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Abstract: The detection capabilities of naval and research vessels are significantly enhanced through the use of Variable Depth Sonar (VDS) systems, which overcome limitations inherent to traditional hullmounted sonar. This paper presents a comprehensive modular method for modeling the dynamic motion behavior of a VDS deployed from a shipborne crane, accounting for ship-induced excitations, external forces such as wind, and the complex oscillatory motion of the towed body. The ship’s motion is simulated using the E4-ROLLS method, while the VDS dynamics are derived via Lagrange’s equations within a multi-coordinate framework. Due to challenges in applying conventional heave compensation, the study focuses on swing damping achieved by optimal control of the rope length during deployment. The CHWARISMI optimization algorithm is employed to determine the optimal winch speed profile, dividing the cable into segments for real-time winch speed adjustment. Results demonstrate that the pure swing damping principle without optimization can increase pendulum amplitudes and reduce operational limits. In contrast, the combination with CHWARISMI-based optimized winch speed control effectively dampens oscillations, extending the permissible significant wave heights during deployment and enhancing VDS operational performance. The proposed approach offers a valuable tool for improving the deployment efficiency and operational envelope of variable depth sonar systems under realistic sea conditions.