These data were collected using the USGS jetyak, a commercially sold gas-powered kayak built in upstate New York, running pre-planned lines perpendicular to the beach with a 20 meter line spacing. The jetyak has a roto-molded polyethylene hull and an air-cooled 7-horsepower four-stroke engine. It is propelled and steered by means of a water-drive. The boat will run for 8 to 10 hours on 3 gallons of gas at survey speeds of 2 to 6 knots. Modifications were made by USGS and WHOI scientists to make the jetyak autonomous. The two original manual controls (throttle and steering) are replaced by servos: automatic devices that use error-sensing feedback to correct performance, such as those employed in remote-control airplanes and satellite-tracking antennas. The servos are run by an onboard computer developed for aerial drones. This computer, a modified Arduino, includes Ardupilot software and a special circuit board that provides interfaces for the controls, radio, and Global Positioning System receiver (GPS). The only other modification is installation of a centrifugal clutch, which allows the engine to idle without moving the jetyak.
Onboard the Jetyak is a hull mounted Humminbird 898c HD SI Combo GPS Fish Finder that is used for GPS navigation and location in addition to collection of sidescan sonar data at 455 kHz, and depth (bathymetric) data at 83 and 200 kHz. Files are saved in a proprietary Humminbird .SON/.DAT paired data format, contact www.humminbird.com for details. A separate navigation GPS receiver mounted onboard the Jetyak is a Spectra Precision SP80 GNSS receiver (
http://www.spectraprecision.com/eng/sp80.html#.WyQWYDNKjUI). This receiver is mounted on top of a pole 1.025 meters in length which is attached to the hull of the jetyak. This receiver is called the "rover", and saves information that will later be used in conjunction with base station established on the beach to calculate kinematic solutions for both the horizontal and vertical coordinates of the rover. The sidescan sonar, navigation, and bathymetry data were processed using Chesapeake Technology 64-bit SonarWiz6 version 6.05.0025 (www.chesapeaketech.com) and ArcGIS version 10.5 (www.esri.com).