"I'm absolutely pumped, man," he told the broadcast.
"It's an awesome way to start the year, the car rolled out really good in practice.
"We've been fine-tuning it and getting it a little bit nicer.
"She was pretty sketchy then, nice and slippery, got through [Turn 1] had a little mistake, just tried to do a clean lap after that.
"Super pumped to start on pole again."
Mark Winterbottom was the first man out and fired in a 2:06.5672s in his #18 IRWIN Racing entry, before Jamie Whincup fired in the best first sector to clock a 2:06.1164s.
Will Davison unseated Whincup, before Friday fast man Chaz Mostert recovered from a wild moment at the first corner to to slot in behind the #17 Shell V-Power Racing entry following a quick middle sector.
Van Gisbergen followed out Waters and clocked the best first sector, before falling away to set the third quickest time.
The qualifying fast man, Anton De Pasquale, couldn't replicate his earlier pace in the warmer conditions and will line up fourth for Saturday afternoon's race, with his lap scuppered after he dropped two wheels into the grass across Skyline.
The Repco Supercars Championship field will return to the track for the 40-lap Race 1 at 3:00pm AEDT on Saturday for ARMOR ALL Qualifying. Tickets are on sale now.