Abstract:
A method for positioning a wire having nodes and streamers is provided herein. The wire can be secured to tow lines secured to a floating vessel for detecting near surface geology formations. The method can use in-water sensors deployed proximate to the wire near the tow lines, and a processor with data storage in communication with the in-water sensors. The method can use a data array, a library of data formats, a library of wires, a library of preset limits, and a network. The method can include receiving sensor information, filtering sensor information, verifying filtered signals, constructing and modifying a mathematical model, obtaining a list of coordinates, constructing a real-time display of the wire, identifying a location of at least one streamer, transmitting alarms, creating a trend analysis over time and event-by-event, and creating a log file using the industry standard data formats.

Description:
FIELD 
     The present embodiments generally relate to a method for determining projected coordinates in a projected coordinate system for at least one node on a wire. 
     BACKGROUND 
     A need exists for an improved seismic positioning method for positioning wires pulled from a floating vessel over a near surface geological formation. 
     The present embodiments meet these needs. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The detailed description will be better understood in conjunction with the accompanying drawings as follows: 
         FIG. 1  depicts a wire being towed from a floating vessel. 
         FIGS. 2A-2B  depict local coordinates on a local coordinate system and projected coordinates on a projected coordinate system. 
         FIGS. 3A-3B  depict embodiments of a trend analysis over time and a trend analysis event-by-event. 
         FIG. 4  depicts an embodiment of a log file. 
         FIG. 5  depicts an embodiment of a portion of a real-time display. 
         FIGS. 6A-6D  depict an embodiment of a data storage. 
         FIGS. 7A-7D  depict an embodiment of the method. 
     
    
    
     The present embodiments are detailed below with reference to the listed Figures. 
     DETAILED DESCRIPTION OF THE EMBODIMENTS 
     Before explaining the present method in detail, it is to be understood that the method is not limited to the particular embodiments and that it can be practiced or carried out in various ways. 
     The present embodiments relate to a method for determining projected coordinates in a projected coordinate system for at least one node on a wire having a plurality of nodes. 
     The method can include securing two separated tow lines to a floating vessel, such as using cleats on the floating vessel or any suitable connector. Each tow line can have a diverter on one end. 
     The method can include deploying the wire between the two separated tow lines. For example, the wire can be connected at each end to the diverter of each tow line. The method can include installing at least a pair of first in-water sensors on the wire. Each first in-water sensor can be positioned proximate to an end of the wire. 
     Each first in-water sensor can be a sensor embedded in the wire, a sensor positioned adjacent one of the plurality of nodes on the wire, a sensor proximate to the wire, a sensor on a buoy towed from the wire, or combinations thereof. 
     The method can include using the pair of first in-water sensors to collect and transmit first sensor information to a processor in communication with a data storage. 
     The method can include using the processor and the sensor information to determine projected coordinates for a position on the wire. For example, the sensor information can be global positioning system sensor information and compass heading information that can be used to determine projected coordinates. 
     The method can include installing at least a pair of second in-water sensors on the wire. Each second in-water sensor can be a sensor embedded in the wire, a sensor attached to the wire, or combinations thereof. 
     The method can include using the second in-water sensors to collect and transmit second sensor information to the processor. 
     The method can include using the processor, the second sensor information, and an algorithm for computing azimuths tangential to the wire to compute a first azimuth tangential to the wire for each second in-water sensor. The algorithm for computing azimuths tangential to the wire can be a third, fourth, and/or fifth order polynomial algorithm. 
     The method can include loading a library of nominal values for third, fourth, and/or fifth order polynomial coefficients, a library of known distances along the wire, and a library of preset limits into the data storage. 
     The method can include using the projected coordinates from the first in-water sensors and a bearing equation to compute a bearing between the first in-water sensors. 
     The method can include using the bearing, the first sensor information, the second sensor information, and a first rotation algorithm to reorient the projected coordinates of the first in-water sensors to local x-y coordinates, thereby forming a local x-y coordinate system. 
     The method can include using the rotation algorithm and the bearing to rotate the azimuths tangential to the wire from the second in-water sensors to reoriented azimuths tangential to the wire of the second in-water sensors into the local x-y coordinate system. 
     The method can include constructing the third, fourth, and/or fifth order polynomial algorithm of the wire in real-time using nominal values from the library of nominal values for the third, fourth, and/or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire. 
     The method can include computing a second azimuth tangential to the wire at each second in-water sensor using the third, fourth, and/or fifth order polynomial algorithm. 
     The method can include computing a difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire to form a residual. 
     The method can include using the residual with a least squares technique to update the library of nominal values for third, fourth, and/or fifth order polynomial coefficients. 
     The method can include constructing an updated third, fourth, and/or fifth order polynomial algorithm of the wire using updated nominal values from the library of nominal values for third, fourth, and/or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire. 
     The method can include computing an updated azimuth tangential to the wire at each second in-water sensor using the updated third, fourth, and/or fifth order polynomial algorithm. 
     The method can include computing an updated difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire until the residual is within a preset limit of the library of preset limits. 
     The method can include calculating a pair of local x-y coordinates for at least one of the plurality of nodes on the wire. 
     The method can include using the bearing and the third, fourth, and/or fifth order polynomial algorithm to rotate the pair of local x-y coordinates from the local x-y coordinate system to the projected x-y coordinate system. 
     The computer implemented method can include installing depth sensors to identify a water depth for each of the plurality of nodes or for each in-water sensor on the wire, and transmitting water depth sensor information from the depth sensors to the processor for use in forming the projected coordinates. 
     The computer implemented method can include determining an absolute position for each in-water sensor, each of the plurality of nodes, or determining a specific distance on the wire using global positioning system sensors, laser sensors, acoustic sensors, or combinations thereof. 
     The computer implemented method can include connecting the processor with a network for communication to a client device remote to the processor, allowing for remote monitoring. The client device can be a mobile phone, a computer, a laptop, a tablet computer or a similar device. 
     The computer implemented method can include computing the projected coordinates in real-time as the floating vessel traverses over a near surface geological formation. 
     The computer implemented method can include constructing a real-time display of the wire that is updated at least every one minute. The real-time display can be constructed using the computer instructions described below. 
     The computer implemented method can include identifying a location of at least one streamer on at least one of the plurality of nodes in-real time using the real-time display, and transmitting an alarm when the location of the at least one streamer moves outside of the preset limits associated with one of the plurality of nodes. 
     In one or more embodiments, the wire can include at least one streamer connected to at least one of the plurality of nodes for collecting seismic data of near surface geological formations. 
     In one or more embodiments, the wire can include at least one hydrophone connected to at least one of the plurality of nodes for collecting seismic data of a near surface geological formation. 
     The computer implemented method can include creating a trend analysis over time using the third, fourth, and/or fifth order polynomial algorithm. The trend analysis over time can be created using the computer instructions described herein. 
     The computer implemented method can include creating a trend analysis event-by-event using the third, fourth, and/or fifth order polynomial algorithm. The trend analysis event-by-event can be created using the computer instructions described herein. 
     The computer implemented method can include creating a log file containing the local x-y coordinates, the projected coordinates of the projected x-y coordinate system, or combinations thereof. 
     The computer implemented method can include receiving with the sensor information a time stamp associated with a specific sensor measurement taken by the in-water sensors. 
     One or more embodiments relate to a system that can be used to implement one or more embodiments of the method. The system can be a computer implemented system. A processor can use computer instructions and other data stored in a data storage to perform one or more portions of the method. 
     The system can be used to position equipment used to detect near surface geology formations during high resolution marine geophysical surveying. 
     The wire can be secured to two separated tow lines that are both secured to a floating vessel. For example, each tow line can have a diverter attached thereto opposite the floating vessel, and the wire can be secured to the diverters. The wire can form a curve. The floating vessel can be a geophysical survey vessel. 
     The tow lines can be wire rope, electrical wire, cable, polymer rope, hemp rope, or combinations thereof. The tow lines can be attached to the floating vessel by any suitable connector, such as cleats. 
     The diverters can be those made by The Baro Companies, of Stafford, Tex. 
     The wire can be wire made by Geometrics, and can have a plurality of nodes disposed along a length of the wire. 
     Each node can be a determined point along the length of the wire. For example, the node can be at a tow point for a streamer, a location of an in-water sensor, a tow point for a hydrophone, or any other location along the wire. 
     The projected coordinates that are determined using the system can be coordinates, such as x-y coordinates on the projected coordinate system. The projected coordinate system can be a Cartesian coordinate system projected over a body of water, such as a Universal Transverse Mercator Grid in the Gulf of Mexico. 
     The system can be used to determine a projected coordinate for each of the plurality of nodes on the wire. 
     The system can include at least a pair of first in-water sensors. Each first in-water sensor can be positioned proximate to an end of the wire. An example of a first in-water sensor is a sensor available from PBX Systems, which provides GPS sensor data. 
     Each first in-water sensor can be embedded in the wire, positioned adjacent one of the plurality of nodes on the wire, proximate to the wire, on a buoy towed from the wire, or combinations thereof. The buoy can be a floating piece of foam or the like. 
     Each first in-water sensor can be deployed to determine the projected coordinates for a position on the wire. 
     In one or more embodiments each first in-water sensor can be a global positioning system sensor; a laser sensor, such as an MDL Fanbeam type sensor; an acoustic sensor, such as a Sonardyne type sensor; or combinations thereof. 
     In one or more embodiments the system can account for changes in the shape of the wire to provide accurate node locations using the global positioning system sensor, compass headings, and other information. For example, the compass headings can be detected by a 3004 digital compass made by Spartan Electronics. 
     The system can include at least a pair of second in-water sensors. Each second in-water sensor can be embedded in the wire, attached to the wire, or combinations thereof. 
     The second in-water sensors can be deployed to provide azimuths tangential to the wire. 
     The term “azimuths tangential to the wire” refers to the bearing of the wire at the node where the second in-water sensor for determining compass headings is attached. 
     The system can include a processor in communication with a data storage, each first in-water sensor, and each second in-water sensor. 
     The processor can be configured to process in real-time as the floating vessel traverses over a near surface geological formation. 
     Real-time processing can include collecting and processing data from about every 1 second to about every 20 seconds. 
     A near surface geological formation can be an oil reservoir, a gas reservoir, a salt dome, or other geological formations. 
     In one or more embodiments, instead of or in addition to processing in real-time, the processor can perform processing after the floating vessel has acquired information from all of the first in-water sensors and all of the second in-water sensors. For example, the processing can be performed immediately after all of the sensor information is collected or any time thereafter. 
     The data storage can be a hard drive, a jump drive, or any computer readable medium. One or more embodiments of the data storage can include a dynamic information database, such as a structured query language (SQL) server database, for storing data within, such as the sensor information. 
     A library of nominal values for third, fourth, and/or fifth order polynomial coefficients can be stored in the data storage. 
     The library of nominal values for third, fourth, and/or fifth order polynomial coefficients can include nominal values. The nominal values can be any number. 
     A library of known distances along the wire can be stored in the data storage. The library of known distances along the wire can include distances from the connection of the wire to the first tow line to each of the first in-water sensors. 
     The library of known distances along the wire can include distances from each first in-water sensor to each second in-water sensor. 
     The library of known distances along the wire can include distances from each node to each other node, or from each in-water sensor to each node. 
     The library of known distances along the wire can include any other known distance along or relative to the wire. 
     A library of preset limits can be stored in the data storage comprising preset limits. For example, the preset limits can include a measurement between two nodes, a water depth, a compass heading, a rate of change in compass heading, or other measurements. 
     The data storage can have computer instructions for instructing the processor to receive sensor information from each first in-water sensor and each second in-water sensor. For example, each first in-water sensor and each second in-water sensor can collect sensor information and can transmit that sensor information to the processor for storage on the data storage. 
     The sensor information can include an azimuth tangential to the wire, the projected coordinates for a position on the wire, a water depth of a node, a compass heading of a node, a global positioning system location of a node, or combinations thereof. 
     Each portion of sensor information can include a time stamp associated with a specific sensor measurement. The time stamps can identify the time that the sensor measurement was taken and validated. 
     The data storage can have computer instructions to instruct the processor to use the projected coordinates from the first in-water sensors to compute a bearing between the first in-water sensors. 
     For example, the bearing can be computed by the following equation: θ=arctan((y1−y2)/(x1−x2)), with x1 and y1 being the projected coordinates of one first in-water sensor, and x2 and t2 being the projected coordinates of another first in-water sensor. 
     The data storage can have computer instructions to instruct the processor to use the bearing with the sensor information and a first rotation algorithm to reorient the projected coordinates of all of the first in-water sensors to local x-y coordinates, forming a local x-y coordinate system. 
     In one or more embodiments the first rotation algorithm can be used to rotate the projected coordinates to the local coordinates by a rotation angle θ. For example, the x coordinate of the projected coordinates can be rotated by the following equation: x=E*cos θ+N*sin θ. The y coordinate of the projected coordinates can be rotated by the following equation: y=−E*sin θ+N*cos θ. In the first rotation algorithm equations above, x is the local x coordinate, y is the local y coordinate, E is the projected easting coordinate, N is the projected northing coordinate, and θ is the rotation angle. 
     The data storage can have computer instructions to instruct the processor to rotate the azimuth tangential to the wire from the second in-water sensors using the bearing and a second rotation algorithm to reorient all azimuths tangential to the wire of all the second in-water sensors into the local x-y coordinate system. 
     In one or more embodiments the second rotation algorithm can be used to rotate the azimuth tangential to the wire into the local x-y coordinate system by a rotation angle θ. For example, a rotated azimuth tangential to the wire can be determined by: A′=A+θ. In the second rotation algorithm A′ is the rotated azimuth, A is the measured azimuth, and θ is the rotation angle. 
     The data storage can have computer instructions to instruct the processor to construct a third, fourth, and/or fifth order polynomial algorithm of the wire in real-time. 
     For example, a third order polynomial algorithm of the wire can be: y=ax 3 +bx 2 +cx+d. A fourth order polynomial algorithm of the wire can be: y=ax 4 +bx 3 +cx 2 +dx+e. A fifth order polynomial algorithm of the wire can be: y=ax 5 +bx 4 +cx 3 +dx 2 +ex+f. 
     Within the third, fourth, and/or fifth order polynomial algorithm, x and y can both be coordinates along the wire, and a, b, c, d, e, and f can each be coefficients to be solved by a least squares technique. 
     For example, survey observations obtained can be the y coordinate at the head of the wire derived from the global positioning system sensors and tangential azimuths along the wire derived from compass headings of the wire. 
     The third, fourth, and/or fifth order polynomial algorithm can provide accurate modeling within about a decimeter in extreme cross currents. 
     In benign conditions, the third, fourth, and/or fifth order polynomial algorithm can provide even more accurate modeling. 
     The third, fourth, and/or fifth order polynomial algorithm of the wire can be constructed using the nominal values from the library of nominal values for third, fourth, and/or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire. 
     The data storage can have computer instructions to instruct the processor to compute an azimuth tangential to the wire at each second in-water sensor using the third, fourth, and/or fifth order polynomial algorithm. 
     As an example of computing an azimuth tangential using the third order polynomial algorithm, the equation, y=ax 3 +bx 2 +cx+d, can be used as a third order polynomial definition of a curve. 
     The equation, y=ax 3 +bx 2 +cx+d, can be differentiated by x, with a solution of: dy/dx=3ax 2 +2bx+c, as the slope of the tangent at x. 
     The slope of the tangent at x can be converted to an azimuth using the following equation: 3π/2−arctan(dy/dx). 
     The data storage can have computer instructions to instruct the processor to compute a difference between the computed azimuths tangential to the wire with the reoriented azimuths tangential to the wire from all of the second in-water sensors, thereby forming a residual. 
     For example, the difference between the computed azimuth tangential and the reoriented azimuths tangential can be computed by subtracting one from the other. 
     The data storage can have computer instructions to instruct the processor to use the residual with a linear least squares technique to update the library of nominal values for third, fourth, and/or fifth order polynomial coefficients. 
     In the linear least squares technique, the overall solution can minimize the sum of the squares of the residuals computed in solving every single equation using the third, fourth, and/or fifth order polynomial. 
     A regression model is a linear one when the model comprises a linear combination of the parameters. The generalization of the n-dimensional Pythagorean theorem to infinite-dimensional real inner product spaces is known as Parseval&#39;s identity or Parseval&#39;s equation. Particular examples of such a representation of a function are the Fourier series and the generalized Fourier series. 
     The data storage can have computer instructions to instruct the processor to construct an updated third, fourth, and/or fifth order polynomial algorithm of the wire using updated nominal values from the updated library of nominal values for third, fourth, and/or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire. 
     The data storage can have computer instructions to instruct the processor to compute an updated azimuth tangential to the wire at each second in-water sensor. 
     The data storage can have computer instructions to instruct the processor to compute an updated difference between the computed updated azimuths tangential to the wire with the reoriented azimuths tangential to the wire from all of the second in-water sensors until the residual is determined to be within one of the preset limits from the library of preset limits. 
     The data storage can have computer instructions to instruct the processor to calculate a pair of local x-y coordinates for at least one of the plurality of nodes on the wire. For example, each pair of local x-y coordinates can be calculated using the third, fourth, and/or fifth order polynomial algorithms. 
     The data storage can have computer instructions to instruct the processor to use the bearing and a third rotation algorithm to rotate the pair of local x-y coordinates for at least one of the plurality of nodes on the wire from the local x-y coordinate system to the projected coordinate system. 
     In one or more embodiments the third rotation algorithm can be used to rotate from the local coordinates to the projected coordinates by a rotation angle θ. For example, third rotation algorithm can include: E=x*cos(θ)−y*sin(θ), and N=x*sin(θ)+y*cos(θ). Within the third rotation algorithm x is the local x coordinate, y is the local y coordinate, E is the projected easting coordinate, N is the projected northing coordinate, and θ is the rotation angle which is the computed bearing. 
     One or more embodiments of the system can include a third in-water sensor on each of the plurality of nodes, each of the first in-water sensors, and each of the second in-water sensors. Each third in-water sensor can be in communication with the processor. The third in-water sensors can be depth sensors that can measure water depths for each of the plurality of nodes, each of the first in-water sensors, and each of the second in-water sensors, and can transmit the measured water depths to the processor. 
     In one or more embodiments, a network can be in communication with the processor. The network can be satellite network, a cellular network, the internet, or Ethernet cables connected between processor and the in-water sensors, the nodes, or both. 
     The data storage can include computer instructions to instruct the processor to construct a real-time display of the wire. The real-time display can be a graphical user interface. 
     In one or more embodiments, the wire can have at least one streamer. Each streamer can be connected to at least one of the plurality of nodes. Each streamer can be configured to collect seismic data, such as a size, depth, or location of a near surface geological formation. The method and system can allow for accurate positioning of the at least one streamer. 
     The computer implemented method can include computer instructions in the data storage to instruct the processor to identify a location of the at least one streamer in real-time using the real-time display. 
     The computer implemented method can include computer instructions in the data storage to instruct the processor to transmit an alarm when the location of the at least one streamer moves outside of one of the preset limits in the library of preset limits associated with one of the plurality of nodes. 
     The alarm can be a text message, an email, an audible alarm, or a flashing light, and can be transmitted to a client device, another computer on the network, or presented in the real-time display. The alarm can be provided both onboard the floating vessel and remote to the floating vessel. The client device can be a mobile phone, a computer, a laptop, a tablet computer or another similar device. 
     For example, the library of preset limits can include preset limits associated with each of the plurality of nodes. When the location a streamer moves outside of a preset limit for the node that streamer is attached to, the alarm can be transmitted. 
     Each streamer can be or include a hydrophone. Each hydrophone can be connected to at least one of the plurality of nodes for collecting seismic data of a near surface geological formation. 
     The computer implemented method can include computer instructions in the data storage to instruct the processor to create a trend analysis over time using the third, fourth, and/or fifth order polynomial algorithm. 
     The computer implemented method can include computer instructions in the data storage to instruct the processor to create a trend analysis event-by-event using the third, fourth, and/or fifth order polynomial algorithm. 
     The computer implemented method can include computer instructions in the data storage to instruct the processor to create a log file. 
     The log file can contain the local x-y coordinates, the projected coordinates of the projected coordinate system, or combinations thereof. 
     Turning now to the Figures,  FIG. 1  depicts an embodiment of a computer system for positioning a wire  16 . The wire  16  can be connected to, and stretched between, two separated tow lines, including a first tow line  18   a  and a second tow line  18   b.    
     The tow lines  18   a  and  18   b  can be secured to a floating vessel  22 . Two diverters can be secured to the two tow lines  18   a  and  18   b , including a first diverter  20   a  and a second diverter  20   b.    
     The tow lines  18   a  and  18   b  can each have a length ranging from about 50 feet to about 500 feet and a diameter ranging from about ¼ of an inch to about 2 inches. 
     The tow lines  18   a  and  18   b  can extend from the floating vessel  22  at an angle from a centerline of the floating vessel  22 , which can range from about 90 degrees to about 180 degrees. 
     The wire  16  can have a plurality of nodes, such as a first node  14   a , a second node  14   b , a third node  14   c , a fourth node  14   d , a fifth node  14   e , and a sixth node  14   f . The wire  16  can have from about 2 nodes to about 100 nodes. 
     The wire  16  can have a length ranging from about 50 feet to about 500 feet and a diameter ranging from about ¼ of an inch to about 2 inches. 
     One or more streamers can be attached to one or more of the plurality of nodes  14   a - 14   f . For example a first streamer  116   a  can be attached to the first node  14   a  and a second streamer  116   b  can be attached to the second node  14   b.    
     The streamers  116   a  and  116   b  can have a length ranging from about 1 foot to about 500 feet. The streamers  116   a  and  116   b  can collect seismic data of a near surface geological formation  110 , such as a fault. 
     One or more hydrophones can be attached to one or more of the plurality of nodes  14   a - 14   f . For example, a first hydrophone  120   a  can be attached to the third node  14   c  and a second hydrophone  120   b  can be attached to the fourth node  14   d.    
     The hydrophones  120   a  and  120   b  can be those made by Teledyne Instruments, such as a T-2BX hydrophone with an encapsulated hydrophone sensor element or the like. 
     The hydrophones  120   a  and  120   b  can collect seismic data of the near surface geological formation  110 , such as a depth of the fault, size of the fault, or the like. 
     The computer system can include one or more first in-water sensors  24   a ,  24   b ,  24   c , and  24   d  deployed on or proximate the wire  16 . 
     For example, the first in-water sensor  24   a  can be deployed near the first tow line  18   a , and can be embedded in the wire  16 . The first in-water sensor  24   b  can be positioned proximate to the second tow line  18   b . The first in-water sensor  24   c  can be towed near the wire  16 . The first in-water sensor  24   d  can be supported by a buoy  26  towed from the wire  16  and can be positioned proximate to the wire  16 . 
     The computer system can include one or more second in-water sensors  28   a  and  28   b  deployed on the wire  16 . The second in-water sensors  28   a  and  28   b  can be deployed to provide azimuths tangential to the wire  16 . 
     The second in-water sensor  28   a  can be embedded in the wire  16  at the first node  14   a , and the second in-water sensor  28   b  can be attached to the wire  16  between the second node  14   b  and the third node  14   c.    
     The computer system can include a processor  32  in communication with a data storage  34 , which can be disposed on the floating vessel  22 . 
     The processor  32  can be in communication with the first in-water sensors  24   a - 24   d  and the second in-water sensors  28   a  and  28   b , such as through cables  57   a  and  57   b , which can be Ethernet cables. 
     The system can also include third in-water sensors, such as third in-water sensors  29   a ,  29   b , and  29   c , which can be in communication with the processor  32  through the cables  57   a  and  57   b.    
     The third in-water sensor  29   a  is shown on the fifth node  14   e , the third in-water sensor  29   b  is shown on the second in-water sensor  28   b , and the third in-water sensor  29   c  is shown on the first in-water sensor  24   c . The system can include any number of first in-water sensors, second in-water sensors, and third in-water sensors disposed at various positions along the wire  16 . 
     The third in-water sensors  29   a ,  29   b  and  29   c  can be depth sensors that transmit water depths for each of the plurality of nodes  14   a - 14   f , each of the first in-water sensors  24   a - 24   d , and each of the second in-water sensors  28   a  and  28   b.    
     A client device  13  can be in communication with the processor  32 , such as through a network  108 , for remote monitoring. For example, the client device  13  can receive one or more alarms  128 . The alarms  128  can be flashing lights, an audible signal, or the like. 
     In operation, the floating vessel  22  can move along a surface of the water pulling the tow lines  18   a  and  18   b , the wire  16 , the streamers  116   a  and  116   b , and the hydrophones  120   a  and  120   b.    
     The first in-water sensors  24   a - 24   d , the second in-water sensors  28   a  and  28   b , and the third in-water sensors  29   a ,  29   b  and  29   c  can be disposed above or below the surface of the water, and can collect sensor information for transmission to the processor  32  via the cables  57   a  and  57   b.    
     The processor  32  can receive the sensor information, store the sensor information in the data storage  34 , and utilize various computer instructions in the data storage  34  to perform calculations on the sensor information for positioning the plurality of nodes  14   a - 14   f  of the wire  16 . 
     The processor  32  can utilize computer instructions and data stored in the data storage  34  to perform various calculations, as described herein, to determine a position of the wire  16 , a direction of the wire  16 , and a velocity of the wire  16 . 
       FIG. 2A  depicts an embodiment of a local x-y coordinate system  64  with a position of the wire  16  plotted thereon. 
     The local x-y coordinate system  64  can be presented, such as on a display device or monitor in communication with the processor, as a portion of the real-time display. 
     The y-axis and x-axis both represent spatial measurements, such as in meters, of positions within the local x-y coordinate system  64 . 
     On the plot of the wire  16 , the position of the first in-water sensors  24   a  and  24   b  and the position of the second in-water sensor  28   c  are shown. For example, the local x-y coordinates  62   a  and  62   b  associated with the second in-water sensor  28   c  are shown plotted in the local x-y coordinate system  64 . 
     A computed bearing  58  between the first in-water sensor  24   a  and the first in-water sensor  24   b  can be depicted on the local x-y coordinate system  64 . 
     An azimuth  30  tangential to the wire  16  can also be depicted on the local x-y coordinate system  64 . 
       FIG. 2B  depicts an embodiment of a projected coordinate system  12  with a position of the wire  16  plotted thereon. 
     The projected coordinate system  12  can be presented, such as on the display device or monitor in communication with the processor, as a portion of the real-time display. 
     In the depicted projected coordinate system  12 , the y-axis represents spatial measurements in a northing coordinate of the projected coordinate system  12 , and the x-axis represents spatial measurements in an easting coordinate of the projected coordinate system  12 . 
     The origin of the projected coordinate system  12  can be determined using the projected coordinates from at least one of the first in-water sensors  24   a  and  24   b . For example, the first in-water sensor  24   a  can have projected coordinates  10   a  and  10   b  associated therewith and plotted within the projected coordinate system  12 . 
     The computed bearing  58  between the first in-water sensor  24   a  and the first in-water sensor  24   b  can be depicted within the projected coordinate system  12 . 
     The azimuth  30  tangential to the wire  16  from the second in-water sensor  28   c  can also be depicted within the projected coordinate system  12 . 
     A representation of the local x-y coordinate system  64  can be depicted within the projected coordinate system  12  to show the relationship between the local x-y coordinate system  64  and the projected coordinate system  12 . 
       FIG. 3A  depicts an embodiment of the trend analysis over time  132  and  FIG. 3B  depicts an embodiment of a trend analysis event-by-event  136 . 
     For example, a distance between two nodes of the plurality of nodes on the wire can be plotted with respect to time, such as in seconds, to form the trend analysis over time  132 . 
     A distance between two nodes of the plurality of nodes on the wire can be plotted with respect to events to form the trend analysis event-by-event  136 . For example, an event can be the release of seismic energy. The events can be sequential. 
       FIG. 4  depicts an embodiment of the log file  140 . The log file  140  can be created by tabulating various portions of data and sensor information within the data storage. 
     For example, the log file  140  can include a first column  143   a  showing various nodes of the plurality of nodes, such as the first node  14   a  in a first row of the log file  140 , the second node  14   b  in a second row of the log file  140 , and the third node  14   c  in a third row of the log file  140 . 
     The log file  140  can include a second column  143   b  showing the local x-coordinate of the local x-y coordinates that are associated with the node in that particular row of the log file  140 . For example, the local x-coordinate  62   a  can be 3 for the first node  14   a , the local x-coordinate  62   c  can be 4 for the second node  14   b , and the local x-coordinate  62   e  can be 5 for the third node  14   c.    
     The log file  140  can include a third column  143   c  showing the local y-coordinate of the local x-y coordinates that are associated with the node in that particular row of the log file  140 . For example, the local y-coordinate  62   b  can be 7 for the first node  14   a , the local y-coordinate  62   d  can be 8 for the second node  14   b , and the local y-coordinate  62   f  can be 9 for the third node  14   c.    
     The log file  140  can include a fourth column  143   d  showing the projected x-coordinate of the projected coordinates that are associated with the node in that particular row of the log file  140 . For example, the projected x-coordinate  10   a  can be 10000 for the first node  14   a , the projected x-coordinate  10   c  can be 10001 for the second node  14   b , and the projected x-coordinate  10   e  can be 10002 for the third node  14   c.    
     The log file  140  can include a fifth column  143   e  showing the projected y-coordinate of the projected coordinates that are associated with the node in that particular row of the log file  140 . For example, the projected y-coordinate  10   b  can be 11001 for the first node  14   a , the projected y-coordinate  10   d  can be 11002 for the second node  14   b , and the projected y-coordinate  10   f  can be 11003 for the third node  14   c.    
     The log file  140  can include a sixth column  143   f  showing events associated with the nodes in the first column  143   a . For example, a first event  119   a  can be associated with the first node  14   a , a second event  119   b  can be associated with the second node  14   b , and a third event  119   c  can be associated with the third node  14   c.    
     The log file  140  can include a seventh column  143   g  showing a time stamp associated with each event. For example, a time stamp  142   a , which can be 1:01 pm for example, can be associated with the first event  119   a . A time stamp  142   b , which can be 1:02 pm for example, can be associated with the second event  119   b . A time stamp  142   c , which can be 1:03 pm for example, can be associated with third event  119   c.    
       FIG. 5  depicts an embodiment of a portion of the real-time display  114 . 
     The real-time display  114  can present a plot  115  of the wire  16 . The real-time display  114  can present a depth profile  117  for the wire  16  and the streamers  116 . 
     The depth profile  117  can be a plot of the water depths  31   b  of the wire  16  and the streamers  116  with respect to events  119 . 
     The real-time display  114  can present a depiction of node separations  121  showing the distance between nodes along the wire  16 . 
     The real-time display  114  can present compass data  123 , such as compass headings of the second in-water sensors. 
     The real-time display  114  can present water depth data, such as water depths  31   a  of the first in-water sensors, the second in-water sensors, the streamers  116 , the plurality of nodes, and/or the wire  16 . 
     The real-time display  114  can present network solution data  125 , such as polynomial coefficients. For example, the polynomial coefficient Ax, which is equal to 0.01, is shown along with other polynomial coefficients. 
     The real-time display  114  can present event information  127 , such as an event number, here shown as 00002131, a date, and a time. 
       FIGS. 6A-6D  depict an embodiment of the data storage  34 . 
     The data storage  34  can include the library of nominal values for third, fourth, or fifth order polynomial coefficients  36  with nominal values  37  stored therein. 
     The data storage  34  can include the library of known distances along the wire  38  having at least one distance  39  along the wire, distances to each first in-water sensor  40 , distances to each second in-water sensor  42 , distances to each node of the plurality of nodes  44 , and distances to desired locations along the wire  46 . 
     The data storage  34  can include the library of preset limits  48  with preset limits  50 . 
     The data storage  34  can include computer instructions for instructing the processor to receive sensor information from each first in-water sensor and each second in-water sensor  52 . 
     The sensor information  54  can be stored in the data storage  34  with a time stamp  142 , and can include an azimuth  30   a  tangential to the wire, and the projected coordinates  10  for a position on the wire. 
     The data storage  34  can include computer instructions to instruct the processor to use the projected coordinates from the first in-water sensors to compute a bearing between the first in-water sensors, and then to use the bearing with the sensor information and a first rotation algorithm to reorient the projected coordinates of all of the first in-water sensors to local x-y coordinates, forming a local x-y coordinate system  56 . 
     The bearing  58  can be stored in the data storage  34 . 
     Also the first rotation algorithm  60   a , a second rotation algorithm  60   b , and a third rotation algorithm  60   c  can be stored in the data storage  34 . 
     The data storage  34  can include the local x-y coordinates  62  in the local x-y coordinate system  64  stored therein. 
     The data storage  34  can include computer instructions to instruct the processor to rotate the azimuth tangential to the wire from each second in-water sensor using the bearing and the second rotation algorithm to reorient all azimuths tangential to the wire into the local x-y coordinate system  66 . 
     The data storage  34  can include computer instructions to instruct the processor to construct a third, fourth, or fifth order polynomial algorithm of the wire in real-time using nominal values from the library of nominal values for third, fourth, or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire  70 . 
     The third, fourth, or fifth order polynomial algorithm  72  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to compute an azimuth tangential to the wire at each second in-water sensor using the third, fourth, or fifth order polynomial algorithm  74 . 
     The computed azimuth  30   b  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to compute a difference between the computed azimuth tangential to the wire with the reoriented azimuths tangential to the wire to form a residual  76 . 
     The residual  78  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to use the residual with a least squares technique to update the library of nominal values for third, fourth, or fifth order polynomial coefficients  80 . 
     The linear least squares technique  82  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to construct an updated third, fourth, or fifth order polynomial algorithm of the wire using updated nominal values from the updated library of nominal values for third, fourth, or fifth order polynomial coefficients, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire from the library of known distances along the wire  84 . 
     The updated third, fourth, or fifth order polynomial algorithm  86  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to compute an updated azimuth tangential to the wire at each second in-water sensor  88 . 
     The updated azimuth  30   c  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to compute an updated difference between the computed updated azimuth tangential to the wire and the reoriented azimuth tangential to the wire until the residual is within one of the preset limits from the library of preset limits  90 . 
     The data storage  34  can include computer instructions to instruct the processor to calculate a pair of local x-y coordinates for at least one of the plurality of nodes on the wire  92 . 
     The calculated pair of local x-y coordinates  63   a  and  63   b  can be stored in the data storage  34 . 
     The data storage  34  can include computer instructions to instruct the processor to use the bearing and the third rotation algorithm to rotate the pair of local x-y coordinates for at least one of the plurality of nodes on the wire from the local x-y coordinate system to the projected coordinate system  93 . 
     The data storage  34  can have computer instructions to instruct the processor to construct a real-time display of the wire  112 . 
     The data storage  34  can have computer instructions to instruct the processor to identify a location of the at least one streamer in real-time using the real-time display  122 . 
     The location of the at least one streamer  124  can be stored in the data storage  34 . 
     The data storage  34  can have computer instructions to instruct the processor to transmit an alarm when the location of the at least one streamer moves outside of one of the preset limits in the library of preset associated with one of the plurality of nodes  126 . 
     The data storage  34  can have computer instructions to instruct the processor to create a trend analysis over time using the third, fourth, or fifth order polynomial algorithm  130 . 
     The data storage  34  can have computer instructions to instruct the processor to create a trend analysis event-by-event using the third, fourth, or fifth order polynomial algorithm  134 . 
     The data storage  34  can have computer instructions to instruct the processor to create a log file containing the local x-y coordinates, the projected coordinates of the projected coordinate system, or combinations thereof  138 . 
     The data storage  34  can have computer instructions to instruct the processor to process in real-time as the floating vessel traverses over a near surface geological formation  144 , and computer instructions to instruct the processor to process after the floating vessel has acquired information from all of the first in-water sensors and all of the second in-water sensors  146 . 
     The data storage  34  can have computer instructions to identify a location of the at least one hydrophone in real-time using the real-time display  148 , and computer instructions to transmit an alarm when the location of the at least one hydrophone moves outside of one of the preset limits in the library of preset limits associated with one of the plurality of nodes  150 . 
     The data storage  34  can have computer instructions to form a library of nominal values for third, fourth, or fifth order polynomial coefficients  152 , computer instructions to form a library of known distances along the wire  154 , and computer instructions to form a library of preset limits comprising preset limits  156 . 
     The data storage  34  can have computer instructions to use the water depth for each of the plurality of nodes to modify the library of known distances  160 . 
       FIGS. 7A-7D  depict an embodiment of a computer implemented method for determining projected coordinates in a projected coordinate system for at least one node on a wire having a plurality of nodes. 
     The method can include securing two separated tow lines to a floating vessel, as illustrated by box  700 . 
     The method can include deploying the wire between the two separated tow lines, as illustrated by box  702 . 
     The method can include installing at least a pair of first in-water sensors on the wire and positioning each first in-water sensor proximate to an end of the wire, as illustrated by box  703 . 
     The method can include embedding one or more first in-water sensors in the wire, positioning one or more first in-water sensors adjacent one of the plurality of nodes, positioning one or more first in-water sensors proximate to the wire, positioning one or more first in-water sensors on a buoy towed from the wire, or combinations thereof, as illustrated by box  704 . 
     The method can include determining an absolute position for each in-water sensor and each of the plurality of nodes, or determining a specific distance on the wire using global positioning system sensors, laser sensors, acoustic sensors, or combinations thereof as the first in-water sensors, as illustrated by box  705 . 
     The method can include using the pair of first in-water sensors to collect and transmit first sensor information to a processor in communication with a data storage, as illustrated by box  706 . 
     The method can include using the processor and the first sensor information to determine projected coordinates for a position on the wire, as illustrated by box  707 . 
     The method can include computing the projected coordinates in real-time as the floating vessel traverses over a near surface geological formation, as illustrated by box  708 . 
     The method can include installing at least a pair of second in-water sensors on the wire by embedding the second in-water sensors in the wire, attaching the second in-water sensors to the wire, or combinations thereof, as illustrated by box  709 . 
     The method can include using the second in-water sensors to collect and transmit second sensor information to the processor, as illustrated by box  710 . 
     The method can include receiving a time stamp with the sensor information, as illustrated by box  711 . 
     The method can include using the processor, the second sensor information, and an algorithm for computing azimuth tangents to compute a first azimuth tangential to the wire for each second in-water sensor, as illustrated by box  712 . 
     The method can include loading a library of nominal values for third, fourth, or fifth order polynomial coefficients, a library of known distances along the wire, and a library of preset limits into the data storage, as illustrated by box  713 . 
     The method can include using the projected coordinates from the first in-water sensors and a bearing equation to compute a bearing between the first in-water sensors, as illustrated by box  714 . 
     The method can include using the bearing, the first sensor information, the second sensor information, and a first rotation algorithm to reorient the projected coordinates of the first in-water sensors to local x-y coordinates, forming a local x-y coordinate system, as illustrated by box  715 . 
     The method can include using a second rotation algorithm and the bearing to rotate the azimuths tangential to the wire from the second in-water sensors to reoriented azimuths tangential to the wire into the local x-y coordinate system, as illustrated by box  716 . 
     The method can include constructing a third, fourth, or fifth order polynomial algorithm of the wire in real-time using nominal values, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire, as illustrated by box  717 . 
     The method can include computing a second azimuth tangential to the wire at each second in-water sensor using the third, fourth, or fifth order polynomial algorithm, as illustrated by box  718 . 
     The method can include computing a difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire, thereby forming a residual, as illustrated by box  719 . 
     The method can include using the residual with a least squares technique to update the library of nominal values for third, fourth, or fifth order polynomial coefficients, as illustrated by box  720 . 
     The method can include constructing an updated third, fourth, or fifth order polynomial algorithm of the wire using updated nominal values, the local x-y coordinates of the first in-water sensors, and at least one distance along the wire, as illustrated by box  721 . 
     The method can include computing an updated azimuth tangential to the wire at each second in-water sensor, as illustrated by box  722 . 
     The method can include computing an updated difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire until the residual is within a preset limit, as illustrated by box  723 . 
     The method can include calculating a pair of local x-y coordinates for at least one of the plurality of nodes on the wire, as illustrated by box  724 . 
     The method can include using the bearing and a third rotation algorithm to rotate the pair of local x-y coordinates from the local x-y coordinate system to the projected x, y coordinate system, as illustrated by box  725 . 
     The method can include installing a third in-water sensor as a depth sensor on each of the plurality of nodes, each of the first in-water sensors, and each of the second in-water sensors, as illustrated by box  726 . 
     The method can include providing communication between each third in-water sensor and the processor, as illustrated by box  727 . 
     The method can include transmitting a water depth to the processor from each third in-water sensor for each of the plurality of nodes, each of the first in-water sensors, and each of the second in-water sensors, as illustrated by box  728 . 
     The method can include using the water depths for each of the plurality of nodes to modify the library of known distances along the wire, as illustrated by box  729 . 
     The method can include connecting the processor with a network for communication to a client device remote to the processor, as illustrated by box  730 . 
     The method can include constructing a real-time display of the wire that is updated at least every one minute, as illustrated by box  731 . 
     The method can include attaching at least one streamer to at least one of the plurality of nodes for collecting seismic data of the near surface geological formation, as illustrated by box  732 . 
     The method can include identifying a location of the at least one streamer in-real time using the real-time display, and transmitting an alarm when the location of the at least one streamer moves outside of the preset limits associated with one of the plurality of nodes, as illustrated by box  733 . 
     The method can include connecting at least one hydrophone to at least one of the plurality of nodes for collecting seismic data of the near surface geological formation, as illustrated by box  734 . 
     The method can include creating a trend analysis over time using the third, fourth, or fifth order polynomial algorithm, as illustrated by box  735 . 
     The method can include creating a trend analysis event-by-event using the third, fourth, or fifth order polynomial algorithm, as illustrated by box  736 . 
     The method can include creating a log file containing the local x-y coordinates, the projected coordinates of the projected x-y coordinate system, or combinations thereof, as illustrated by box  737 . 
     While these embodiments have been described with emphasis on the embodiments, it should be understood that within the scope of the appended claims, the embodiments might be practiced other than as specifically described herein.