The vessel was set-up for data acquisition and navigation with PDS-2000 software by RESON, interfacing by a multiserial and Ethernet link several instruments, among them the DGPS (Fugro), the Atlas-Krupp Deso-25 single-beam echosunder, the TSS MAHRS MRU and the meteorological station. The position and depth data were also distributed to the CTD data acquisition console. A Kongsberg processor running the SIS software, collected the multibeam data, including a SEAPATH MRU, compass, and DGPS. The MBES was the 70kHz, 400 1x2°beams, 150°aperture EM-710 (2000 m range) model by Kongsberg. The sonar head is positioned on the ship's keel using a V-shaped steel frame. A Sound Velocity probe at the keel 1m above the Sonar Head is interfaced directly to the MBES processor, thus providing the necessary real-time data for the beamforming. CTD casts were normally used for input of the sound velocity profile to the system. An Anderaa Meteorological Station was also available, at a rate of one measurement every 1 minutes, including conductivity and temperature at the keel level.
Tab.3 and 4 show the offsets (PDS2000 amd EM710).