution.

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Appendix A – Manually Opening CASIUS 6

A.1 Introduction
CASIUS 6 can be opened from the from the Windows® Start menu without Marksman or Ranger 2
running. CASIUS 6 data collection exports are saved as a .CAS2 file in the default location: 
C:\Users\Public\Documents\Sonardyne\Marksman\System\CASIUS Data Files\Filename.CAS2
Note
Results can only be exported back to Marksman/Ranger 2 if CASIUS 6 is opened in Marksman or
Ranger 2. If CASIUS 6 is opened from the Start menu (as described below), the "Export results to
USBL" button will be greyed out and the new transceiver offsets will have to be manually input into
the Marksman/Ranger 2 system.

A.2 Opening CASIUS 6

Click Start>All Programs>Sonardyne>Marksman (or Ranger 2)>CASIUS 6.

A.3 Loading and Saving CASIUS 6 Data Collection Exports

To load and a CASIUS 6 Data Collection exported file:
1. Load the Data Collection exported file as described in Section 3.6 "Loading and Saving
CASIUS 6 Data Collection Exports".
2. Configure and Process the data as described in Section 3 "CASIUS 6 Calibration Processing".
3. Manually input the Results into the Marksman/Ranger 2 setup.

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