Metadata: Identification_Information: Citation: Citation_Information: Originator: Christine J. Kranenburg Originator: David G. Zawada Originator: Gerald A. Hatcher Originator: Jonathan A. Warrick Originator: Kimberly K. Yates Publication_Date: 20231221 Title: Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022 Geospatial_Data_Presentation_Form: remote-sensing image, tabular digital data, vector digital data Series_Information: Series_Name: data service Issue_Identification: DOI:10.5066/P9M3NYWI Publication_Information: Publication_Place: St. Petersburg, Florida Publisher: U.S. Geological Survey - St. Petersburg Coastal and Marine Science Center Other_Citation_Details: Suggested Citation: Kranenburg, C.J., Zawada, D.G., Hatcher, G.A., Warrick, J.A., and Yates, K.K., 2023, Overlapping seabed images collected at Big Pine Ledge coral reef, Florida, 2022, in Remote Sensing Coastal Change Simple Data Distribution Service: U.S. Geological Survey data service, accessed [MMMM d, YYYY], at https://doi.org/10.5066/P9M3NYWI. [Data directly accessible at https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/FL_2022_BigPineLedge/] Online_Linkage: https://doi.org/10.5066/P9M3NYWI Larger_Work_Citation: Citation_Information: Originator: Andrew C. Ritchie Originator: Peter J. Triezenberg Originator: Jonathan A. Warrick Originator: Gerald A. Hatcher Originator: Daniel D. Buscombe Publication_Date: 20230221 Title: Remote Sensing Coastal Change Simple Data Distribution Service Series_Information: Series_Name: data service Issue_Identification: DOI:10.5066/P9M3NYWI 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/P9M3NYWI Description: Abstract: A total of 118,965 underwater images were collected at Big Pine Ledge, Florida, in July 2022, using the novel SfM (Structure-from-Motion) Quantitative Underwater Imaging Device with 5 cameras (SQUID-5) system. The SQUID-5 is a towed surface vehicle with five downward-looking underwater cameras developed by the U.S. Geological Survey (USGS), and records images in the Tagged Image File Format (.tif) to maintain the highest resolution and bit depth. Each image includes imagery header metadata (including, but not limited to: Global navigation satellite system (GNSS) date, time, latitude, longitude, and altitude of the GNSS antenna mounted on the vehicle, copyright, and keywords). Purpose: The underwater images and associated location data were collected to provide high-resolution elevation data and precisely co-registered, full-color orthoimagery basemaps 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: Each data collection is recorded in the USGS Coastal and Marine Hazards Resources Program (CMHRP) Coastal and Marine Geoscience Data System (CMGDS) field activity database and is assigned a Field Activity Number (FAN). 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=2022-314-FA This data collection is published under the SQUID-5 data collection platform (DCP) within the RSCC simple data distribution service. This data service is structured in a folder (directory) hierarchy with subfolders corresponding to individual DCPs or groups of DCPs, which in turn contain folders with products grouped by collection effort. For more information on the RSCC simple data distribution service, refer to Ritchie and others (2023), https://doi.org/10.5066/P9M3NYWI. For more information about the SQUID-5 DCP, refer to Kranenburg and others (2023), https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/. Time_Period_of_Content: Time_Period_Information: Range_of_Dates/Times: Beginning_Date: 20220716 Ending_Date: 20220718 Currentness_Reference: ground condition Status: Progress: Complete Maintenance_and_Update_Frequency: None planned Spatial_Domain: Bounding_Coordinates: West_Bounding_Coordinate: -81.38620083 East_Bounding_Coordinate: -81.37682258 North_Bounding_Coordinate: 24.55405601 South_Bounding_Coordinate: 24.55120289 Keywords: 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: None Place_Keyword: Big Pine Ledge 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, St. Petersburg Coastal and Marine Science Center Contact_Person: SPCMSC Data Management Group Contact_Address: Address_Type: Mailing and Physical Address: 600 4th St South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: gs-g-spcmsc_data_inquiries@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 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, National Oceanic and Atmospheric Administration (NOAA) Florida Keys National Marine Sanctuary, for coordination efforts. Native_Data_Set_Environment: Microsoft Windows 10; NovAtel's GrafNav software (version 8.80.2720; https://novatel.com/products/waypoint-post-processing-software/grafnav); Phil Harvey's ExifTool (version 11.88; https://exiftool.org/); Global Mapper software (version 20.1; https://www.bluemarblegeo.com/). Cross_Reference: Citation_Information: Originator: Christine J. Kranenburg Originator: Gerald A. Hatcher Originator: Jonathan A. Warrick Originator: David G. Zawada Originator: Kimberly K. Yates Publication_Date: 20231130 Title: SfM Quantitative Underwater Imaging Device with 5 cameras (SQUID-5) – Field data from periodic surveys of the Florida Keys and other select shallow water environments Series_Information: Series_Name: data service Issue_Identification: DOI:10.5066/P9M3NYWI Publication_Information: Publication_Place: St. Petersburg, Florida Publisher: U.S. Geological Survey – St. Petersburg Coastal and Marine Science Center Online_Linkage: https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/ Cross_Reference: Citation_Information: Originator: Gerald A. Hatcher Originator: Jonathan A. Warrick Originator: Christine J. Kranenburg Originator: Andrew C. Ritchie Publication_Date: 20230726 Title: Accurate Maps of Reef-scale Bathymetry with Synchronized Underwater Cameras and GNSS Series_Information: Series_Name: Remote Sensing Issue_Identification: 15(15), 3727 Online_Linkage: https://doi.org/10.3390/rs15153727 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: 20200626 Title: Accurate Bathymetric Maps From Underwater Digital Imagery Without Ground Control Series_Information: Series_Name: Frontiers in Marine Science Issue_Identification: Volume 7, Article 525 Online_Linkage: https://doi.org/10.3389/fmars.2020.00525 Data_Quality_Information: Attribute_Accuracy: Attribute_Accuracy_Report: The accuracy of the position data is based on the accuracy and precision of the GNSS equipment, the accuracy and precision of the camera timing, number and length of baselines, and environmental conditions at the time of collection. Note that the accuracy of the positions in the imagery 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. These data represent raw imagery, as collected, and subsequently used in SfM photogrammetric processing workflows. The user may find it useful and/or necessary to color correct these raw data, as appropriate for their application. Logical_Consistency_Report: RGB (red, green, blue) values are 8-bits per band, generally not saturated or underexposed. Occasionally, usually at the start of a new survey day, some imagery may be over or underexposed due to inappropriate initial operator-set gain settings. Appropriate gain settings are usually achieved by the 2nd or 3rd survey line. GNSS values were checked for consistency and outliers and fall within expected ranges. Completeness_Report: One of the five SQUID-5 cameras (CAM01) malfunctioned at the beginning of the survey, resulting in no CAM01 images on day 1 (2022-07-16) of collection and approximately 20 percent of the expected amount of images on day 2 (2022-07-17). The system was restored to full functionality for the third and final day of the survey. Hatcher and others (2023) demonstrated that the SQUID-5 has enough redundancy to build high quality high-resolution models with as few as 3 cameras operating. Positional_Accuracy: Horizontal_Positional_Accuracy: Horizontal_Positional_Accuracy_Report: Horizontal positions are provided in the accompanying navigation file (FL_2022_BigPineLedge_Image_Locations.txt) and have an estimated 2-sigma horizontal accuracy of 10 centimeters (cm). The accuracy of the positions in the imagery headers are reduced due to field size limitations for storing latitude/longitude. Vertical_Positional_Accuracy: Vertical_Positional_Accuracy_Report: Vertical positions are provided in the accompanying navigation file (FL_2022_BigPineLedge_Image_Locations.txt) and have an estimated 2-sigma vertical accuracy of 15 cm. Lineage: Process_Step: Process_Description: IMAGE & POSITION 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 USGS research vessel (R/V) Sallenger during USGS field activity 2022-314-FA. The image-collection frequency was 1 hertz (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 and conform to the following naming convention: CAM##-YYYYMMDDhhmmss_fff-n[nnn].tif, where ## comprise the last 2 digits of the serial number of the camera that captured the image, YYYYMMDD represents the year (YYYY), month (MM) and day (DD) of capture; hhmmss_fff is the time of capture as hours (hh), minutes (mm), seconds(ss) and fractional seconds (fff) in Universal Coordinated Time (UTC) and n[nnn] is a sequence number (image counter) which is reset at the beginning of each survey line. For example, 'CAM13-20210717163118_000-330.tif' indicates camera 13, July 17, 2021, 16:31:18.000 (UTC), collection event number 330 of the survey line. Process_Date: 20220718 Process_Contact: Contact_Information: Contact_Person_Primary: Contact_Person: David G. Zawada Contact_Organization: U.S. Geological Survey, St. Petersburg Coastal and Marine Science Center Contact_Position: Research Oceanographer Contact_Address: Address_Type: Physical and Mailing Address: 600 4th St. South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Country: USA Contact_Voice_Telephone: 727-502-8132 Contact_Facsimile_Telephone: 727-502-8181 Contact_Electronic_Mail_Address: dzawada@usgs.gov 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 a local base station located 14 kilometers (km) from the survey site, in NovAtel's GrafNav software to produce 10-Hz SQUID-5 trajectories. The SQUID-5 trajectories, in combination with precisely recorded image capture event times, were used to generate SQUID-5 GNSS antenna positions at the moment of each image capture and can be found in the accompanying text file (FL_2022_BigPineLedge_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. The following values for each camera were calculated for x, y, and z (in meters). Camera 13, 0.033 m(x), 0.036 m(y), 0.739 m(z); Camera 01, -0.32 m(x), -0.205 m(y), 0.823 m(z); Camera 39, 0.17 m(x), -0.280 m(y), 0.838 m(z); Camera 75, 0.047 m(x), 0.396 m(y), 0.698 m(z); Camera 82, -0.11 m(x), -0.69 m(y), 0.675 m(z). The methodology by which the original lever arm measurements were determined is described in Hatcher and others (2020). Those values were then refined during the SfM process. For more information about quality assurance/quality control (QA/QC) procedures completed for this process step, refer to the SQUID-5 DCP metadata record associated with this collection effort (Kranenburg and others, 2023). Process_Date: 20230223 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 Process_Step: Process_Description: IMAGERY HEADERS Georeferencing, copyright, and other relevant information were added to the imagery headers of each image using Phil Harvey's ExifTool. To extract the information from the image headers using ExifTool, the following command can be used (tested with ExifTool version 11.88): exiftool -n -csv *.tif > allheaders.csv The -csv flag writes the information out in a comma-delimited format. The -n option formats the latitude and longitude as signed decimal degrees. For the exact scripts used to populate the imagery headers in this process step, refer to the SQUID-5 DCP metadata record associated with this collection effort (Kranenburg and others, 2023). Process_Date: 20230501 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 Process_Step: Process_Description: KMZ CREATION In order to provide a visual map of the survey extent, image capture locations and to aid in completing the geospatial information in the collection-level metadata, a Keyhole Markup Language Zipped file (.kmz) is created from the image positions text file for each collection using Global Mapper. Process_Date: 20231219 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: Raster Raster_Object_Information: Raster_Object_Type: Pixel Row_Count: 2048 Column_Count: 2448 Spatial_Reference_Information: Horizontal_Coordinate_System_Definition: Geographic: Latitude_Resolution: 0.000000001 Longitude_Resolution: 0.000000001 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: FL_2022_BigPineLedge_Image_Locations.txt Entity_Type_Definition: The comma-separated American Standard Code for Information Interchange (ASCII) text file, FL_2022_BigPineLedge_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: ImageName Attribute_Definition: File names of individual images; see the Lineage section and IMAGE & POSITION ACQUISITION Process_Description for file naming convention details. Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Range_Domain: Range_Domain_Minimum: CAM13-20220716162903_003-1.tif Range_Domain_Maximum: CAM82-20220718160733_010-466.tif 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: 24.55120289 Range_Domain_Maximum: 24.55405601 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: -81.38620083 Range_Domain_Maximum: -81.37682258 Attribute_Units_of_Measure: decimal degrees Attribute: Attribute_Label: H-Ell (m) Attribute_Definition: Altitude of towed surface vehicle GNSS antenna position at the moment of each image capture, in meters from the NAD83 ellipsoid. Attribute_Definition_Source: U.S. Geological Survey Attribute_Domain_Values: Range_Domain: Range_Domain_Minimum: -22.389 Range_Domain_Maximum: -20.945 Attribute_Units_of_Measure: meters Overview_Description: Entity_and_Attribute_Overview: Individual underwater images are available in TIFF format. See the 'IMAGE & POSITION ACQUISITION' Process_Step for more information on file naming convention. Entity_and_Attribute_Detail_Citation: The entity and attribute information were generated by the individual and/or agency identified as the originator of the dataset. Please review the rest of the metadata record for additional details and information. Distribution_Information: Distributor: Contact_Information: Contact_Organization_Primary: Contact_Organization: U.S. Geological Survey - CMGDS Contact_Address: Address_Type: Mailing and Physical Address: 600 4th St South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: gs-g-spcmsc_data_inquiries@usgs.gov Resource_Description: CAM##-YYYYMMDDhhmmss_fff-n[nnn].tif, FL_2022_BigPineLedge_Image_Locations.txt, FL_2022_BigPineLedge_Image_Locations.kmz 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: TIFF Format_Information_Content: TIFF images can be opened directly with any TIFF-compatible image viewer. Digital_Transfer_Option: Online_Option: Computer_Contact_Information: Network_Address: Network_Resource_Name: https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/FL_2022_BigPineLedge/images Digital_Form: Digital_Transfer_Information: Format_Name: columnar text Format_Information_Content: ASCII text files can be opened with any text viewer, such as Notepad. Digital_Transfer_Option: Online_Option: Computer_Contact_Information: Network_Address: Network_Resource_Name: https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/FL_2022_BigPineLedge/image_locations/FL_2022_BigPineLedge_Image_Locations.txt Digital_Form: Digital_Transfer_Information: Format_Name: KMZ Format_Information_Content: KMZ files can be opened with software capable of viewing geographic information system (GIS) data, such as the Google Earth web viewer (https://earth.google.com/web/). Digital_Transfer_Option: Online_Option: Computer_Contact_Information: Network_Address: Network_Resource_Name: https://cmgds.marine.usgs.gov/data-services/rscc/SQUID/FL_2022_BigPineLedge/finding_aids/FL_2022_BigPineLedge_Image_Locations.kmz Fees: None Metadata_Reference_Information: Metadata_Date: 20231108 Metadata_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_Address: Address_Type: Physical and Mailing Address: 600 4th St South City: St. Petersburg State_or_Province: FL Postal_Code: 33701 Contact_Voice_Telephone: 727-502-8000 Contact_Electronic_Mail_Address: ckranenburg@usgs.gov Metadata_Standard_Name: Content Standard for Digital Geospatial Metadata Metadata_Standard_Version: FGDC-STD-001-1998