About the USBL Error Graph: Systematic errors (Biases) in the pitch, roll and heading of a USBL transducer cause a positioning shift (error) of the USBL position of the transponder. Notice that the transponder errors are larger or smaller depending on the location relative to the vessel. That is because the effect of pitch/roll and heading bias cancel out in some locations but add up in others.

Note: The calculation of the shift if is only valid for small pitch, roll and heading biases as the calculation takes several shortcuts, such as sin(φ)=φ. To do: add Sound Velocity biases in the calculation.

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