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HYCUBE. HYCUBE: HYPACK’s implementation of CUBE. CUBE. C ombined U ncertainty and B athymetric E stimator Intended to Speed Processing of Multibeam Data. Developed by Dr. Brian Calder of CCOM-UNH. A statistical approach to cleaning multibeam data. Introduction – The Basics.

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Hycube hypack s implementation of cube

HYCUBE: HYPACK’s implementation of CUBE




Uncertainty and



  • Intended to Speed Processing of Multibeam Data.

  • Developed by Dr. Brian Calder of CCOM-UNH.

  • A statistical approach to cleaning multibeam data.

Introduction the basics

Introduction – The Basics

Programming Flow









CUBE Screens




# of Hypotheses

Note: Only HS2 files can be input in HYCUBE

Cube terminology

CUBE Terminology

  • CUBE Node: An X-Y point where CUBE will make depth estimates based on the surrounding data points.

    • CUBE Nodes are placed at fixed distances, resulting in a square grid.

  • HYPOTHESIS: A possible depth estimate at a node.

    • A CUBE Node can have multiple depth estimates.

  • CUBE Neighborhood: The area surrounding a CUBE Node where depths can influence the ‘hypotheses’

Cube grid and neighborhoods

Cube Grid and Neighborhoods



Data Points from HS2 File

  • A series of CUBE nodes make a CUBE GRID.

  • Soundings about the neighborhood of each node are used to generate possible depth estimates for the node (Hypotheses).

  • If there are multiple depth estimates at a node, CUBE selects one based on your input parameters.



Hycube read parameters

HYCUBE Read Parameters

Node generation read parameters

Node GenerationRead Parameters

  • Node Spacing:

    • Distance between depth estimates.

    • If too small, CUBE will not have enough depth samples assigned to the node to generate a depth estimation.

  • Capture Distance:

    • The ‘influence radius’ of a sounding is equal to the depth times the Capture Distance Scale percentage.

    • 5% seems to work well.

Disambiguation method read parameters

Disambiguation MethodRead Parameters

  • Disambiguation: Method used by CUBE to select a depth estimate for a node when multiple estimates exist.

    • Prior: Selects the hypothesis represented by the most data points.

    • Likelyhood: Searches for adjacent nodes with a single depth estimate and bases it’s selection off those z-values.

    • Posterior: A combination of the above two methods.

Running hycube

Running HYCUBE

  • Load HS2/HS2x files

    • (Single file or LOG containing HS2 or HS2x files)

  • Select Configuration:

    • Sonar Type

    • Vessel

    • Error Model

  • Read Parameters

    • Node Spacing

    • Min/max depth

    • Max angle (optional filters to use)

Sonar device cube configuration

Sonar DeviceCUBE Configuration

  • CUBE has error models for some sonars.

    • This information improves the TPU computation.

  • If your sonar is not listed:

    • Select ‘Not Listed’.

    • It’s not a big deal.

List of sonars with built-in error models in HYCUBE

Vessel settings cube configuration

Vessel SettingsCUBE Configuration

  • CUBE uses the Vessel Settings to assist in the computation of Total Propagated Uncertainty (TPU).

  • Most items are populated from HYPACK’s TPU EDITOR.

Error model cube configuration

Error Model CUBE Configuration

  • There are two error models that CUBE can use when calculating the TPU.

    • Simple (IHO S-44)

    • Full MBES

  • CUBE rejects depths that have a TPU above the specified Survey Order

Cube grid window

Cube Grid Window

  • Displays CUBE surfaces.

    • Depth Surface

    • Uncertainty

    • Ratio

    • # of Hypotheses per Node

  • Left-click to select node and load the node data into the CUBE Node Window.

Depth surface cube grid window

Depth SurfaceCUBE Grid Window

  • Shows a 3D display of CUBE Depth Surface.

  • Left-click to set cursor position.

    • CUBE Node window updates to show distribution at selected node.

  • Click-and-drag to change viewing angles.

  • Right-click to pan.

  • Color-coded using Depth Color Scheme

Uncertainty surface cube grid window

Uncertainty SurfaceCUBE Grid Window

  • Useful for quality control.

  • User can export an XYZ file where ‘z’ is the uncertainty for the depth representing each node.

  • User can ‘force’ CUBE to select the hypotheses with the minimum uncertainty at each node.

  • Fixed color-code:

    • Dark Blue = Minimal

    • Bright Red = Maximum

Ratio cube grid window

RatioCUBE Grid Window

  • Useful for quality control.

  • The lower the better….

  • Ratio = 5 – NS / ( NA – NS ) where

  • NS = # depth samples in selected hypothesis and,

  • NA = # depth samples in all hypotheses.

    2 examples:

  • GOOD: 40 depths in selected hypothesis, 10 in alternate,

    5 – [40/(50-40)] ->

    Ratio = 1

  • BAD: 10 depths in selected hypothesis, 40 in alternate,

    5 – [10/(50-10)] ->

    Ratio = 4.75

Hypothesis count cube grid window

Hypothesis CountCUBE Grid Window

  • Shows how many depth estimates are generated at each node.

  • Color Code:

    • Dark Blue = 1 est.

    • Light Blue = 2

    • Green = 3

    • Yellow = 4

    • Red = 5+

Cube node window

CUBE Node Window

  • Displays:

    • Distribution of z-values in the node’s neighborhood.

    • CUBE Hypothesis (selected) with uncertainty boundaries.

  • Modifies:

    • Allows you to select an alternative depth estimate for a CUBE node.

  • Searches:

    • Search for a CUBE node with multiple depth estimates.

    • Select alternative depth estimate.

Left-click on the alternate hypothesis to select it.

Cube hypothesis window

Cube Hypothesis Window

  • Selected depth estimate is white.

  • Size of disk relates to number of supporting depths

  • Color of non-selected depth estimates is based on uncertainty.

  • Left-click on a disk to select it.


Save options

Save Options

Saves to XYZ file.

Z-value can be one of 5 selections:

CUBE Depth Estimate

CUBE Uncertainty


Hypothesis Count

Sounding Nearest CUBE Depth Estimate

Sample cube session

Sample CUBE Session

Comparison cube vs sort min max

Comparison: CUBE vs. Sort Min/Max

  • Green: Check Lines Processed in CUBE.

  • Black: Processed Only in MBMAX: Sorted for Min and Max.

The HYCUBE surface usually resembles a smoother median surface.

Do not use CUBE if you are interested in the minimum depth over a rock or obstruction.

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