Based on combined uncertainty and bathymetry estimator (CUBE) algorithm, a dynamic linear model (DLM) including horizontal and vertical soundings data uncertainties is discussed. Kalman filtering and multiple estimations are utilized to calculate the grid nodes. According to the real measured data of survey area of Bohai, comparison with the manual interactive process, CUBE algorithm is presented to estimate the true depth of the grid points of the survey area in this paper. From the experimental results, it can be seen that the CUBE algorithm is efficient and has good robustness, which means the proposed algorithm is suitable for massive multibeam soundings data in real-time automatic processing. Index Terms -Multibeam echosounding data. CUBE algorithm. Depth estimation. Uncertainty.