Data were collected aboard the NOAA Ship Hi'ialakai, a 68 m
(218') United States National Oceanographic and Atmospheric
Agency (NOAA) research ship. The NOAA Ship Hiialakai's
survey sensors include a 30 kHz Simrad EM300 sonar and a
300 kHz Simrad EM3002d sonar, which measures bathymetry and
acoustic backscatter imagery, a TSS/Applanix POS/MV Model
320, which measures time, position, velocity, attitude and
heading, and a Seabird SBE 9/11 plus CTD used to measure
sound velocity profiles.
The Hi'ialakai's equipment serial numbers, software
versions and sensor configuration settings are as follows:
SIMRAD EM300 multibeam echosounder
Serial #: 303
PU Software Versions:
1.1.3 040427,2.0.0 040614,2.3.2 040615,2.0.1 040629
SIS Software Version: 1.0, build 117, July 2, 2004
SIMRAD EM3002D multibeam echosounders
Serial #: 357 and 353
PU Software Versions:
HCT: 2.0.7 040906
BSP67 Master: 1.2.7 040830
BSP67 Slave: 1.2.7 040830
PU: 1.6.8 050118
DDS: 3.17 2004/06/11
SIS Software Version: 2.5, build 47, April 1, 2005
HI'IALAKAI POS/MV Model 320, version 3
PCS serial #: 817
IMU serial #: 1333
PCS Firmware: 2.16, Sep 15, 2004
Controller software: v 2.1
Seabird SBE 9/11 plus CTD:
Serial #: 09P35130-0737
Hi'ialakai Lever Arm Distances and Alignment Offsets: The
Hi'ialakai's Reference Point (RP) is a granite block
situated 1.222 m starboard of the ship's centerline, 1.23 m
above the ship's baseline/datum on the keel. The RP is
located under the forward deck, in the ship's laundry room.
The ship's sensors, the sonar systems and permanent
benchmarks are measured with respect to the RP. Positive X
means the point is forward of the RP, positive Y means the
point is to starboard of the RP, positive Z means the point
is below the RP. The survey waterline is defined to be at
the 15' draft mark on the vessel's starboard side.
POS/MV Settings: X Y Z
RP to IMU, m 0.434 0.000 -0.117
RP to Primary GPS(port),m -18.101 -2.011 -23.545
RP to Vessel, m 0.00 0.00 0.00
IMU w.r.t. Ref. Frame, deg 0.00 0.00 0.00
RP to Heave lever arm, m -14.532 -1.179 -5.234
Sensor 1 & 2 lever arms & angles: 0 0 0
Antenna Baseline Distance: 1.779
EM300 Settings: X Y Z
Pos sensors 1 2 & 3, m 0 0 0
TX Transducer, m -04.091 -2.217 1.727
RX Transducer, m -06.065 -1.222 1.727
Attitude sensors 1 & 2, m 0 0 0
Waterline, m -3.26
Roll Pitch Heading
TX Transducer, deg 0.00 0.00 359.96
RX Transducer, deg 0.00 0.00 0.05
Attitude 1, deg -0.20 0.00 0.00
Attitude 2, deg 0 0 0
Stand-alone heading, deg 0
EM3002D Settings:
Pos sensors 1 2 & 3, m 0 0 0
Sonar head 1 (port), m 04.439 -1.479 1.560
Sonar head 2 (stbd), m 04.441 -0.963 1.559
Attitude sensors 1 & 2, m 0 0 0
Waterline, m -3.26
Depth sensor, m 0 0 0
Roll Pitch Heading
Sonar head 1 (port), deg 40.153 0.00 0.27
Sonar head 2 (stbd), deg -39.918 0.00 358.18
Attitude 1, deg -1.25 1.1 0.00
Attitude 2, deg 0 0 0
Stand-alone heading, deg 0
Resource Description: EM300 and EM3002D Multibeam Sonar Data
from Cruise Hi'ialakai HI-06-01