Metadata: Identification_Information: Citation: Citation_Information: Originator: Gerald A. Hatcher Originator: Christine J. Kranenburg Originator: Jonathan A. Warrick Publication_Date: 20220611 Title: GNSS locations of seabed images collected at Eastern Dry Rocks coral reef, Florida, 2021 Geospatial_Data_Presentation_Form: comma-delimited text file Series_Information: Series_Name: data release Issue_Identification: DOI:10.5066/P93RIIG9 Publication_Information: Publication_Place: Santa Cruz, California Publisher: U.S. Geological Survey - Pacific Coastal and Marine Science Center Online_Linkage: https://doi.org/10.5066/P93RIIG9 Larger_Work_Citation: Citation_Information: Originator: Gerald A. Hatcher Originator: Christine J. Kranenburg Originator: Jonathan A. Warrick Originator: Stephen T. Bosse Originator: David G. Zawada Originator: Kimberly K. Yates Originator: Selena A. Johnson Publication_Date: 2022 Title: Overlapping seabed images and location data acquired using the SQUID-5 system at Eastern Dry Rocks coral reef, Florida, in May 2021, with derived point cloud, digital elevation model and orthomosaic of submerged topography Series_Information: Series_Name: data release Issue_Identification: DOI:10.5066/P93RIIG9 Publication_Information: Publication_Place: Santa Cruz, California Publisher: U.S. Geological Survey - Pacific Coastal and Marine Science Center Online_Linkage: https://doi.org/10.5066/P93RIIG9 Description: Abstract: This text file (SQUID5_EDR_2021_Image_Locations.txt) provides the GNSS antenna location for underwater images collected at Eastern Dry Rocks coral reef, near Key West, Florida, in May 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's EXIF header due to decimal place limitations of the EXIF format. Purpose: 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. Supplemental_Information: Additional information about the field activity from which these data were derived is available online at: https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-620-FA and https://cmgds.marine.usgs.gov/fan_info.php?fan=2021-313-FA Any use of trade, product, or firm names is for descriptive purposes only and does not imply endorsement by the U.S. Government. Time_Period_of_Content: Time_Period_Information: Range_of_Dates/Times: Beginning_Date: 20210507 Ending_Date: 20210513 Currentness_Reference: ground condition Status: Progress: Complete Maintenance_and_Update_Frequency: None planned Spatial_Domain: Bounding_Coordinates: West_Bounding_Coordinate: -81.84582229 East_Bounding_Coordinate: -81.83788892 North_Bounding_Coordinate: 24.46363355 South_Bounding_Coordinate: 24.45790608 Keywords: Theme: Theme_Keyword_Thesaurus: USGS Metadata Identifier Theme_Keyword: USGS:546c60f8-e994-4302-a32f-38cf34bc98cf Theme: Theme_Keyword_Thesaurus: Marine Realms Information Bank (MRIB) keywords Theme_Keyword: seabed Theme_Keyword: Global Positioning System (GPS) observations Theme: Theme_Keyword_Thesaurus: Data Categories for Marine Planning Theme_Keyword: Physical Habitats and Geomorphology Theme: Theme_Keyword_Thesaurus: ISO 19115 Topic Category Theme_Keyword: oceans Theme_Keyword: elevation Theme: Theme_Keyword_Thesaurus: USGS Thesaurus Theme_Keyword: reef ecosystems Theme_Keyword: geospatial datasets Theme_Keyword: remote sensing Theme_Keyword: visible light imaging Theme_Keyword: structure from motion Theme: Theme_Keyword_Thesaurus: None Theme_Keyword: U.S. Geological Survey Theme_Keyword: USGS Theme_Keyword: Coastal and Marine Hazards and Resources Program Theme_Keyword: CMHRP Theme_Keyword: Pacific Coastal and Marine Science Center Theme_Keyword: PCMSC Theme_Keyword: St. Petersburg Coastal and Marine Science Center Theme_Keyword: SPCMSC Place: Place_Keyword_Thesaurus: Geographic Names Information System (GNIS) Place_Keyword: Eastern Dry Rocks Place_Keyword: State of Florida Access_Constraints: None Use_Constraints: 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. Point_of_Contact: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey, Pacific Coastal and Marine Science Center Contact_Person: PCMSC Science Data Coordinator Contact_Address: Address_Type: mailing and physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 831-460-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Data_Set_Credit: 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 Captain Chad Stolka, Operations Specialist for the NOAA Florida Keys National Marine Sanctuary, for his local knowledge and maritime expertise during data acquisition; 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 staff of the Eastern Region, Office of National Marine Sanctuaries, NOAA Florida Keys National Marine Sanctuary, for coordination efforts. Native_Data_Set_Environment: Microsoft Windows 10 Cross_Reference: Citation_Information: Originator: Gerald A. Hatcher Originator: Jonathan A. Warrick Originator: Andrew C. Ritchie Originator: Evan T. Dailey Originator: David G. Zawada Originator: Christine Kranenburg Originator: Kimberly K. Yates Publication_Date: 2020 Title: Accurate bathymetric maps from underwater digital imagery without ground control Other_Citation_Details: 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 Online_Linkage: https://doi.org/10.3389/fmars.2020.00525 Data_Quality_Information: Attribute_Accuracy: Attribute_Accuracy_Report: 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. Logical_Consistency_Report: All data fall within expected ranges. Completeness_Report: 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. Positional_Accuracy: Horizontal_Positional_Accuracy: Horizontal_Positional_Accuracy_Report: Positions provided in the navigation file (SQUID5_EDR_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. Vertical_Positional_Accuracy: Vertical_Positional_Accuracy_Report: Positions provided in the navigation file (SQUID5_EDR_2021_Image_Locations.txt) have an estimated 2-sigma vertical accuracy of 15 cm. Lineage: Process_Step: Process_Description: 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 the Key West, Florida, (FLKW) continuously operating reference station (CORS) 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_EDR_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, 0.03291 m(x), 0.01029 m(y), 0.82907 m(z); Camera 30, -0.30997 m(x), -0.03118 m(y), 0.90784 m(z); Camera 39, 0.27389 m(x), -0.11370 m(y), 0.91150 m(z); Camera 75, 0.13191 m(x), 0.55707 m(y), 0.74864 m(z); Camera 82, -0.011540 m(x), -0.59631 m(y), 0.75578 m(z). Process_Date: 20210610 Process_Contact: Contact_Information: Contact_Person_Primary: Contact_Person: Christine J. Kranenburg Contact_Organization: U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center Contact_Position: Cartographer Contact_Address: Address_Type: Physical and Mailing Address: 600 4th Street South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Country: USA Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: ckranenburg@usgs.gov Spatial_Data_Organization_Information: Direct_Spatial_Reference_Method: Point Point_and_Vector_Object_Information: SDTS_Terms_Description: SDTS_Point_and_Vector_Object_Type: Point Point_and_Vector_Object_Count: 138,733 Spatial_Reference_Information: Horizontal_Coordinate_System_Definition: Geographic: Latitude_Resolution: 0.0000000001 Longitude_Resolution: 0.0000000001 Geographic_Coordinate_Units: Decimal degrees Geodetic_Model: Horizontal_Datum_Name: North American Datum of 1983 (2011) Ellipsoid_Name: GRS 1980 Semi-major_Axis: 6378137.000000 Denominator_of_Flattening_Ratio: 298.257222101 Vertical_Coordinate_System_Definition: Altitude_System_Definition: Altitude_Datum_Name: North American Datum 1983 (2011) Altitude_Resolution: 0.001 Altitude_Distance_Units: meters Altitude_Encoding_Method: Attribute values Entity_and_Attribute_Information: Detailed_Description: Entity_Type: Entity_Type_Label: SQUID5_EDR_2021_Image_Locations.txt Entity_Type_Definition: The comma-separated American Standard Code for Information Interchange (ASCII) text file, SQUID5_EDR_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). Entity_Type_Definition_Source: U.S. Geological Survey Attribute: Attribute_Label: ImageFile Attribute_Definition: File names of individual images. See the metadata file with the accompanying raw images for details on the file-naming convention. Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Unrepresentable_Domain: Unique number for raw image. See the metadata file with the accompanying raw images for details on the file-naming convention. Attribute: Attribute_Label: Latitude Attribute_Definition: Latitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Range_Domain: Range_Domain_Minimum: 24.45790608 Range_Domain_Maximum: 24.46363355 Attribute_Units_of_Measure: decimal degrees Attribute: Attribute_Label: Longitude Attribute_Definition: Longitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in decimal degrees NAD83(2011). Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Range_Domain: Range_Domain_Minimum: -81.84582229 Range_Domain_Maximum: -81.83788892 Attribute_Units_of_Measure: decimal degrees Attribute: Attribute_Label: Altitude (NAD83 Ellipsoid Height) Attribute_Definition: Altitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in meters above the NAD83 ellipsoid. Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Range_Domain: Range_Domain_Minimum: -22.536 Range_Domain_Maximum: -21.280 Overview_Description: Entity_and_Attribute_Overview: SQUID-5 towed surface vehicle Navigation Data (SQUID5_EDR_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. Entity_and_Attribute_Detail_Citation: U.S. Geological Survey Distribution_Information: Distributor: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey - CMGDS Contact_Address: Address_Type: Mailing and Physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 1-831-427-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Resource_Description: SQUID-5 towed surface vehicle Navigation Data (SQUID5_EDR_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. Distribution_Liability: 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. Standard_Order_Process: Digital_Form: Digital_Transfer_Information: Format_Name: comma-delimited text Format_Information_Content: Text (TXT) files can be opened directly with any text-editing software. File_Decompression_Technique: None Transfer_Size: 9.2 Digital_Transfer_Option: Online_Option: Computer_Contact_Information: Network_Address: Network_Resource_Name: https://doi.org/10.5066/P93RIIG9 Access_Instructions: 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. Fees: none Metadata_Reference_Information: Metadata_Date: 20220611 Metadata_Contact: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey, Pacific Coastal and Marine Science Center Contact_Person: PCMSC Science Data Coordinator Contact_Address: Address_Type: mailing and physical Address: 2885 Mission Street City: Santa Cruz State_or_Province: CA Postal_Code: 95060 Contact_Voice_Telephone: 831-460-4747 Contact_Electronic_Mail_Address: pcmsc_data@usgs.gov Metadata_Standard_Name: Content Standard for Digital Geospatial Metadata Metadata_Standard_Version: FGDC-STD-001-1998