Gerald A. Hatcher Christine J. Kranenburg Jonathan A. Warrick 20221005 comma-delimited text file data release DOI:10.5066/P9WSF09G Santa Cruz, California U.S. Geological Survey - Pacific Coastal and Marine Science Center https://doi.org/10.5066/P9WSF09G Gerald A. Hatcher Christine J. Kranenburg Jonathan A. Warrick Stephen T. Bosse David G. Zawada Kimberly K. Yates Selena A. Johnson 2022 data release DOI:10.5066/P9WSF09G Santa Cruz, California U.S. Geological Survey - Pacific Coastal and Marine Science Center https://doi.org/10.5066/P9WSF09G The text file "SQUID5_LKR_2021_Image_Locations.txt" provides the GNSS antenna location for underwater images collected at Looe Key, Florida, in July 2021, using the SQUID5 Structure-from-Motion (SfM) system, a towed-surface vehicle with five downward-looking underwater cameras developed by the U.S. Geological Survey. The GNSS antenna location for the time of each image capture is presented with greater precision than is stored in the individual image EXIF headers due to decimal place limitations of the EXIF format. The underwater images and associated location data were collected to provide high-resolution elevation data and precisely co-registered, full-color orthomosaic base maps for use in environmental assessment and monitoring of the coral reef and surrounding seafloor habitat. Additionally, the data were collected to evaluate their potential to improve USGS scientific efforts including seafloor elevation and stability modeling, and small-scale hydrodynamic flow modeling. Additional information about the field activities from which these data were derived is available online at: https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-633-FA and https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-301-FA Any use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U.S. Government. 20210715 20210719 ground condition Complete None planned -81.40955034 -81.40075500 24.54725136 24.54395879 USGS Metadata Identifier USGS:90d9c75d-8256-46d6-8440-36ef400e5f3b Marine Realms Information Bank (MRIB) keywords seabed Global Positioning System (GPS) observations Data Categories for Marine Planning Physical Habitats and Geomorphology ISO 19115 Topic Category oceans elevation USGS Thesaurus reef ecosystems geospatial datasets remote sensing visible light imaging structure from motion None U.S. Geological Survey USGS Coastal and Marine Hazards and Resources Program CMHRP Pacific Coastal and Marine Science Center PCMSC St. Petersburg Coastal and Marine Science Center SPCMSC Geographic Names Information System (GNIS) Looe Key State of Florida None USGS-authored or produced data and information are in the public domain from the U.S. Government and are freely redistributable with proper metadata and source attribution. Please recognize and acknowledge the U.S. Geological Survey as the originator of the dataset and in products derived from these data. This information is not intended for navigation purposes. U.S. Geological Survey, Pacific Coastal and Marine Science Center PCMSC Science Data Coordinator mailing and physical

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Santa Cruz CA 95060 831-460-4747 pcmsc_data@usgs.gov Data collection was funded by the U.S. Geological Survey Pacific Coastal Marine Science Center and the U.S. Geological Survey Saint Petersburg Coastal and Marine Science Center. The authors would like to thank Dr. Jason Spadaro, Assistant Professor, Marine Science and Technology, College of the Florida Keys for installing calibration targets on the reef, Lisa Symons, Regional Response Coordinator, and the staff of the Eastern Region, Office of National Marine Sanctuaries, NOAA Florida Keys National Marine Sanctuary, for coordination efforts. Microsoft Windows 10 Gerald A. Hatcher Jonathan A. Warrick Andrew C. Ritchie Evan T. Dailey David G. Zawada Christine Kranenburg Kimberly K. Yates 2020 Hatcher, G.A., Warrick, J.A., Ritchie, A.C., Dailey, E.T., Zawada, D.G., Kranenburg, C., and Yates, K.K., 2020, Accurate bathymetric maps from underwater digital imagery without ground control: Frontiers in Marine Science, v. 7, art. 525, doi:10.3389/fmars.2020.00525 https://doi.org/10.3389/fmars.2020.00525 The accuracy of the position data used for SfM data processing is based on the accuracy of the post-processed GNSS navigation data, which produced a 10-Hz vehicle trajectory with an estimated 2-sigma accuracy of 10 cm horizontal and 15 cm vertical. Note that the accuracy of the positions in the image EXIF headers are GNSS antenna positions and are limited to six decimal places, whereas the positions in the external navigation file are accurate to ten decimal places and are therefore highly recommended for use in SfM processing to produce the highest quality derived products. All data fall within expected ranges. Dataset is considered complete for the information presented, as described in the abstract. Users are advised to read the rest of the metadata record carefully for additional details. Positions provided in the navigation file (SQUID5_LKR_2021_Image_Locations.txt) have an estimated 2-sigma horizontal accuracy of 10 cm. The accuracy of the positions in the image EXIF headers are reduced due to field size limitations for storing latitude/longitude. Positions provided in the navigation file (SQUID5_LKR_2021_Image_Locations.txt) have an estimated 2-sigma vertical accuracy of 15 cm. SQUID-5 NAVIGATION PROCESSING Raw GNSS data received by the antenna mounted atop the SQUID-5 were recorded at 10 Hz by a dual-frequency survey-grade GNSS receiver, which was post-processed and differentially corrected against a local base station located 14 Km from the survey site, in Novatel's GrafNav software (v. 8.80.2720; https://novatel.com/products/waypoint-post-processing-software/grafnav) to produce 10-Hz SQUID-5 trajectories. The SQUID-5 trajectories, in combination with precisely recorded image capture event times, are used to generate SQUID-5 GNSS antenna positions at the moment of each image capture (SQUID5_LKR_2021_Image_Locations.txt). The positions in the SQUID-5 navigation file represent the position of the SQUID-5 GNSS antenna reference point (ARP), not the position of the cameras or features imaged. To determine actual image positions, photogrammetric software such as Agisoft Metashape can be used to apply the lever arm offsets (in the camera frame of reference) from the GNSS antenna reference point to the camera lens. Using this method the following values for each camera were calculated for x,y,z in units of meters. Camera 13, 0.028 m(x), 0.016 m(y), 0.822 m(z); Camera 39, 0.274 m(x), -0.106 m(y), 0.912 m(z); Camera 75, 0.128 m(x), 0.562 m(y), 0.741 m(z); Camera 82, -0.015 m(x), -0.570 m(y), 0.765 m(z). 20211110 Christine J. Kranenburg U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center Cartographer Physical and Mailing

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St. Petersburg FL 33701 USA 727-502-8000 ckranenburg@usgs.gov Point Point 93,885 0.0000000001 0.0000000001 Decimal degrees North American Datum of 1983 (2011) GRS 1980 6378137.000000 298.257222101 North American Datum 1983 (2011) 0.001 meters Attribute values SQUID5_LKR_2021_Image_Locations.txt The comma-separated American Standard Code for Information Interchange (ASCII) text file, SQUID5_LKR_2021_Image_Locations.txt contains the post-processed towed surface vehicle navigation GNSS data (position of the towed surface vehicle at the moment of each image capture). U.S. Geological Survey ImageFile File names of individual images. See the metadata file with the accompanying raw images for details on the file-naming convention. U.S. Geological Survey Unique number for raw image. See the metadata file with the accompanying raw images for details on the file-naming convention. Latitude Latitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). U.S. Geological Survey 24.54395879 24.54725136 decimal degrees Longitude Longitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). U.S. Geological Survey -81.40955034 -81.40075500 decimal degrees Altitude (NAD83 Ellipsoid Height) Altitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in meters above the NAD83 ellipsoid. U.S. Geological Survey -22.725 -21.026 SQUID-5 towed surface vehicle Navigation Data (SQUID5_LKR_2021_Image_Locations.txt) - Contains a comma-delimited text (TXT) file of the precise post-processed GNSS position of the towed surface vehicle at the precise initiation event time of each image capture; see the Entity_and_Attribute_Information section and Detailed_Description for more information on the variables reported in the TXT file, and see the Lineage section and towed surface vehicle NAVIGATION PROCESSING Process_Step for information on how to compute the precise image positions from the towed surface vehicle positions using photogrammetric software and applying lever arm offsets between the towed surface vehicle GNSS antenna and camera lens. U.S. Geological Survey U.S. Geological Survey - CMGDS Mailing and Physical

2885 Mission Street

Santa Cruz CA 95060 1-831-427-4747 pcmsc_data@usgs.gov SQUID-5 towed surface vehicle Navigation Data (SQUID5_LKR_2021_Image_Locations.txt) - Contains a comma-delimited text (TXT) file of the precise post-processed GNSS position of the towed surface vehicle at the precise initiation event time of each image capture; see the Entity_and_Attribute_Information section and Detailed_Description for more information on the variables reported in the TXT file, and see the Lineage section and towed surface vehicle NAVIGATION PROCESSING Process_Step for information on how to compute the precise image positions from the towed surface vehicle positions using photogrammetric software and applying lever arm offsets between the towed surface vehicle GNSS antenna and camera lens. Unless otherwise stated, all data, metadata and related materials are considered to satisfy the quality standards relative to the purpose for which the data were collected. Although these data and associated metadata have been reviewed for accuracy and completeness and approved for release by the U.S. Geological Survey (USGS), no warranty expressed or implied is made regarding the display or utility of the data on any other system or for general or scientific purposes, nor shall the act of distribution constitute any such warranty. comma-delimited text Text (TXT) files can be opened directly with any text-editing software. None 6.25 https://doi.org/10.5066/P9WSF09G Antenna position data at the locations of image collection can be downloaded as a single text file by going to the Network_Resource_Name link and scrolling down to the Location-Elevation Data section. none 20221005 U.S. Geological Survey, Pacific Coastal and Marine Science Center PCMSC Science Data Coordinator mailing and physical

2885 Mission Street

Santa Cruz CA 95060 831-460-4747 pcmsc_data@usgs.gov Content Standard for Digital Geospatial Metadata FGDC-STD-001-1998