Gerald A. Hatcher Christine J. Kranenburg Jonathan A. Warrick 20220611 TIFF data release DOI:10.5066/P93RIIG9 Santa Cruz, California U.S. Geological Survey - Pacific Coastal and Marine Science Center https://doi.org/10.5066/P93RIIG9 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/P93RIIG9 Santa Cruz, California U.S. Geological Survey - Pacific Coastal and Marine Science Center https://doi.org/10.5066/P93RIIG9 Underwater images totaling 138,733 in number were 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 images are organized in zipped files grouped by survey line. The SQUID-5 records images as TIFF (.tif) format to maintain the highest resolution and bit depth. Each image includes EXIF metadata, containing GNSS date, time, latitude, longitude, and altitude of the GNSS antenna mounted on the towed surface vehicle, copyright, keywords, and other fields. 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 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. 20210507 20210513 ground condition Complete None planned -81.84582229 -81.83788892 24.46363355 24.45790608 USGS Metadata Identifier USGS:8c977484-38e7-4273-9adb-185ef3ac6c67 Marine Realms Information Bank (MRIB) keywords seabed coral reefs 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) Eastern Dry Rocks 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 CAM13-20210508191029_000-216-fullrez.jpg Example of underwater image from one of the cameras. JPG 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. 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 accompanying navigation file (SQUID5_EDR_2021_Image_Locations.txt) 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 accompanying 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. Positions provided in the accompanying navigation file (SQUID5_EDR_2021_Image_Locations.txt) have an estimated 2-sigma vertical accuracy of 15 cm. IMAGE ACQUISITION Images were collected in tiff (.tif) format in synchronized quintets by the SQUID-5 system while towed at a speed of approximately 3 knots behind the NOAA vessel R/V Rachael Carson during USGS field activity 2021-620-FA also known as 2021-313-FA. The image-collection frequency was 1 Hz, and GNSS positions were recorded at 10 Hz. Image-gain settings were adjusted as needed depending on water depth and lighting conditions. Aperture and shutter speed were consistent for each group of images at a study site. Image files were named programmatically with the last two digits of the camera's serial number, a 14-digit UTC datetime value formatted as yyyymmddhhmmss, thousandths of seconds, and the sequential image number for that camera. For example, 'CAM13-20210512185837_001-1.tif' indicates camera 13, May 12, 2021, 18:58:37.001 (UTC), collection event number 1 of the survey line. 20210513 raw images U.S. Geological Survey Gerald Hatcher Ocean Engineer Mailing and Physical

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Santa Cruz CA 95060 831-460-7524 831-421-9209 ghatcher@usgs.gov 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 in the accompanying navigation file (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). 20210610 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 IMAGE EXIF SORTING Georeferencing, copyright, and other relevant information were added to the EXIF header of each image using Phil Harvey's ExifTool (v. 11.88; https://exiftool.org/). To extract the information from the image headers using ExifTool, the following command can be used (tested with ExifTool version 11.88): exiftool -csv -f -filename -GPSDateStamp -GPSTimeStamp -GPSLongitude -GPSLatitude -GPSAltitude -n -Artist -Credit -comment -keywords -Caption -Copyright -CopyrightNotice -Caption-Abstract -ImageDescription directoryname/*.tif > out.csv The -csv flag writes the information out in a comma-delimited format. The -n option formats the latitude, longitude, and altitude as signed decimal values. Note that the altitude is referenced to the NAD83 (2011) ellipsoid and are all negative for this dataset. CAUTION: Without the -n option, the command may return the absolute value of the altitude. Images are sorted by survey line number and stored within zip files to limit the file sizes. 20220316 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 Raster Pixel 0.000001 0.000001 Decimal degrees North American Datum of 1983 (2011) GRS 1980 6378137.000000 298.257222101 North American Datum 1983 (2011) 0.001 meters Attribute values SQUID-5 Imagery (Line_##.zip) - Individual images are available in TIFF format and contained within zip files organized by survey lines (##). See Process_Step/IMAGE ACQUISITION for naming convention of individual images. U.S. Geological Survey U.S. Geological Survey - CMGDS Mailing and Physical

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Santa Cruz CA 95060 1-831-427-4747 pcmsc_data@usgs.gov These data are available in TIFF format contained in zip files organized and named by survey line as Line_##.zip, where ## represents a number in the range 1-73. The image files are named with the following convention: camera serial number, 14-digit UTC datetime value, thousandths of seconds, and sequential image number for specified camera. The TIFF image files contain EXIF metadata, including GNSS time and position data, and are included as an open-source format for preservation purposes. 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. TIFF The .zip files contains images in tagged image file format (.tif) PKZIP 1074881 https://doi.org/10.5066/P93RIIG9 Image data can be downloaded per survey line using the Network_Resource_Name link. File names correspond to the tracklines shown in the Overview Map on the landing page of the data release and are named according to the following convention: Line_##.zip, where ## is a sequential trackline number indicating the order in which lines were collected. ## is a number in the range 1-73. none 20220611 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 Content Standard for Digital Geospatial Metadata FGDC-STD-001-1998