Marine Habitat Mapping Technology for Alaska 267

Index

Bold page numbers indicate figures, acoustic remote sensing (ARS) (continued) Albatross Bank, 178, 249 tables, and maps installation of acoustic sensors, 73 Aleutian Islands, 2, 172, 178, 238 mounting of acoustic sensors, 73-76, 74, coral gardens, 20-21, 22, 23, 239 75, 76, 77-79, 243 Delta (manned submersible) surveys, A and multibeam swath sonar, 40-41 149, 151 Abaco, Bahamas, 13, 16 parameters that can be measured, 29, 29 algorithms from Multiview software, 197 Abrolhos Reef, Australia, 227 positioning for, 42 Allee, Brian, 1-11, 237-265 ABS. See acrylonitrile butadiene styrene post processing of, 42, 44 Allocentrotus fragilis. See urchin plastic mosaics resulting from different Aloha (F/V), 205, 205 absorption of acoustic waves, 30 levels of, 43-44 along-track resolution. See resolution, lateral abundance of fish, 4, 6, 20, 157, 162, 185, 246, and sidescan sonars, 36-38, 40 resolution 247, 250 technology advances in, 41-42 altimeters, 103, 104 on Heceta Bank, 203, 205, 208, 209, 211, as a tool for habitat mapping in Alaska Amend, M.R., 4 213-214, 214, 254-255 waters, 29-45 analog video vs. digital video, 103 in Northeast Pacific waters, 143, 144, 146, and vertical-beam sounders, 34-36 Anderson, T.J., 5 148, 150-151 acoustic waves, 30, 33, 34, 37, 242 angle of incidence. See incidence angles in untrawlable waters, 132, 136, 140 ACPs. See Active Control Points Anoplopoma fimbria. See sablefish accelerating water mass, 91, 96, 244 across-track lateral resolution. See resolution, ANOVA (analysis of variance), 162, 214 acoustical surveys, 2 lateral resolution Anthomastus, 213 acoustic seabed classification, 6 acrylonitrile butadiene styrene (ABS) plastic, Antipathes dendrochristos. See black features of acoustic response of the 49 Christmas tree coral seafloor,197 Active Control Points (ACPs), 80 Applied Acoustic Technologies, model 219 issues related to, 263 A D C P. See acoustic Doppler current profiler transponder, 116, 117-118, 122-123 QTC analysis, 6-7 ADFG. See Alaska Department of Fish and Aquarius (manned submersible), 4, 263 and scale disparities in British Columbia Game ArcGIS software, 118, 161, 162, 225, 227, 247, coast mapping project, 199 airborne LIDAR bathymetry (ALB), 72. See 251, 252 systematic acoustic seafloor habitat also LIDAR (light detection and example of distribution of black coral, mapping of British Columbia ranging system) 164 coast, 195-201, 245 air gun systems as marine seismic sources, map of “drainage” for southern margin of 3-D acoustic diversity map, 201 91, 96, 244 Australia, 225 vessel track on acoustic classification Alaska use of Greene habitat mapping scheme map, 200 acoustic remote sensing as a tool for in, 181 video sleds and habitat mapping, 99-107, habitat mapping in, 29-45 ArcInfo software, 121, 227, 257 250-251 Alaska-specific issues related to mapping, ArcMap software, 118, 121 acoustic classification, 6 261 Hawth’s Tools for ArcMap software, 118, acoustic diversity, 195, 197, 198, 201, 245 comparison with Scotian Shelf, 171 121 acoustic Doppler current profiler (ADCP), lessons learned from Ireland, Australia, Arctic region, 2, 49, 80, 221, 238, 239, 240, 131, 139, 247, 250, 261 and California, 263-265 261 acoustic frequency, 29 marine benthic habitat classification: ARS. See acoustic remote sensing (ARS) acoustic habitat classification, 199, 245, 253 what’s best for Alaska, 169-184, articulated cranes, 50 acoustic impedance, 30, 37, 91, 239 253-254 assemblages, 143 diagram of acoustic impedance contrast, Alaska Board of Fisheries (BOF), 20 benthic assemblages, 93 31 Alaska Department of Fish and Game biological assemblages, 148, 149, 151, acoustic remote sensing (ARS) (ADFG), 4, 20, 22, 110, 149, 150, 205-206, 209, 214, 221, 223, comparisons of types of ARS, 242-243 178, 240, 247, 249 225 diagram of acoustic impedance contrast Alaska Fisheries Science Center (AFSC), list of published studies, 227 and seabed roughness, 31 NOAA, 4, 22, 101, 104 habitat-specific assemblages, 149 frequencies of ARS Alaskagorgia aleutiana. See gorgonian coral Auke Bay Laboratory, NMFS, 110, 178, 249 bandwidth, pulse duration and range Alaska Habitat Mapping Workshop, 234 Auster, P.J., 119 resolution, 33 Alaska Sea Grant College Program, 2 Australia, 5, 238 transducer sizes and beam footprints ALB. See airborne LIDAR bathymetry applications of geoscience to the as a function of ARS Albany, Australia, 234 representative marine frequency and beamwidth, protected area program, 256- 37 258 and wavelength, range and penetration, 33 268 Index

Australia (continued) backscatter (continued) Benthos, 38 Australian Exclusive Economic Zone, 1, intensity, 6, 26, 50, 187-189, 192, 252 C3D BSSS, 38, 40, 76, 195, 199, 241, 243, 219, 220, 222, 226, 234, 256, backscatter intensity rasters, 186, 189 245 263, 264 backscatter-intensity variance, 187 Data Sonic PSA916 sonar altimeter, 145 Australian scheme for classification of seafloor backscatter intensity data in MiniROVER MKII, 110 habitats, 171-172, 221-222, 234, CCWMP, 188 Stingray, 246 253, 256-257 interpreting, 242 Bering Sea, 2, 178 geomorphic features map, 222-223, 225 mosaics, 176 bigfin eelpout, 214 list of features mapped in Australia’s multibeam backscatter, 41, 50, 91, 93, 96, Big Sur, California, 60 EEZ, 224 111, 113, 118, 169, 239, 240, biodiversity, 7, 8, 219, 234, 260, 261, 264 for Southwest Planning Region, 226 241, 242, 243, 249, 256 in Australia, 219, 220, 221, 234, 256, 257, lessons learned from the representative map of Heceta Bank using 263 marine protected area program, multibeam backscatter, 207 impact of high trawl intensity on, 150 263-265 matching multibeam backscatter tied to habitat diversity, 256, 257 location of 41 bioregions in Australia, to sonar classification bioherms (mounds), 95 223 signatures, 251 biological assemblages, 148, 149, 151, 205- map showing “drainage” for part of Raman backscatter, 241 206, 209, 214, 221, 223, 225 southern margin, 225 sidescan backscatter, 239, 242 list of published studies, 227 representative marine protected area “snippet,” 239, 240, 241 biological habitat, 196 program, 219-236 usability of backscatter data in INSS, 256 surrogates for, 227, 257 scheme for classification of habitats, 171- use of backscatter to study Heceta Bank, Biological Resources Division, USGS, 251- 172, 173 207, 211, 213 252 and UN Law of the Sea, 258 water column backscatter, 240 biomass, 139, 143, 147, 248 Australian Department of the Environment, ways to improve quality of, 186 of cowcod, 248 Water, Heritage and the Arts Bahamas, 13, 16 declines in, 203 (DEWHA), 219, 220 Baird, Doug, 241 marine biomass pyramid, 29 Australian shelf, 223 Bamfield Marine Science Center,110 of rockfish, 150, 249, 250 AUVs (autonomous underwater vehicles), bandwidth, 81, 91 rosethorn rockfish, 129, 130, 132, 157, 161 and ARS frequencies, 32, 33, 33, 34, 35 134, 136, 137, 138 comparison with underwater video sleds, and multibeam sonars, 40, 41 within the water column, 34 106 Baranof Island, 178 biomes, 222, 234 day rates for AUV mounted multibeam Barkley Canyon, 47, 57, 59, 243 bioregionalization in Australia, 5, 219-220, sonar, 259 Barrie, J. Vaughn, 3, 91-97, 244-245, 262 225, 257 imaging AUVs, 1. See also D. Allan B. basket stars, 209 derivation of for Australia, 222 (Dorado class vehicle); SeaBED bathymetric (phase-measured) sidescan location of 41 bioregions in Australia, (imaging AUV); Sirius (AUV) sonars (BSSS), 71, 72. See also 223 advantages of, 4, 138-139 sidescan sonars (SSS) biostromes (beds), 95 day rates for, 260 Benthos C3D BSSS, 38, 40, 76, 195, 199, biotopes, 5, 222, 257 disadvantages of, 139-140 241, 243, 245 black Christmas tree coral, 151 issues related to, 262-263 bathymetric position index, 185 black coral, 164 limitations of, 250 bathymetric resolution. See resolution Bluetooth data links, 87 mapping AUVs, 1 bathymetric surveys, 4, 6, 91 bocaccio, 149 advantages of, 3 bathymetric LIDAR surveys, 241-242 boomer systems as marine seismic sources, mapping payload section of an AUV, 51 CHS surveys, 195, 196 91 Axial Seamount, 243 D. Allan B. (Dorado class vehicle), 56 BOSS. See buried object scanning sonar surveys, 47, 57, 60, 61-62 regional bathymetric surveys and ARS, bottom contacting video sleds, 99, 99-100, 34 104, 250 B SeaBED (imaging AUV), 4, 131 descriptive guide to equipment and costs, backscatter, 7, 169, 211, 239-240, 241 shallow-water survey, 89 105 3-D presentation of backscatter of C3D bathymetric variance, 185 still image captured by, 106 sonar, 40 bathymetry attributed grid (BAG), 241 bottom roughness acoustic backscatter, 87, 255, 256, 261 Bathysaurus (ROV), 256 diagram of angle of incidence of in shallow water, 71, 73 “beam time-series,” 239 backscatter for different used to map British Columbia coast, beamwidth and acoustic remote sensing, 29, bottom types, 32, 32 195-201 32, 40, 41 bottom tending video sleds, 100, 100-101, and acoustic remote sensing in habitat transducer sizes and beam footprints as a 250 mapping, 29-45 function of ARS frequency and descriptive guide to equipment and costs, and post processing of ARS, 42 beamwidth, 37 105 amplitude data, 31, 40, 42, 62, 134, 197 Belgica Mound Province in Porcupine bottom trawl surveys, 6 “beam time-series,” 239 Seabight, 256 “bottom-up” classification, 169 broadband backscatter, 256 belt transects, 146, 147 bottom-up methodology, 101, 102, 234 diagram of acoustic impedance contrast, benthic assemblages, 93 bottom water temperature, 5 31 benthic habitat mapping, 1, 2, 6, 7, 169, 170, Breakout Groups, at workshop false backscatter, 189 237-238, 240. See also marine integrating biology and geology: impact of bottom type and angle of habitat mapping selecting appropriate incidence on backscatter, 32 importance of, 258 technologies, 260-261 Benthic Sanctuary, 220 Marine Habitat Mapping Technology for Alaska 269

Breakout Groups, at workshop (continued) California State University, Monterey Bay clump weight system and ROV surveys, 116, lessons learned from Ireland, Australia, Seafloor Mapping Lab, 185 125 and California, 263-265 cameras. See also specific models troubleshooting table for ROV techniques and tools specific to color video survey camera, 146 operations, 125 environments, 261-263 high resolution, 102, 103, 104, 113, 132, CMECS. See Coastal and Marine Ecological Bristol Bay, Alaska, 6 139-140, 145, 213, 214, 246, 254 Classification Scheme, NOAA British Columbia. See also Barkley Canyon; low-light video camera, 146 C-Nav service, 81 Hecate Strait, British Columbia camera sleds. See underwater camera sleds Coal Oil Point, California, 186, 186, 187 Coastal and Oil Gas Leases and Canada, Geological Survey of, 7 Coastal and Marine Ecological Classification Composite of Some Marine Canadian Hydrographic Service (CHS), DFO, Scheme (CMECS), NOAA, 5, 170, Species in British Columbia, 19 6, 71, 89, 111, 113, 195, 242-243, 171, 172, 176, 253 coastal British Columbia, 3, 6, 57 245 Coastal and Marine Geology Program, USGS, Canadian continental shelf, 151 systematic acoustic seafloor habitat 251-252 marine habitat mapping, 17, 19 mapping of British Columbia Coastal and Marine Systems of North systematic acoustic seafloor habitat coast, 195-201 America: Framework for an mapping of British Columbia Canadian WAAS. See CWAAS Ecological Classification Standard: coast, 195-201, 245 canary rockfish, 205, 209 Version II, 172 trawl fishery and surficial geology, 93-95, Cape Addington, 249 Coastal and Oil Gas Leases and Composite 244 Cape Edgecumbe, Alaska, 22 of Some Marine Species in British brittle stars, 209 Cape Ommaney, 178, 249 Columbia, 19 Browns Bank (Scotian Shelf), 7 CARE. See California Artificial Reef Coastal Map Development Workshop Brylinsky, Cleo K., 169-184 Enhancement Program (USGS), 185 BSSS. See bathymetric (phase-measured) Caress, David W., 3, 47-69, 243, 262 Cochrane, Guy R., 6, 185-194, 251-252 sidescan sonars Carlile, D.W., 146, 147 communications buried object scanning sonar (BOSS), 42 CAR principle, 220 and AUVs, 49, 50, 132 Buttercup (ROV), 247 case histories, 7-8. See also Australia, and ROVs, 109, 123 bycatch rates, 7, 129, 131, 249 representative marine protected and small-boats, 80, 80, 82, 83, 87, 243 Byerly, Mike, 4, 119, 247, 262 area program; Heceta Bank, Compact Hydrographic Airborne Total Oregon, twenty years of fish- Survey. See CHARTS C habitat studies; Irish National complexity of the seafloor, 173 C&C Technologies, 81 Seabed Survey (INSS) conductivity and temperature at depth C3D sonar, 38, 40, 76, 195, 199, 241, 243, 245 CBD. See Convention on Biological Diversity, (CTD) sensors, 50, 51, 248, 252 3-D presentation of backscatter, 40 United Nations Construction of Digital Potential Marine cable route surveys, 243 CCSWMP. See California Coast State Waters Benthic Habitat Maps Using a Monterey Bay, 47, 56-57 Mapping Project Coded Classification Scheme and track of D. Allan B. MARS cable route, CDFG. See California Department of Fish Their Application,172 56-57 and Game continuous data vs. binning, 258 caldera of Axial Seamount, 60, 61-62 CDGPS, 81, 81 Convention on Biological Diversity (CBD), calibrated backscatter, 6 Center for Habitat Studies of Moss Landing United Nations, 219, 256, 257, 263 calibration grid for ROVs, 121, 121 Marine Laboratories, 111, 113, Conway, Kim W., 3, 91-97 California Artificial Reef Enhancement 178, 185 Cook Inlet. See U.S. Exclusive Economic Program (CARE), 144 certified nautical charting, 3 Zone California Coastal Conservancy, 185 Channel Islands, 248 COPC. See California Ocean Protection California Coast State Waters Mapping CHARTS, 241 Council Project (CCSWMP), 6, 185-194 Chatham Strait, 177 Coquille Bank, Oregon, 206, 215, 250 area of each substrate-depth class in Chirikof Island, 178 AUV survey of, 4, 129, 131, 134, 136, 138 CCWMP, 192 chirp sonar, 34-35, 42, 91, 93 bathymetry and survey tracks, 135 classified rugosity image,190 Edgetech FSDW chirp sonar, 50 habitat characteristics at, 136 lessons learned from, 263-265 swept frequency, 244, 262 map of SeaBED AUV survey, 131 map showing sonar survey off Coal Oil Chiswell Ridge, Alaska, 4 multibeam sonar survey of, 134 Point, 186 CHS. See Canadian Hydrographic Service, corals, 213 seafloor backscatter intensity data in DFO Aleutian Islands coral gardens, 20, 22, CCWMP, 188, 191 Clague, David A., 47-69 23, 239 seafloor character and substrate class, clam habitats, 258 black Christmas tree coral, 151 192 Clarke, M. Elizabeth, 129-141 black coral, 164 use of maximum likelihood classification Classification of Sublittoral Habitats with Eastern Gulf of Alaska Coral Habitat (MLC), 187-189 Applications to the Northeastern Protection Area, 22, 26 California Current Large Marine Ecosystem, North American Region, 172 gorgonian coral, 151 203 Classification of Wetlands and Deepwater hydrocorals, 149 map locating Heceta Bank, 204 Habitats of the U.S., 171 red tree corals, 22, 149, 151 California Department of Fish and Game classification schemes for habitats. See Cordell Bank Marine Sanctuary, 110, 162, (CFDG), 110, 144, 185 habitat classification procedures 253 California Ocean Protection Council Classification System of Marine and example of Kriging analysis map, 165 (COPC), 144, 185, 192 Estuarine Habitats, 171 Cortez Bank, California, 158 California State Marine Life Protection Act Clearwater Fine Foods Incorporated, 7 cowcod, 146 (MLPA), 185, 187 Clemons, Julia E.R., 203-217 sampling grid for study of, 158 depth zones used by, 192 270 Index

Cowcod Conservation Areas, California, 248, Deep Ocean Engineering (continued) DEWHA. See Australian Department of the 253 Phantom S2, 110 Environment, Water, Heritage and crinoids, 209 Phantom XTL, 110 the Arts crossing lasers, 104 DeepSea Power & Light, 113 DFO. See Department of Fisheries and cross-track beamwidth, 40 Super SeaCam camera, 145 Oceans, Canada cross-track distance and angles of incidence, deepwater habitat classification scheme, 5, DGPS, 71, 80, 81, 116, 247 39 169, 253. See also Greene, H. Gary, DIDSON acoustic camera system, 104, 129, Csepp, D.J., 114, 119, 125 habitat mapping scheme 139, 250 CTD. See conductivity and temperature at Delta (manned submersible), 1, 4, 126, 178, digital elevation models (DEM) of the seabed, depth sensors 255, 263 38 currents, 5, 17, 71, 170, 171, 172, 176, 239, discovery of new species, 151 digital video vs. analog video, 103 251, 253, 260 evaluating the effectiveness of, 248 distance to target, 147, 147 contour-focused currents, 94 example of map of distribution of black diver observations as a critical element for habitat mapping, coral, 164 and manned submersible surveys, 4 173 inside the submersible, 147 and towboard surveys, 4-5 high current areas and ROVs, 119-120 sensors mounted on, 146 Doppler velocity log (DVL), 50, 51, 51-52, 53, minimal currents, 246 specifications for,144 , 144-146 118, 126, 145, 146, 243, 247, 250 near-bottom currents, 94, 244 study of demersal communities, 143-155, Dorado class vehicles prevailing currents, 100, 101, 149 247-249 MBARI surveys using the D. Allan B., residual currents, 96 survey of targets from, 147 47-69 tidal currents, 119, 120, 257 use of on Heceta Bank, 205, 206, 208, specifications for, 49 as a way to differentiate habitats,29 212, 213-214, 254 “drainage” for southern margin of Australia, CWAAS, 80 Delta Oceanographics, 4, 144 map showing, 225 DEM. See digital elevation models of the drop camera video sleds, 101, 101, 104, 111, D seabed 118, 250 Daisy Bank, Oregon, 206, 215, 250 demersal fishes, 5, 239, 247-249. See also descriptive guide to equipment and costs, AUV survey of, 4, 129, 131, 134, 136, 138 specific names 105 bathymetry and survey tracks, 135 on Heceta Bank, 205, 206 fish response to, 122 habitat characteristics at, 136 studies using the Delta (manned DSPL. See DeepSea Power & Light map of SeaBED AUV survey, 131 submersible), 143-155 dual frequency identification sonar. See multibeam sonar survey of, 134 density estimates DIDSON acoustic camera system D. Allan B. (Dorado class vehicle), 243 of certain rockfish, 20,212 , 248 DVL. See Doppler velocity log design of, 48 ROV surveys of, 121, 126, 247, 248 DV Logger software, 251 interior of, 49 of selected on Heceta Bank, 210, 212 dynamite, 244 specifications for, 49-52 Department of Fisheries and Oceans, Canada DynaPlate, 81 track of D. Allan B. MARS cable route, (DFO), 139, 195 56-57 Canadian Hydrographic Service (CHS), 6, E used in the MBARI survey, 47-69 71, 89, 111, 113, 195, 242-243, Eastern Gulf of Alaska Coral Habitat data, management of 245 Protection Area, 22, 26 data archiving and availability, 258 systematic acoustic seafloor habitat ecological mapping, 237 data quality maintenance, 159 mapping of British ecosystems main vehicle computer (MVC), 49, 51, 52 Columbia coast, 195-201 ecosystem-based management, 1 need for standards, 258, 261 Pacific Biological Station,110 ecosystem-driven habitat maps, 171 power needs for, 87 deployment geometry and angles of Edgecumbe volcanic fields,174 , 249 relationships among data tables, 162-163 incidence, 39 Edgetech for ROVs, 124-125 deployment techniques 4700 sidescan sonar, 38, 41 statistical issues related to, 157-158 for acoustic remote sensing, 2, 29 FSDW chirp sonar, 50 video analysis, experimental design for SeaBED (AUV), 133 EEZ (Exclusive Economic Zone). See and database management of depth information, 41 Australia; Ireland; U.S. Exclusive submersibles, 157-167, 252-253 as a critical element for habitat mapping, Economic Zone video and data logging equipment, 4, 49, 173 EFH. See essential fish habitat 51, 53, 73, 82, 87, 157, 158-159, example of depth and slope stratification EGNOS, 80, 81 161, 162, 241 in San Juan Channel, 120 Elac multibeam sonars, 241 David and Lucile Packard Foundation, 144 four overlapping depth zones, 195 Elakha (R/V), 114 Davidson Seamount, 243 provided by sidescan sonars, 38 electrical systems. See power needs day rates as a way to differentiate habitats,29 electrodynamic boomers, 244 for remote sensing technologies, 259, Desert Star Pilot, 116 electronic navigation charts (ENC), 71 259 designs, survey “El Guapo” vents, 62 for visual survey techniques, 260 Delta (manned submersible) survey of Emerging Critical Areas, 241 Decision Tree Classification, 251 demersal fishes, 146-148 EM models deep ocean, 36, 47, 60, 195, 261, 262 ROV surveys, 119 EM1002 multibeam sonar, 195, 197, 198, Deep Ocean Engineering, 262 SeaBED AUV survey of rosethorn 199, 199, 255 Phantom DS4, 110 rockfish, 134 EM1002 transducer, 78 Phantom HD2, 110 small-boat surveys, 88 EM120 multibeam sonar, 255 Phantom HD 2+2, 109, 110, 111, 113, video analysis, experimental design EM3002 multibeam sonar, 198, 199, 199, 246, 247, 248 and database management of 201 submersibles, 157-167, 252-253 Marine Habitat Mapping Technology for Alaska 271

ENC. See electronic navigation charts fish scale, 3-4 geology (continued) energy regimes, 5, 257 fish sonar, 240, 251 geologic studies using ARS, 34 engineering surveys using ARS, 34 flatfish, 203 on Heceta Bank, 214-215 Environmental Protection and Biodiversity floating navigational aid,74 integrating biology and geology: Conservation (EPBC) Act Florida Atlantic University, 42 selecting appropriate (Australia), 219 Florida System for Classification of technologies, 260-261 epibenthic communities and soft sediment, Habitats in Estuarine and Marine of New Hampshire Inner Continental 151 Environments (SCHEME), 171 Shelf, 13, 18 equipment maintenance and ROVs, 122-123 FM. See frequency modulated (FM) surficial geology, 91-97 ERDAS Imagine decision trees, 251 waveforms surficial geological habitats of the ER-Mapper software, 219, 225, 257 Focal Variety Analysis, 231, 232, 233, 234, Washington and Oregon ESRI 257. See also ArcInfo software continental margin, 213 ArcGIS software, 118, 161, 162, 164, 181, FOCUS (tow vehicle), 5 use of to classify habitats, 161, 169 225, 225, 227, 247, 251, 252 Folk scale, 198, 200, 201 volcanic cones (pinnacles), 174, 249 ArcInfo software, 121, 227, 257 foreshore, 71, 73, 243 geomorphology, 1 ArcMap software, 118, 121 Fourier histogram, 185, 189 as a critical element for habitat mapping, Hawth’s Tools for ArcMap software, Freese, J.L., 149 173 118, 121 frequencies of ARS focal variety analysis, 234 essential fish habitat (EFH), 13-27, 149, 261 bandwidth, pulse duration and range geomorphic diversity, 227 defined under MSFCMA, 13,17 , 20, 264 resolution, 33 geomorphic features map for Australia, EFH Environmental Impact Statement sidescan sonars, 36 222-223, 225, 257 for Heceta Bank, 255 transducer sizes and beam footprints as a focal variety analysis of Essential Fish Habitat Conservation Area, function of ARS frequency and geomorphology and 203, 239, 260, 264 beamwidth, 37 seascapes classification, Habitat Areas of Particular Concern and wavelength, range and penetration, 233 (HAPC), 239, 260, 264 33 list of features mapped in Australia’s “essential harvest habitat,” 259 frequency modulated (FM) waveforms, 34, EEZ, 224 Euclidean distances, 189, 208, 257 35 for Southwest Planning Region, 226, EUNIS system of habitat characterization, 8, Friday Harbor Laboratories, 110 232 171, 253 Fugro Pelagos, Inc., 81, 174, 175, 177, 185, geomorphological units, 211, 222, 234 European Geostationary Navigation Overlay 240, 241 in Glacier Bay study, 252 System. See EGNOS Survey Estimator software, 240 as a way to differentiate habitats,29 European Union, 8, 263 WinFrog navigation system, 116, 145 geophysical data, 169, 173, 241, 249, 257 Exclusive Economic Zone (EEZ). See Furuno Navigator, 145 Georges Bank (Scotian Shelf), 7 Australia; Ireland; U.S. Exclusive F/Vs Georgia, Strait of, 96, 196, 245 Economic Zone Aloha (F/V), 205, 205 multibeam survey habitat chart, 196 explosive marine seismic sources, 91, 244 McGaw (F/V), 205 Georgia Basin, 245 Extended Continental Shelf, 8, 258, 264 Velero IV (F/V), 205 multibeam survey habitat chart, 196 geoscience and Australia’s representative F G marine protected area program, Fairweather (NOAA ship), 241 Galloway, James L., 3, 6, 195-201, 242-243, 219-236, 256-258 Fairweather Ground, Alaska, 173, 249, 258 245, 251 Geoscience Australia, 219, 221, 225, 257 map of potential marine benthic habitats, GARP. See Genetic Algorithm for Rule set GeoSwath sonar, 38 175 Production German Bank (Scotian Shelf), 7 Falcon, Seaeye (ROV), 110, 111, 246 gas seeps GIB acoustic tracking system, 118 “far-field” and ARS resolution, 33 Barkley Canyon, 47, 57 GigE Vision camera, 106 Federal Geographic Data Committee Santa Monica Basin, 47 gill-netting, 130 (FGDC), 261 generalized linear mixed models (GLMMs), GIS. See geographic information system FISH_ROCK (GUI), 132, 139 131 Glacier Bay, Alaska, 6, 7, 251-252 fisheries management Genetic Algorithm for Rule set Production Gland, Gerd, 3, 240-241 need for marine habitat mapping, 13, (GARP), 256 GLMM. See generalized linear mixed models 20, 22 GeoAcoustics, 38 Global Explorer (ROV), 262 twenty years of fish-habitat studies on GEOCORDER software, 240 global positioning system. See GPS Heceta Bank, 203-217, 254-255 geographic information system (GIS), 53, 91, GLORIA. See Geological Long Range using ARS for habitat mapping, 34 145, 159, 169, 170, 178, 185, 189, Inclined Asdic Fisher Seaotter, 246 192, 195, 197, 211, 221, 225, 234, GOA. See Gulf of Alaska fish-habitat studies on Heceta Bank, 203-217 248, 254, 255, 257, 264 golden king crab, 148 variable loadings of seafloor types, Geological Long Range Inclined Asdic Goldfinger, Chris, 129-141 invertebrates, and fishes,210 (GLORIA), 36, 246, 257 gorgonian coral, 151 fishing gear, impact on seafloor, 150 Geological Survey (Canada), 7 GPS, 42, 51-52, 76, 80-82, 87, 117, 145, 198, fish reactions Geological Survey (Ireland), 8, 255 214, 241, 243, 255 to drop camera video sleds, 122 Geological Survey (U.S.). See U.S. Geological CDGPS, 81, 81 to high-intensity discharge light, 145 Survey (USGS) DGPS, 71, 80, 81, 116, 247 to manned submersible, 147-148, 152, geology GPS intelligent buoy (GIB) acoustic 206, 208 choosing right techniques for geological tracking, 118 to ROVs, 122 mapping, 261-263 LADGPS, 80, 81 NADGPS, 81, 82 272 Index

GPS (continued) habitat classification procedures (continued) habitat protection (continued) WADGPS, 80-81, 82 Coastal and Marine Ecological Sitka Pinnacles Marine Reserve, 22, 24, grab samples, 6, 71, 73, 101, 195, 198, 200, Classification Scheme 239 244, 245, 262, 263 (CMECS), 5, 170, 171, 172, and South Lena subdivision (Juneau, graphical user interfaces (GUI), 132, 250 176, 253 Alaska), 22, 239 gray-scale covariance texture indices, 185 Coastal and Marine Systems of North habitats, mapping of. See marine habitat Greene, H. Gary, 1-11, 5, 109-128, 169-184, America: Framework for mapping; seafloor mapping 187, 237-265 an Ecological Classification habitat-specific assemblages, 149 habitat mapping scheme, 172, 176, 178, Standard: Version II, 172 habitat suitability modeling, 256 188, 222, 252, 253-254 Construction of Digital Potential Marine hake, 203, 205, 256 key to the habitat code, 181-184 Benthic Habitat Maps Using a halibut, 144, 203, 249 used by CDFG, 185 Coded Classification Scheme Haliotis sorenseni. See white abalone greenspotted rockfish, 149 and Their Application,172 halogen lights, 100 greenstriped rockfish,212 Decision Tree Classification, 251 Hannah, C.G., 171 Grehan, Anthony, 8, 255-256, 258 EUNIS system of habitat HAPC. See Habitat Areas of Particular gridding, 53, 66 characterization, 8, 171, 253 Concern groundfish. See also specific names Florida System for Classification of Harbor Branch Oceanographic Institution, catch levels, 94, 94 Habitats in Estuarine and 246 in Cowcod Conservation Areas, 248 Marine Environments Hare, Robert Mason, 3, 71-89, 243-244 distribution, 3 (SCHEME), 171 Harold Streeter (R/V), 138 evaluation of the SeaBED (AUV) for Greene habitat mapping scheme, 172, Harris, Peter T., 5, 7-8, 219-236, 246, 256-258 monitoring groundfish in an 176, 178, 252 Hawaiian Islands, 5 untrawlable habitat, 129-141, key to the habitat code, 181-184 Midway Islands, 13, 14 250 habitat characterization schemes Hawth’s Tools for ArcMap software, 118, 121 map of trawl surveys of groundfish,130 selected by Lund and Wilbur, Hazy Island, Alaska, 177, 249 twenty years of fish-habitat studies on 172 Heap, Andrew, 219-236 Heceta Bank, 203-217 habitat classification and visual Hecate Strait, British Columbia, 3, 93, 196, groundtruthing, 6, 7, 8, 29, 99, 101-102, 103, surveying, 161 199 113, 144, 149, 176, 178, 185, 187, habitat classification scheme for Heceta groundfish catch levels,94 , 94 189, 192, 197, 198-199, 211, 215, Bank, 208 hexactinellid sponge reefs, 95, 95-96 237, 238, 245-246, 247, 249, 250, list of popular marine benthic habitat trawl fishery and surficial geology, 93-95 251-252, 255-256, 261, 262 classification schemes,171 Heceta Bank, Oregon, 1, 7, 238, 250, 253 Guenther, G.C., 3 marine benthic habitat classification: bathymetric map of, 206 GUI. See graphical user interfaces what’s best for Alaska, 169-184, cluster analysis of fishes,208 Gulf of Alaska, 2, 13, 150, 178, 238, 240, 247 253-254 densities of selected fish taxa,210 corals in Eastern Gulf, 22, 239 Marine Ecosystem and Habitat density estimates of certain rockfish,212 map of Eastern Gulf of Alaska Coral Classification,171 EFH Environmental Impact Statement, Habitat Protection Area, 26 Marine Estuarine Habitat Classification 255 Delta (manned submersible) surveys, System for Washington State, habitat classification scheme for,208 148-149, 150, 151, 248-249 171 maps map of Essential Fish Habitat in, 17 Marine Habitat Classification for Britain with bathymetric contours underlain rockfish in, 20, 22, 131,148 and Ireland, 171 by sun-illuminated sonar, Gulf of Alaska Stock Assessment and Fishery maximum likelihood classification 207 Evaluation (NPFMC), 150 (MLC), 187-189, 190, 251 of Heceta Bank using multibeam Gunderson, Donald R., 109-128 MBARI surveys using the D. Allan B., 47 sonar, 204 Our Living Ocean Benthic Habitat with multibeam sonar backscatter, H Classification System,171 207 Habitat Areas of Particular Concern (HAPC), protocol for continental shelf habitat of trawl surveys of groundfish,130 239, 260, 264 classification,160 ROV surveys of, 211, 213, 214 habitat-based stock assessments, 20, 22, 150, Recommendation for a Comprehensive twenty years of fish-habitat studies, 203- 239, 247, 249 Habitat and Land Use 217, 254-255 habitat classification procedures, 5-6 Classification System for the use of backscatter to study Heceta Bank, acoustic habitat classification, 199, 245, National Estuarine Research 207, 211, 213 253 Reserve System (NERRS), 172 use of Delta (manned submersible) to Australian scheme for classification of shelf habitat classification, 225 study, 148, 149 habitats, 171-172, 221-222, 234, two-letter codes for classifying habitats, use of two-letter codes for classifying 256-257 5, 161, 209, 250 habitats, 5 Classification of Sublittoral Habitats habitat disturbance and adversity, 5, 7 variable loadings of seafloor types, with Applications to the habitat diversity, 214, 215, 256, 257 invertebrates, and fishes,210 Northeastern North American habitat protection Henthorn, Richard, 47-69 Region, 172 Aleutian Islands coral gardens, 20, 22, 23, HERMES. See Hotspot Ecosystem Research Classification of Wetlands and 26, 239 on the Margins of European Seas Deepwater Habitats of the Eastern Gulf of Alaska Coral Habitat (HERMES) U.S., 171 Protection Area, 22, 26 hexactinellid sponge reefs, 3, 91, 95, 95-96, Classification System of Marine and and North Pacific Fishery Management 244 Estuarine Habitats, 171 Council, 20, 21, 22 mapping of along Pacific Northwest coast, 92 Marine Habitat Mapping Technology for Alaska 273

Hexagrammos decagrammus, 122 impedance, acoustic, 30, 37, 91, 239 Jason/Medea (ROV), 262 high-intensity discharge light, 145 diagram of acoustic impedance contrast, J-frame crane, 48, 50 high resolution. See resolution 31 John P. Tully (CCGS ship), 243 high-water line, 73 implosive marine seismic sources, 91, 244 Johnson-Sea-Link (manned submersible), 144 Hixon, Mark A., 148, 151, 161, 203-217 incidence angles, 31-32, 37, 38, 40, 42, 100, Juan de Fuca Holocene epoch, 91, 94, 96 104, 108, 242 Juan de Fuca Ridge, 57, 243 Hood Canal, 246 impact of bottom type and angle of Juan de Fuca Strait, 245 Horita incidence on backscatter, 32 Strait of Juan de Fuca, 196, 245 PG 2100 TCG, 145 mosaics of backscatters, 43-44 time code wedge, 159 sensitivity to deployment geometry and K Hotspot Ecosystem Research on the Margins cross-track distance, 39 Kalman filter, 247 of European Seas (HERMES), 255 inertial navigation systems (INS), 47, 53, 82, Karpov, K.A., 118 HOV (human-occupied submersibles). See 118, 126, 243 Kearfott Seadevil inertial navigation system, manned submersibles Kearfott Seadevil inertial navigation 51, 51 Hoyt, Z.N., 148 system, 51, 51-52 keels and mounting of transducers, 74, 74-76 Huff, Lloyd C., 2, 29-45, 242-243, 262 INFOMAR. See Integrated Mapping for kelp, 3, 72, 74, 123, 185, 261, 262 hull-mounted sonars, 2, 18, 29, 34, 47, 91, the Sustainable Development of kelp greenling, 122 242, 243 Ireland’s Marine Resource Kevlar SamsonTM line, 115-116 chart of sensitivity of angle of incidence, Inner Continental Shelf (New Hampshire), King County (Washington) Department of 39 18 Natural Resources, 110 comparisons INS. See inertial navigation systems Kirkwood, William J., 47-69 with sidescan sonar, 262 INSS. See Irish National Seabed Survey Klein with towed sonar, 188 Institute of Oceanographic Sciences (IOS), System 3000 sidescan sonar, 241 with towed sonars, 244 36 System 5000 sidescan sonar, 38, 41, 241 and mounting of transducers, 74-79, 75 Integrated Mapping for the Sustainable Kocak, D.M., 147 multibeam sonars, 44, 57, 60, 242, 251 Development of Ireland’s Marine Kodiak Island, 151, 249 day rates for, 259 Resource (INFOMAR), 255 Kongsberg Maritime, 76 hull types, 88 Integrated Ocean and Coastal Mapping EM1002 multibeam sonar, 195, 197, 198, human-occupied submersibles. See manned (IOCM), NOAA, 241 199, 199 submersibles interferometric sidescan systems, 3, 6, 29, 38, EM3002 multibeam sonar, 195, 198, 199, Huntec DTS subbottom boomer profile,93 , 40, 40, 178, 186, 241, 242, 261, 262 199, 201 95, 244 Interim Marine and Coastal Regionalisation Multiview software (QTC), 198 Hyas lyratus. See Pacific lyre crab of Australia (IMCRA), 222 Kostylev, V.E., 171 Hydrobot (ROV), 110 International Hydrographic Organization Kriging analysis, 162 Hydrobotics, 110 (IHO), 71, 223, 240, 261 example of map for Cordell Bank, 165 hydrocorals, 149 International Organization for Kurland, Jon, 1-11, 13-27, 237-265 Hydrographic Specifications and Standardization, 261 KVH Azimuth compass, 116, 117 Deliverables (NOS), 240 ISO-certified hydrographic charting, 3 hydrographic surveying and mapping, 2, 3, intertidal zone, 2, 245 L 10, 33-34, 241, 243, 261, 265 use of to classify habitats, 169 LADGPS. See local-area DGPS NOAA Hydrographic Survey Priorities invertebrates LADS (Laser Airborne Depth Sounder), 241 for Alaska, 241 megafaunal invertebrates, 143, 149, 161, Lafferty, K.D., 187 standards for, 71, 72, 73 203, 206, 208-209, 213, 214, laminar flow, location of, 74, 76,79 Hydrographic Survey Priorities for Alaska 252, 254 Laser Airborne Depth Sounder. See LADS (NOAA), 241 variable loadings of seafloor types, (Laser Airborne Depth Sounder) hydrographic system, 88 invertebrates, and fishes,210 lasers  Hypack software, 117, 121, 198 IOS. See Institute of Oceanographic Sciences crossing lasers, 104 example of error in ROV positioning due Ireland LADS (Laser Airborne Depth Sounder), to incorrect Hypack software, Geological Survey, 8, 255 241 117 Irish Exclusive Economic Zone, 8, 255, laser line scan, 5, 253, 261 Max software, 116 264 Marfab red helium neon-scaling lasers, lessons learned from the Irish National I 145 Seabed Survey, 263-265 monochromatic laser line scan, 5 icebergs, 96, 244 and UN Law of the Sea, 258 multispectral laser line scan surveys, 5 IHO. See International Hydrographic Irish National Seabed Survey (INSS), 1, parallel lasers, 100, 103, 104, 246, 255 Organization 238, 255-256. See also Integrated ring laser gyro, 146 Imagenex, 881 sector scanning sonar, 146 Mapping for the Sustainable scaling lasers, 99, 104, 145, 146, 213, 247, imaging and sampling platforms/tools. See Development of Ireland’s Marine 251 also specific platforms and tools Resource (INFOMAR) Late Quarternary glaciation, 91 choice of by depth, 262 Islands of Four Mountains, 250 lateral resolution. See resolution imaging AUVs. See AUVs (autonomous ISO. See International Organization for Law of the Sea (UN), 240, 258 underwater vehicles) Standardization LBL. See long-baseline (LBL) transponder issues related to, 262-263 ISO-certified hydrographic charting, 3 net IMCRA. See Interim Marine and Coastal J leadline survey, 71, 72, 73, 195, 245, 247 Regionalisation of Australia Lena Beach, Alaska, 22, 239 Impact software (QTC), 197, 245 Jaccard statistic, 222 LIDAR (light detection and ranging system) Jagielo, T.H., 150 airborne LIDAR, 1, 3, 72, 241-242, 261 274 Index

LIDAR, airborne (continued) manned submersibles (continued) marine habitat mapping (continued) day rates for, 259 used to assess fish abundance and habitat, twenty years of fish-habitat studies on issues related to, 262 129 Heceta Bank, 203-217, 254-255 bathymetric LIDAR surveys, 241-242 manual classification by scientists, 7 using small boats in shallow water, 71-89 SHOALS LIDAR, 199 manual clustering, 245 using underwater video sleds, 99-107, use of in shallow water, 176, 178 Manual on Hydrography (IHO), 71 250-251 Li-ion batteries, 49, 52, 243 mapping. See California Coast State Waters value of, 17, 20, 22 line-transects, 146, 147, 148, 150 Mapping Project (CCSWMP); video analysis, experimental design one-sided line transects, 146 ecological mapping; hydrographic and database management of lingcod, 239 surveying and mapping; marine submersibles, 157-167, 252-253 on Heceta Bank, Oregon, 205, 209 habitat mapping; scale in habitat ways to improve quality of, 186 in Monterey Bay, 149 mapping; seafloor mapping; ways to measure success of, 258 in San Juan Channel, 111, 118, 122 shallow-water mapping; sonar Marine Habitat Mapping Technology at Sitka Pinnacles, 25, 173, 175 mapping; subbottom profiling; Workshop, 170 LinkQuest, TrackLink navigation system, 116 substrates, mapping; swath criteria for selecting appropriate and LiON batteries, 87 mapping cost-effective underwater tools, Li-polymer batteries, 49, 52 Mapping European Seabed Habitats (MESH), 151-152 Lithodes aequispinus. See golden king crab 255 summary of papers, 1-11 Living Oceans Society, 19 mapping payload section of an AUV, 51 workshop report, 237-265 lobsters and ROVs, 122 Marfab red helium neon-scaling lasers, 145 Marine Institute (Ireland), 255 local-area DGPS (LADGPS), 80, 81 “marginal” habitats, 249 Marine Life Protection Act (California), 263 Lockhart, Carol, 241, 261, 262 Marine Ecosystem and Habitat Classification, marine protected areas (MPAs) Lockhart, Doug, 2, 240, 241, 262 171 assessing performance of, 246 logging equipment, 4, 49, 51, 53, 73, 82, 87, Marine Estuarine Habitat Classification in Australia, 219-236, 256-258 157, 158-159, 161, 162, 241 System for Washington State, 171 categories of protected areas, 220 long-baseline (LBL) transponder net, 50, 118, Marine Geology Program, 185 design of, 221, 227, 234 250 Marine Habitat Classification for Britain and four pathways leading to the design Loran C, 254 Ireland, 171 of, 221 Love, M.S., 136 marine habitat mapping, 13-27. See also in California, 263, 264 low water line, 71, 73 seafloor mapping Marine Protected Areas as a Tool for Lucia Canyon, 243 acoustic remote sensing as a tool for Ecosystem Conservation Lucia Chica Fan, 63-64 habitat mapping in Alaska and Fisheries Management surveys, 47, 60 waters, 29-45 (PROTECT), 255 Lund, K., 170, 172, 173 definition of, 17, 239 Marine Technology Society, Remotely Lycodes cortezianus. See bigfin eelpout evaluation of the SeaBED (AUV) for Operated Vehicle Committee, 110 Lyopsetta exilis. See slender sole monitoring groundfish in an MARS cable route, 56-57, 56-57, 228 untrawlable habitat, 129-141, Masuda, M.M., 148, 151 M 250 matched filter processing. See pulse Madden, C.J., 5 examples of, 15, 16, 17, 18, 19, 21, 23, compression of sonar Magnuson-Stevens Fishery Conservation 24, 26 maximum likelihood classification (MLC), and Management Act (MSFCMA), geoscience and Australia’s representative 187-189, 251 13, 20, 261, 264 marine protected area program, classified rugosity image used for MLC Maier, Katherine L., 47-69 219-236 of substrates, 190 main vehicle computer (MVC), 49, 51, 52 importance of for resource managers, Mayer, Larry, 2, 239, 240, 245, 258, 262 management of marine resources, 13, 20, 22 13-27, 239 MBARI. See Monterey Bay Aquarium manned submersibles, 1, 4, 126, 151-152, 157, integrating biology and geology: Research Institute (MBARI) 161, 243. See also Aquarius; Delta; selecting appropriate MBedit (software), 53 Johnson-Sea-Link; Mermaid II; technologies, 260-261 MBeditviz (software), 53, 54 Nekton Gamma; Pisces marine benthic habitat classification: MBES. See multibeam sonars advantages of, 247, 249 what’s best for Alaska, 169-184 MBgrdviz (software), 52, 54 comparisons MBARI surveys using the D. Allan B., screen dump from, 52 with AUVs, 138-139, 140 47-69 MBgrid (software), 53 with ROVs, 158, 248, 255 need for collaborative efforts and MBnavadjust (software), 53, 55 with underwater video sleds, 106, standards, 258 MB-System visualization applications 149 objectives for, 258, 260, 261 (software), 52, 53, 243 day rates for, 260 parameters that may segment habitats, screen dumps from, 52, 54-55 discovery of new species, 151 29 McConnaughey, R.A. (Bob), 4, 6, 251 diver observations vs. video recordings, 4 protocol for continental shelf habitat McEntire, Scott, 101 evaluating the effectiveness of, 248 classification,160 McEwen, Rob, 47-69 on Heceta Bank, 205-206 seafloor character map, 185-194, 251-252 McGaw (F/V), 205 issues related to, 263 study of demersal communities using mean grain size, 245-246 sensors mounted on, 146 Delta (manned submersible), megafaunal invertebrates, 143, 149, 161, 203, specifications for,144 , 144-146 143-155, 247-249 206, 208-209, 213, 214, 252, 254 study of demersal communities in surficial geology, 91-97 Meridata MD-DSS, 36 Northeast Pacific, 143-155, systematic acoustic seafloor habitat Mermaid II (manned submersible), 144, 205, 247-249 mapping of British Columbia 205, 254 coast, 195-201, 245 Marine Habitat Mapping Technology for Alaska 275

MESH. See Mapping European Seabed multibeam sonars (continued) National Oceanic and Atmospheric Habitats day rates Administration (continued) methane hydrate outcrops for AUV mounted multibeam sonar, Coastal and Marine Ecological Barkley Canyon, 47, 59 259 Classification Scheme Santa Monica Basin, 47, 57, 58 for hull-mounted, 259 (CMECS), 5, 170, 171, 172, mid depth ocean, 148, 195, 209, 254 for nearshore region, 259 176, 253 choosing right techniques for mapping, geometry of, 41 Hydrographic Survey Priorities for 261 hull-mounted sonars, 44, 57, 60, 242, 251 Alaska, 241 imaging and sampling platforms/tools, limitations of, 40 Integrated Ocean and Coastal Mapping 262 MBARI surveys using the D. Allan B., (IOCM), 241 Midway Islands, Hawaii, 13, 14 47-69, 243 Marine and Aviation Operations, 89 military applications of ARS, 33, 34 mosaics of backscatters, 43-44 National Marine Fisheries Service Mill’s Cross (Mill’s T) transducer mounting of, 243 (NMFS), 6, 20, 22, 129, 205, arrangement, 40, 41 multibeam survey habitat chart of Strait 240 Minerals Management Service (MMS), U.S. of Georgia, 196 Auke Bay Laboratory, 110, 178, 249 Department of the Interior, 144, multibeam swath (multibeam Hawaii, 110 205 echosounder) sonar (MBES), National Marine Sanctuaries Program, 1988-1990 study of Heceta Bank, 206, 33, 34, 40-41, 72, 169, 173 144 208-209, 254 comparison of cross-track data with National Ocean Data Center (NODC), MiniROVER MKII (ROV), 110 MBES bathy, MBES image, 158 mission planning, 52 and TSSS, 35 National Ocean Service (NOS), 2-3, 249 MB-System visualization application, for deepwater mapping, 176, 178 Hydrographic Specifications and 52, 243 sun-shaded relief MBES bathymetry, Deliverables (NOS), 240 MLC. See maximum likelihood classification 174 map of Heceta Bank, 206 MLPA. See California State Marine Life used in small-boat surveys in shallow Office of Coast Survey, 2-3, 89, 240- Protection Act (MLPA) water, 71-89 241 MMS. See Minerals Management Service, operating frequency, 33 National Undersea Research Program U.S. Department of the Interior simultaneous image of seafloor and (NURP), 144, 178, 205 Molluscan (R/V), 113, 114-115, 123 water column, 240 1987 study of Heceta Bank, 205-206 monochromatic laser line scan, 5 systematic acoustic seafloor habitat and Southwest Fisheries Science Center, Monterey, California, 150 mapping of British Columbia 110 Monterey Accelerated Research System coast, 195-201, 245 use of SHOALS LIDAR, 199 (MARS). See MARS cable route 3-D map of acoustic diversity, 201 West Coast and Polar Regions Undersea Monterey Bay, 5, 47 used by Canadian Hydrographic Service, Research Center, 144, 178 Monterey Bay Aquarium Research Institute 195 National Ocean Service (NOS), NOAA, 2-3, (MBARI), 47-69, 110, 243 used in CCSWMP, 186 249 Monterey Bay Seafloor Mapping Lab, used on Heceta Bank, 211, 254 Hydrographic Specifications and California State University, 185 Multifunctional Transport Satellite-based Deliverables (NOS), 240 Monterey Canyon, 47, 60, 68, 243 Augmentation System. See MSAS map of Heceta Bank, 206 mosaics, 241, 247 Multiple Use Zones, 220, 220 Office of Coast Survey, 2-3, 89, 240-241 for ARS, 42, 44 multispectral laser line scan surveys, 5 national representative system of marine mosaics resulting from different Multiview software (QTC), 6, 197, 198, 201 protected areas (NRSMPA) in levels of post processing, image feature algorithms, 197 Australia, 219, 220 43-44 MVC. See main vehicle computer (MVC) design of, 221, 234 backscatter mosaics, 176, 187, 240 role of geoscience in, 220-221 photomosaics, 4, 132, 250, 262 N National Undersea Research Program for sidescan, 53, 240 NADGPS, 81, 82 (NURP), NOAA, 144, 178, 205 Moss Landing Marine Laboratories, Center Nasby-Lucas, N.M., 211 1987 study of Heceta Bank, 205-206 for Habitat Studies, 111, 113, 178, national benthic marine bioregionalization of Naturaliste Plateau, Australia, 227 185 Australia, 223 NatureServe, 170, 172, 253 moving vessel profiler (MVP), 83 National Geophysical Data Center (NGDC), navigation. See also Doppler velocity log MPAs. See marine protected areas 241, 258 (DVL); positioning  MS Access software, 161, 162, 162-163 National Marine Fisheries Service (NMFS), electronic navigation charts (ENC), 71 MSAS, 80, 81 NOAA, 6, 20, 22, 129, 205, 240 inertial navigation systems (INS), 47, 53, MSFCMA. See Magnuson-Stevens Fishery Auke Bay Laboratory, 110, 178, 249 82, 118, 126, 243 Conservation and Management bottom trawl surveys, 6 Kearfott Seadevil inertial navigation Act Hawaii, 110 system, 51, 51-52 MTSAS. See MSAS National Marine Sanctuaries Program and MB-System visualizations Muir Glacier, 251 (NOAA), 144 applications (software), 55 multibeam sonars, 2, 3, 7, 30, 239, 240, 242, National Ocean Data Center (NODC), navigational aids, 73, 74, 88 261-262 NOAA, 158 and small-boat surveys, 82, 87 advantages of, 41 National Oceanic and Atmospheric of submersibles, 158 and angles of incidence, 32 Administration (NOAA), 129, 187, AUVs, 53, 139 and backscatter, 239-240 261 manned submersibles, 147 classification of data, 245, 252 Alaska Fisheries Science Center (AFSC), ROVs, 116-118, 121, 122 comparison with sidescan sonar, 245 4 “near-field” and ARS resolution, 33 of Daisy and Coquille banks by Thompson (R/V), 134 276 Index

nearshore region, 20, 22, 73, 109, 111, 118, Oregon State University, 114 pit crater, 249 195, 196-197, 242, 255 O-rings, 122-123 platforms challenges of mapping habitats, 199, 245 troubleshooting table for ROV and AUVs, 3, 140, 243 choosing right techniques for mapping, operations, 125 for cameras and videos, 3 261 OTB. See over-the-bow (OTB) deployment engineering test platforms, 49 imaging and sampling platforms/tools, of transducers imaging and sampling platforms/tools 262 OTS. See over-the-side (OTS) deployment of by depth, 262 Nehalem Bank, Oregon, 215 transducers issues related to, 262-263 Nekton Gamma (manned submersible), 144 Otter Bay (CCGS ship), 85, 243 offshore platforms, 34 “neutral zone,” 126 Our Living Ocean Benthic Habitat oil platforms, 149 New Hampshire Inner Continental Shelf, 17 Classification System,171 portable platforms, 151 NGDC. See National Geophysical Data outcrop scale, 3 and ROVs, 109, 110, 114, 256 Center Outer Continental Shelf study, 254 for small boat surveys, 71, 83, 87 NiMH batteries, 87 outer-swath resolution. See resolution for sonar, 37, 42, 47, 203, 262 NMFS. See National Marine Fisheries overfishing, 205 submerged, 4 Service, NOAA over-the-bow (OTB) deployment of and video sleds, 99, 100, 101, 106 NOAA. See National Oceanic and transducers, 75, 76, 77 Pleistocene epoch, 91 Atmospheric Administration over-the-side (OTS) deployment of Plumarella, 213 NODC. See National Ocean Data Center, transducers, 75, 76, 76, 78 pockmarks and the Lucia Chica Fan, 60, 63- NOAA 64, 244 noise sources and small-boat surveys, 86 P Polygon Habitat Map, 192 nonvertical-beam sonars, 244 Pacific Fishery Management Council Ponar grab sampler, 73 North American DGPS. See NADGPS (PFMC), 150, 255 Porcupine Bank, Ireland, 256 Northern Natural Resources Management Pacific hake. See hake Portlock Bank, 178, 249 Region of Tasmania, 13, 15 Pacific halibut. See halibut positioning. See also GPS; navigation North Pacific Fishery Management Council Pacific Islands Fisheries Science Center, 5 for ARS, 42 (NPFMC), 2, 20, 21, 22, 150, 249 Pacific lyre crab, 148 for manned submersibles, 147, 203 North Pacific Research Board (NPRB), 2, 144, Pacific Northwest coast, surficial geology for ROVs, 114, 116-118, 189, 203, 214 178, 238-239 and habitat, 91-97 for small boat surveys, 71, 73, 80, 80-82, NPRB Science Plan, 239 map of Pacific continental shelf of 87 Northrup-Grumman SM-2000, 5 Canada, 92 and video sleds, 99, 104, 189 Northstar 952 dGPS, 116 Pacific ocean perch, 13,17 , 150, 205 Post, Alix, 219-236 Northwest Fisheries Science Center Pacific walrus, 258 post-mission (post-processed kinematic, (NWFSC), 4, 166, 250 Pacunski, Robert E. (Bob), 3, 4, 109-128, 246, PPK), 81 NOS. See National Ocean Service (NOS), 262 post processing of ARS, 42, 44 NOAA Paduan, Jenny, 47-69 mosaics resulting from different levels NPFMC. See North Pacific Fishery Palsson, Wayne A., 109-128 of, 43-44 Management Council Pamplona Spur, 178, 249 Potential Habitat Map of the Hazy Island NPRB. See North Pacific Research Board Pandalus (R/V), 247 area, 177 NRSMPA. See national representative Paralithodes camtschaticus. See red king crab power needs system of marine protected areas parallel lasers, 100, 103, 104, 246, 255 for data processing, 87 (NRSMPA) in Australia Patinopecten caurinus. See weathervane for ROVs, 124 N U R P. See National Undersea Research scallop for small boat surveys, 83, 86 Program, NOAA Patricia Bay, 245 troubleshooting table for ROV Nuytco Research Limited, 4 Paull, Charles K., 47-69 operations, 125 NWFSC. See Northwest Fisheries Science Pautzke, Clarence, 2, 238-239 PPK. See post-mission (post-processed Center PC-104 computer, 49 kinematic) pelagic habitats, 2, 5, 171 precise point position (PPP), 80 O penetration of acoustic waves, 30 Primnoa spp. See red tree corals obstacle avoidance sonar, 53 and ARS frequencies, 33 Pro 3 (mini-class ROV), 111 oceanographic fronts, 5-6 subsurface penetration, 36 PROTECT. See Marine Protected Areas as a Oceans Policy (ANZECC), 219 Perth Canyon, Australia, 234 Tool for Ecosystem Conservation O’Connell, Victoria, 3, 4, 143-155, 169-184, Phantom model ROVs, 110, 114, 262 and Fisheries Management 248-249, 258, 263 Phantom HD 2+2, 109, 110, 111, 113, prowfish, 173 ODIM Moving Vessel Profiler winch,84 114, 122, 126, 246, 247, 248 Ptilosarcus, 213 Office of Coast Survey, National Ocean photic regime, 29 Puget Sound, 111, 199 Service (NOAA), 2-3, 89, 240-241 photic zones, 169 Puget Sound rockfish, 209 Omnistar XP, 81 photogrammetric methods, 161 pulse compression of sonar, 34 one-sided line transects, 146 photomosaics, 4, 132, 250, 262 pulse length, 29, 32, 34, 38, 41, 81, 242 Ophiodon elongatus. See lingcod Pickrill, R.A., 7 and ARS frequencies, 33 Optech, 241 pilots and ROVs, 124, 126 pygmy rockfish, 209,212 ORE Piscataqua River, New Hampshire, 18 model 4330B transponder, 116, 117, 122 Pisces (manned submersibles), 144 Q Offshore Tracking II Ultra-Short Pisces IV, 263 QNX operating system, 49 Baseline system, 116, 145 Pisces V, 263 Q-space, 197, 197 Oregon Department of Fish and Wildlife, Pisces Design video-text system, 114 QTC software, 6-7 Marine Resources, 110 Marine Habitat Mapping Technology for Alaska 277

quantitative video analysis, 1, 4 remote sensing technologies (continued) ROVs, 1, 157, 161, 243. See also Bathysaurus; Quaternary geological period, 91 outer-swath resolution, 53 Buttercup; Seaeye Falcon; Global Queen Charlotte Sound, 196, 199, 244 range resolution, 32, 34, 37 Explorer; Hydrobot; Jason/ Quester Tangent Corporation, 199 and ARS frequencies, 33 Medea; MiniROVER MKII; Impact software (QTC), 197, 245 radial range resolution, 35 Phantom; VideoRay Pro 3; ROPOS; Multiview software (QTC), 6, 197, 201, requirements, 2 VENTANA 245 sampling resolution, 41 calibration grid, 121 QTC software, 256 scale of resolution applied to CMECS, comparisons 176 with AUVs, 138-139, 140 R of small details, 41-42 to D. Allan B. survey, 56-57 radar, 82 spatial resolution, 36, 44, 45, 87, 195, 197, with manned submersibles, 158, 248, radial range resolution. See resolution 222, 242 255 range of ARS in seawater, 33 temporal resolution, 35, 40 with underwater video sleds, 106 range resolution. See resolution value of high resolution sonars, 72 costs of operation, 126-127 Ranier (NOAA ship), 241, 243 vertical resolution, 35, 41, 53 day rates for, 260 real-time kinematic (RTK) positioning, 81 Reson, 239, 241 for deep ocean operations, 47 receiver arrays, 239 6046 software, 51 defining small ROVs, 246 Recommendation for a Comprehensive 7000 series, 240 equipment schematics, 124 Habitat and Land Use 7100 multibeam, 53 examples Classification System for the 7125 multibeam, 41, 50, 53 of error in ROV positioning due to National Estuarine Research 8101 multibeam, 177 incorrect Hypack software, Reserve System (NERRS), 172 Seabat 8111, 251 117 Recreational Use Zones, 220 Seabat 8125, 256 of a poor tracking responder, 117 red king crab, 20, 148 Seabat EM300, 254 fishery/habitat studies using small ROVS, Redondo Canyon, 57 Reynolds, Jennifer R., 1-11, 169-184, 237-265 110 Redondo Channel, 47, 59 ring laser gyro, 146 fish response to, 122 red rockfish, 149 Roberts, C.S., 220 issues related to, 262 red tree corals, 22, 149, 151 rockfish, 95, 209,214 , 239. See also specific large ROVS, 109, 118, 126, 138, 262 reflection of acoustic waves, 30, 31 names limitations of, 246 refraction of acoustic waves, 30 distribution and assessment, 3, 149, 150 maps of regional bathymetric surveys, use of ARS evaluation of the SeaBED (AUV) for ROV survey of habitat stratification for, 34 monitoring groundfish in an in San Juan Channel, 119 Remotely Operated Vehicle Committee, untrawlable habitat, 129-141 San Juan Channel ROV study area, Marine Technology Society, 110 on Heceta Bank, 203, 205 112-113 remotely operated vehicles. See ROVs mapping habitats in Southeast Alaska, owners of small ROVs conducting Remote Ocean Systems Inspector camera, 176 fishery/habitat investigations, 145 unknown species of, 209 110 remote sensing technologies, 2-3. See also use of Delta (manned submersible) to raw navigation data for ROVs, 122 acoustic remote sensing (ARS); study, 143, 149 relationship of theoretical to calculated sonar systems; underwater camera use of ROVs to study, 111, 113, 118 transect width, 121 sleds reactions to ROVs, 122 ROV surveys on Heceta Bank, 211, 213, day rates for, 259 rocky habitats and rosethorn rockfish,136 , 214 remote sensing scales, 1, 2 136 safety considerations, 123 representative marine protected area Roff, J.C., 7, 222, 225 small ROVs, 1, 4, 130, 147, 262 program of Australia, 219-236, roll and pitch tolerances, 244 shallow-water mapping, 4, 109-128, 256-258 Ronald H. Brown (NOAA ship), 205, 211 246-247 resolution, 5, 29, 30, 33, 159, 173, 195, Rooper, Christopher N., 4, 6-7, 99-107, 250- troubleshooting table for ROV 238, 239, 240, 245, 247, 251 251, 263 operations, 125 bathymetric resolution, 53, 60, 195, 199, ROPOS (ROV), 109, 158, 205, 211, 213, 254- umbilical storage and management, 114, 211, 250, 254 255, 262 114, 115-116, 126 high resolution, 41, 146, 178, 215 Rose, Craig, 101, 251 used to assess fish abundance and habitat, backscattering, 186, 188 Rosenkranz, Gregg, 106 129-130 cameras, 102, 103, 104, 113, 132, rosethorn rockfish, 129, 131, 136, 148, 209, use of shallow-water ROVs in northern 139-140, 145, 213, 214, 246, 212, 250 Gulf of Alaska, 247 254 density of at Daisy and Coquille banks, visual surveys with a small ROV in high-resolution multibeam 138 shallow water, 109-128, 246 bathymetry, 111, 113, 118 design of SeaBED AUV survey of, 132, RTK. See real-time kinematic (RTK) small-boat surveys in shallow water, 134 positioning 71, 72, 87 habitat characteristics at Daisy and rugosity, 41, 188-189, 253 subbottom profiling, 3, 91, 93, 96, Coquille banks, 136 classified rugosity image,190 244 habitat preferences of, 136, 137, 138 false rugosity, 191 surveys, 3, 4, 7, 13, 47-69, 148, 243 maturation levels, 138 R/Vs lateral resolution, 32-33, 35-36, 37, 40, results of SeaBED AUV surveys of Elakha, 114 47, 56, 60 rosethorn rockfish,137 Harold Streeter, 138 across-track resolution, 36, 40, 41, rougheye rockfish, 150 Molluscan, 114, 114-115, 123 242 Pandalus, 247 along-track resolution, 38, 242 Thompson, 50, 131, 134 278 Index

R/Vs (continued) SBAS. See satellite-based augmentation seafloor mapping (continued) Zephyr, 48, 50 systems (SBAS) classified seafloor maps, 6, 252 SBES. See single beam sonar diagram of acoustic impedance contrast S scale in habitat mapping, 260 and seabed roughness, 31 sablefish, 148, 203 as applied to CMECS, 176 diagram of angle of incidence of safety, vessel, 82, 83 defining scale, 258-259 backscatter for different and mapping shallows, 3 importance of in classification schemes, bottom types, 32 and ROVs, 115, 123, 124 173, 176 on Heceta Bank, 209, 211 small-boat surveys, 82, 83, 87 issues related to, 263 variable loadings of seafloor types, of submersibles, 52 scale disparities in British Columbia invertebrates, and fishes, salinity, 5 coast mapping project, 199 210 as a way to differentiate habitats,29 scaling lasers, 99, 104, 145, 146, 213, 247, 251 lack of oceanographic data, 6 Salisbury Beach, Massachusetts, 18 Scanning Hydrographic Operation Airborne seafloor backscatter intensity data in Samalga Island, 250 LIDAR Survey. See SHOALS CCWMP, 188 sampling, 47, 109, 111, 118, 129, 139, 143, LIDAR seafloor character and substrate class, 146, 148, 157-158, 200, 246, 255, Scapa Flow, Scotland, 240 192 256 scattering of acoustic waves, 30, 31 Seafloor Character Map, 185 acoustic sampling, 150 SCHEME, 171 simultaneous image of seafloor and bias, 148, 157 Scotian Shelf, 1, 5, 7, 170 water column, 240 bottom samples, 4, 73, 93, 106, 244, 254 comparison with Alaska seabed, 171 systematic acoustic seafloor habitat direct sampling, 3, 29, 234 scuba mapping of British Columbia equipment for, 83, 85, 251, 253 day rates for, 260 coast, 195-201, 245 grab samples, 6, 71, 73, 101, 195, 198, issues related to, 262 using acoustic remote sensing for habitat 200, 244, 245, 262, 263 SeaBED (imaging AUV), 1, 4, 262. See also mapping in Alaska waters, imaging and sampling platforms/tools AUVs (autonomous underwater 29-45 by depth, 262 vehicles) using sidescan sonar, 37 issues related to, 262-263 benefits and disadvantages of as a survey seafloors sample position uncertainties, 198 tool, 138-140 complexity of, 173 sampling surveys, 1-2, 29 deployment methods, 133 digital elevation models (DEM) of the issues related to, 263 evaluation of in an untrawlable habitat, seabed, 38 methods, 4 129-141, 250 distinguishing changes of an acoustic and scale disparities in British Columbia limitations of, 250 property from angle of coast mapping project, 199 map of Daisy Bank and Coquille Bank incidence, 42 in situ sampling, 93, 176, 238 survey, 131 impact of fishing gear on, 150 statistical issues related to, 157-158 schematic of, 133 seafloor physiography, 6 strategies for Heceta Bank studies, 205- specifications for, 131-132,132 short-term effects of trawling on hard- 206, 209, 211, 214, 252 surveys of rosethorn rockfish bottom habitats, 150-151 stratified sampling design,158 design of, 132, 134 types of visual sampling, 198, 199, 245, 263 results of, 137 angle of incidence, 40 sampling resolution. See resolution Seabird sonar helping identify, 32, 37, 38 San Clemente, 47, 60, 65-67 microbathythermograph data logger, 104 seafood industry, 13 Sanctuary Zones, 220, 220 SBE19 Plus Seacat Profiler, 145 seamounts, 176, 221, 222, 223, 257 San Gregorio Fault, 56, 56 Seabotis LBV, 246 Axial Seamount, 47, 57, 60, 61-62, 243 San Juan Channel, 4, 199, 246, 247 Seaeye Falcon (ROV), 110, 110, 111, 246, Davidson Seamount, 243 example of depth and slope stratification, 262 Seamounts, deep-sea corals and fisheries 120 seafloor habitats, 2, 143, 150, 244, 248, 261 (UNEP), 256 maps classifying, 47, 173 sea pens, 22, 239 of broadscale habitat stratification, supervised classification of sonar data, seascapes 119 185-194 defining in Southwest Planning Region, of ROV study area, 112-113 and geological parameters, 170 234 use of Greene habitat mapping scheme of Heceta Bank, 203, 205, 211 classification of the Southwest in, 254 impact of fishing gear on, 144 Planning Region, 230 visual surveys with a small ROV in Irish National Seabed Survey, 255-256 focal variety analysis, 231 shallow water, 109-128 mapping of, 2, 8, 22, 101, 145, 149, 171, graph of distance vs. classes, 229 San Juan Islands, 254 242, 245-246 maps used define,228 Santa Barbara Channel, 186, 186 acoustic mapping of seafloor habitats, plot for parameters defining Santa Lucia Bank, 131 195-201 composition, 229 Santa Monica Basin, 243 seafloor mapping, 1, 2, 192. See also marine and design of marine protected areas in D. Allan B. imaging a gas hydrate mound, habitat mapping Australia, 227, 234 58 in Alaska, 172, 173 and geomorphology of Southwest surveys, 47, 57 benthic habitat mapping, 1, 2, 6, 7, 169, Planning Region, 233 SAS. See synthetic aperture sonar (SAS) 170, 237-238, 240. See also maps of Southwest Australia, 225, 227 satellite-based augmentation systems (SBAS), marine habitat mapping spatial distribution of in Southwest 80, 81, 82 California Coast State Waters Mapping Australia, 227 Satellite Navigation Augmentation System. Project (CCSWMP), 185-194 SeaSprite (VideoRay), 246 See SNAS choosing correct video sled for, 101-102 Sebastes classified rugosity image,190 , 191 S. aleutianus. See rougheye rockfish Marine Habitat Mapping Technology for Alaska 279

Sebastes (continued) sidescan sonars (SSS) (continued) small-boat surveys, 1, 3, 4, 261 S. alutus. See Pacific ocean perch bathymetric (phase-measured) sidescan designing the survey, 87-88 S. borealis. See shortraker rockfish sonars (BSSS), 71, 72 examples of launches used, 85, 86 S. chlorostictus. See greenspotted Benthos C3D BSSS, 38, 40, 76, 195, hull types, 88 rockfish 199, 241, 243, 245 need for navigational aids, 88 S. elongatus. See greenstriped rockfish comparison with multibeam sonar, 245 noise sources, 86 S. emphaeus. See Puget Sound rockfish day rates for, 259 power needs of, 83, 86 S. entomelas. See widow rockfish high frequency sidescan sonar compared for data processing, 87 S. flavidus. See yellowtail rockfish to ARS, 242-243 in shallow water, 71-89, 243-244 S. helvomaculatus. See rosethorn interferometric sidescan systems, 3, 6, 29, winches, 83, 84 rockfish 38, 40, 40, 178, 186, 241, 242, Smooth Line tool, 121 S. levis. See cowcod 261, 262 SNAS, 80 S. nigrocinctus. See tiger rockfish limitations of, 36-37 “snippet,” 239, 240, 241 S. paucispinis. See bocaccio MBARI surveys using the D. Allan B., software. See also specific software packages S. pinniger. See canary rockfish 47-69, 243 example of error in ROV positioning due S. ruberrimus. See yelloweye rockfish mounting of, 243 to incorrect Hypack software, S. wilsoni. See pygmy rockfish operating frequency, 33 117 S. zacentrus. See sharpchin rockfish samples and underwater video sleds, 104 S. alascanus. See shortspine thornyhead of image of seabed with various Sonardyne MF USBL, 50 rockfish textures, 38 sonar mapping, 1, 237, 239, 242, 251, 253, sediment dynamics, 5-6, 134 of SAS image showing small targets, 256 Delta (manned submersible) study of 39 video-supervised classification of sonar epibenthic communities and sensitivity of angle of incidence to data, 185-194, 251-252 soft sediment, 151 deployment geometry and map showing sonar survey off Coal and detection capabilities of sonar and cross-track distance, 39 Oil Point, 186 LIDAR, 72 sidescan processing, 53, 56 sonar systems, 2-3, 91. See also acoustic and hexactinellid sponge reefs, 95 synthetic aperture sonar, 29 remote sensing (ARS); hull- and rockfish population, 95 towed sidescan sonars (TSSS), 34, 38, mounted sonars; multibeam San Clemente, 60, 65-67 44, 72 sonars; sidescan sonars (SSS); sediment assessment, 198, 244 comparison of cross-track data with single beam sonar; towed sonars; sediment deformation in Santa Monica MBES bathy, MBES image, vertical-beam sonar Basin, 58 and TSSS, 35 acoustic remote sensing as a tool for and surficial geologic surveys, 94 used by Canadian Hydrographic Service, habitat mapping in Alaska Seistec, 244 195 waters, 29-45 Seward, Alaska, 4 use of in INSS, 256 bathymetric (phase-measured) sidescan SG Brown meridian standard gyrocompass, Simon Fraser University, School of Resource sonars (BSSS), 71 145 and Environmental Management, “chirp sonar,” 34-35, 50 shallow depth ocean, 195 110 choosing correct sonar, 242 shallow-water mapping, 3 Simrad, 239 fish sonar, 240, 251 classification schemes for habitats, 169 EM1002 multibeam sonar, 255 obstacle avoidance sonar, 53 first use of sidescan sonar, 36 EM120, 255 single beam sonar, 72-73 in Ireland, 255 EM3002 multibeam bathymetric synthetic aperture sonar (SAS), 29, 38, 42 and LIDAR, 176, 178, 241-242 system, 41 sample image showing small targets, small-boat surveys, 71-89 multibeam echosounder, 211 39 and small ROVs, 4 Sinclair, A.F., 94 ultra-short baseline sonars (USBL), 50- typical launch installation of equipment, Sinclair, M., 3 51, 52, 116, 118, 145, 208, 243, 80, 80 Singh, Hanumant, 129-141 247, 248, 250 use of shallow-water ROVs in northern single-beam sonar, 2, 195, 197, 262. See also Sony Gulf of Alaska, 247 vertical-beam sonars EVI-330 camera, 113 visual surveys with a small ROV in classification of data, 245, 247, 255 GVD-1000 DV decks, 145 shallow water, 109-128, 246 operating frequency, 33 TR-81 camcorder, 145 sharpchin rockfish, 173,212 single beam echosounders (SBES), 33-34, SOPAC. See South Pacific Applied shellfish, 239 35, 71, 72, 72, 101, 255-256 Geoscience Commission Shipek grab, 198, 199, 200 single/split beam echosounders, 262 Sound Metrics Corporation, 139 SHOALS LIDAR, 199, 241-242 Sirius (AUV), 4 Southeast Planning Region (Australia), 220, ShoreZone program, 245, 247 Sitka, Alaska, 174, 249 225 shortraker rockfish, 150 Sitka Pinnacles Marine Reserve, 22, 24, 25, Southern California Bight, 149 shortspine thornyhead rockfish, 150, 209, 239 Southern Mound Province of Porcupine 214, 214 size of fish estimates, 146 Bank, 256 Shotwell, S.K., 148 SJC. See San Juan Channel South Lena subdivision (Juneau, Alaska), 22, shrimp habitat, 245 slender sole, 214 239 Shumagin Islands, 3 slope South Pacific Applied Geoscience sidescan sonars (SSS), 2, 4, 7, 29, 30, 36-40, as a critical element for habitat mapping, Commission (SOPAC), 178 39, 169, 262 173 Southwest Fisheries Science Center, 110 and angles of incidence, 32 example of depth and slope stratification Southwest Planning Region (Australia), 221, and backscatter, 239-240 in San Juan Channel, 120 225, 257 basic geometry, 37 slurp gun, 208, 254 280 Index

Southwest Planning Region (Australia) submarine fan systems (continued) surveys (continued) (continued) Redondo Channel, 47 Heceta Bank, Oregon; leadline defining seascapes, 234 Redondo Fan, 59 survey; Lucia Chica Fan; Monterey focal variety analysis, 231 San Clemente, 47, 60, 65-67 Bay Aquarium Research Institute graph of distance vs. classes, 229 submersibles, 169. See also AUVs (MBARI); multispectral laser maps used define,228 (autonomous underwater vehicles) line scan surveys; rosethorn plot for parameters defining Heceta Bank, Oregon rockfish; sampling, surveys; Santa composition, 229 early NURP study, 205-206 Monica Basin; small-boat surveys; seascape classification, 230 list of dives on Heceta Bank, 205 towboard (towed-diver) surveys; focal variety analysis of geomorphology mapping seafloor, geology, and trawl surveys; visual surveys and seascapes classification, integration, 211-214 design of, 88, 99, 109, 118-119, 132, 134, 233 MMS study of demersal fish, 206-210 146-148, 251 geomorphic features map, 226 twenty years of fish-habitat studies preparations for, 158 focal variety analysis, 232 on Heceta Bank, 203-217, survey tracks, 6, 103 Spanier, E., 122 254-255 at Coquille Bank and Daisy Bank, sparkers, 244 human-occupied submersibles. See 135 spatial distribution of seascapes in Southwest manned submersibles in Monterey Bay, 56 Australia, 227 remote operated vehicles. See ROVs suspended video sleds. See drop camera spatial resolution. See resolution video analysis, experimental design and video sleds Special Purpose Zones, 220 database management, 157- sustainable management of marine resources, Special Use Zones, 220 167, 252-253 13, 20, 22 spectacled eiders, 258 training requirements for video dive swath mapping, 265 speed of ROVs, 121 analysts, 252 swath multibeam sonars. See multibeam sponge reefs. See hexactinellid sponge reefs substrates, 1, 6, 148, 251 sonars SSS. See sidescan sonars area of each substrate-depth class in Sweep systems, 72, 72 Standards for Hydrographic Surveys (IHO), CCWMP, 192 Swiftia, 213 71 better mapping of gradational qualities, Sylasteridae. See hydrocorals standards for marine habit mapping, 258, 261 185 synthetic aperture sonar (SAS), 29, 38, 42 Stanton Bank, Ireland, 256 and biotopes, 222 sample image showing small targets, 39 Starfix HP, 81 classified rugosity image used for MLC “startle” response in fish, 122 of substrates, 190 T Stein, D.L., 148, 161 cluster analysis of fishes on Heceta Bank, TACOS sled, 4, 100, 263 stereo-video, 104 208 Tanner Bank, California, 158 Stevens, B.G., 148 as a critical element for habitat mapping, Tasmania, 13, 15, 220 Stewart, L.L., 119 173 Taylor, M. E., 222 Stingray, Benthos, 246 of Daisy and Coquille banks, 131 Teledyne Benthos. See Benthos stock assessment, 4, 99, 111, 260 in Greene habitat mapping scheme, 176 temperature and demersal communities, 143, 144, mapping, 18, 239, 248, 250 bottom water temperature, 5 150, 197 and mean grain size, 245-246 as a way to differentiate habitats,29 habitat based, 20, 22, 239, 247, 248, 249, rosethorn rockfish habitat preferences, temporal resolution. See resolution 255, 261 136, 137-138, 138 temporal variability in the oceans, 258 for Heceta Bank, 211, 214, 215 seafloor backscatter intensity data in Tenix LADS (Laser Airborne Depth in untrawlable waters, 129 CCWMP, 188 Sounder), 241 Stone, R.P., 148, 151 seafloor classification system, 134,137 , TEPS. See threatened, endangered, or Stonewall Bank, Oregon, 206, 215 161, 181, 183, 208-209, 251 protected species Strait of Georgia, 96, 196, 245 substrate gradates along California coast, Thales GeoSolutions, 251 multibeam survey habitat chart, 196 187-189 Thomas, Hans, 47-69 Strait of Juan de Fuca, 196, 245 use of to classify habitats, 161, 169 Thompson (R/V), 50, 131, 134 stratified sampling design,158 subtidal depths, 2 threatened, endangered, or protected species Stylaster, 213 sun-shaded relief MBES bathymetry, 174 (TEPS), 221 Stylatula, 213 support ships, day rates for, 259, 260 3-D acoustic diversity map, 201 subbottom profiling, 1, 2, 29, 35, 56-57, 244- surficial geology, 91-97, 244-245 3-D presentation of backscatter, 42 245, 262. See also chirp sonar importance of to habitat map thrusters and ROVs, 125 acoustic systems for, 3 understanding, 96, 244-245 tidal range combining with multibeam mapping surficial geological habitats of the mapping of, 238 operations, 96, 244 Washington and Oregon as a way to differentiate habitats,29 example of a chirp subbottom profiler continental margin, 213 tiger rockfish, 173 record, 36 surrogates for biological habitats, 257 tilefish, 144 in the Hecate Strait, 93 list of published studies, 227 time-of-flight, 41 MBARI surveys using the D. Allan B., Survey Estimator software, 240 Tissot, Brian N., 4, 148, 151, 157-167, 203- 47-69, 243 surveys. See also acoustical surveys; Axial 217, 252-253, 254-255 technology for, 91, 93 Seamount; Barkley Canyon; Todd, B.J., 7 towed subbottom boomer, 93, 244 bathymetric surveys; cable route Tolimieri, Nick, 4, 129-141, 250, 263 submarine canyons surveys; Coquille Bank, Oregon; “top-down” classification, 169 Barkley Canyon, 47, 57 Daisy Bank, Oregon; D. Allan B. top-down methodology, 101-102, 234 Monterey Canyon, 47, 60, 68 (Dorado class vehicle); engineering towboard (towed-diver) surveys, 4-5 submarine fan systems surveys using ARS; Gulf of Alaska; Lucia Chica Fan, 47, 63-64 Marine Habitat Mapping Technology for Alaska 281

Towed Automatically Compensating ultra-short baseline sonars (USBL) Velero IV (F/V), 205 Observation System. See TACOS (continued) VENTANA (ROV), 109  sled ORE Offshore Tracking II Ultra-Short vents, Axial Seamount, 60, 61-62 towed sonars, 2, 29, 72, 243 Baseline system, 116, 145 vertical-beam sonars, 2, 29, 32, 242. See also comparison with hull-mounted sonars, Trackpoint II USBL, 118, 208 single-beam sonar 244 Umbellula, 213 limitations of, 35 towed sidescan sonars (TSSS), 34, 38, 44, umbilical storage and management for ROVs, vertical-beam echosounders (VBES), 29, 73, 242 114, 114, 115-116, 126 34-36, 242 comparison of cross-track data with troubleshooting table for ROV comparison of cross-track data with MBES bathy, MBES image, operations, 125 MBES bathy, MBES image, and TSSS, 35 underwater camera sleds, 1, 102 and TSSS, 35 towed subbottom boomer, 93, 244 accessory equipment for, 103-104 vertical resolution. See resolution towed video sleds, 4, 161 advantages of, 251 very nearshore tracking systems, 99, 103, 104, 110, 117, 118, bottom contacting video sleds, 99, 99- choosing right techniques for mapping, 125, 126, 127, 187 100, 104 261 Trackpoint navigation system, 116-117 descriptive guide to equipment and imaging and sampling platforms/tools, Trackpoint II USBL, 118 costs, 105 262 tracks, survey, 6, 103 still image captured by, 106 vessel safety, 82, 83 survey tracks at Coquille Bank and Daisy bottom tending video sleds, 100, 100-101 and mapping shallows, 3 Bank, 135 descriptive guide to equipment and and ROVs, 115, 123, 124 survey tracks in Monterey Bay, 56 costs, 105 small-boat surveys, 82, 83, 86 transducer arrays, 32-33, 34, 35, 239 comparisons of submersibles, 52 beam footprints as a function of ARS with AUVs, 140 video analysis frequency and beamwidth, 37 to AUVs, ROVs, and manned analog video vs. digital video, 103 examples of installation, 74-79 submersibles, 106 and classification of sonar data for installation issues, 74-76 descriptive guide to equipment and costs, mapping seafloor habitat, 185- location of in sidescan sonar survey, 37, 105 194, 251-252 40 designing survey, 251 equipment needed, 159 multiple transducers, 72 drop camera video sleds, 101, 101, 104, on Heceta Bank, 205, 208 transect strategies, 119-121, 126, 132, 134, 111, 118, 250 protocol for continental shelf habitat 148, 161 and habitat mapping, 99-107, 250-251 classification,160 belt transects, 146, 147 issues related to, 263 quantitative video analysis, 4 example of radial transect pattern, 120 limitations of, 251 submersibles, 4 line-transects, 146, 147, 148, 150, 248 list of basic sled components, 102 video analysis, experimental design one-sided line transects, 146 schematic of process for design of a sled, and database management, relationship of theoretical to calculated 102 157-167, 252-253 transect width, 121 TACOS sled, 4, 100, 263 typical video analysis lab, 159 transect length, 147 towed video sleds, 4, 161 and vessel track on acoustic classification use of quantitative transect methods UNEP. See United Nations Environmental map, 200 for visual surveys of demersal Program videotapes and ROVs, 125 fishes, 143-155 United Nations troubleshooting table for ROV using Trackpoint II USBL, 208 Convention on Biological Diversity operations, 125 transponders, 116 (CBD), 219, 256, 257, 263 VideoRay ATT model 219 transponder, 116, 117- Environmental Program (UNEP), 256 Pro 3 (mini-class ROV), 111 118, 122-123 Law of the Sea, 240, 258 SeaSprite, 246 example of poor tracking, 117 University of Alaska Fairbanks, 20, 178 video sleds, 1, 102 ORE model 4330B transponder, 116, University of Washington accessory equipment for, 103-104 117, 122 Friday Harbor Laboratories, 110 advantages of, 251 troubleshooting table for ROV Thomas G. Thompson (R/V), 129-141 bottom contacting video sleds, 99, 99- operations, 125 unsupervised classification, 6-7 100, 104, 250 trawling, short-term effects on hard-bottom untrawlable habitats and SeaBED (AUV), descriptive guide to equipment and habitats, 150-151 129-141, 250 costs, 105 trawl surveys, 262 Upper Monterey Canyon, 60 still image captured by, 106 of groundfish on Heceta Bank,130 urchin, 209, 214 bottom tending video sleds, 100, 100- issues related to, 263 USBL. See ultra-short baseline sonars 101, 250 putting cameras on trawls, 251 U.S. Exclusive Economic Zone, 7, 173, 240 descriptive guide to equipment and Tritech Osprey CCD color camera, 100 U.S. Geological Survey (USGS), 6, 185, 187, costs, 105 TSSS. See towed sonars 189 comparisons turbidity, 3, 104, 172, 222, 261 Biological Resources Division, 251-252 with AUVs, 140 as a way to differentiate habitats,29 Coastal and Marine Geology Program, to AUVs, ROVs, and manned two-letter codes for classifying habitats, 5, 251-252 submersibles, 106 161, 209, 250 U.S. National Park Service, 251 with manned submersibles, 149 day rates for, 260 U V descriptive guide to equipment and costs, ultra-short baseline sonars (USBL), 50-51, 52, Valentine, P.C., 5, 172 105 243, 247, 248, 250 VBES. See vertical-beam sonars designing survey, 251 282 Index

video sleds (continued) Washington Department of Fish and Wildlife winches, 83, 101, 103 drop camera video sleds, 101, 101, 104, (WDFW), 111, 114, 118, 122, 126 ODIM Moving Vessel Profiler,84 111, 118, 250 water column, 2, 42, 74, 83, 99, 115, 139, 238, WinFrog navigation system (software), 145 and habitat mapping, 99-107, 250-251 255 Wing, B.L., 149 issues related to, 263 mapping of, 238 Woodby, Doug, 1-11, 13-27, 237-265 limitations of, 251 and remote sensing, 29, 34, 37, 49, 72, 86, Woods Hole Oceanographic Institution list of basic sled components, 102 150, 239, 240 (WHOI), 4 schematic of process for design of a sled, water guns, 244 World Conservation Union, 220 102 water turbidity, 3, 29, 104, 172, 222, 261 Wyllie-Echeverria, T., 136 TACOS sled, 4, 100, 263 wavelength towed video sleds, 161 and ARS frequency, 30, 31, 32, 33, 33, 36, Y used in CCWMP, 187 37, 40 Yakutat, Alaska, 178, 249 visualization tools, 52, 52 and sonar, 242 yelloweye rockfish, 20, 131, 146, 147-148, 173, visual-scale technologies, 3-5 WDFW. See Washington Department of Fish 209, 249 visual surveys, 1-2, 262 and Wildlife habitat protection for, 22 day rates for visual survey techniques, weathervane scallops, 148, 151 meso-habitat for, 175 260 West Coast and Polar Regions Undersea yellowtail rockfish, 139, 147, 205 of demersal fishes using quantitative Research Center (NOAA), 144, 178 Yeung, C., 4 transect methods from Delta white abalone, 150 Yoklavich, Mary M., 3, 4, 5, 143-155, 247-248, (manned submersible), 143- whitewater, 3, 242, 261 263 155 Whiteway, Tanya, 219-236 with a small ROV in shallow water, 109- WHOI. See Woods Hole Oceanographic Z 128, 246 Institution Zacharias, M.A., 222 volcanic cones (pinnacles), 174, 249 wide-area augmentation system (WAAS), 80, Zaprora silenus. See prowfish 81, 116 W Zephyr (R/V), 48, 50 wide-area DGPS (WADGPS), 80, 81, 82 Zezula, Dave, 241 WAAS. See wide-area augmentation system widow rockfish, 205 Zimmermann, Mark, 6-7 WADGPS. See wide-area DGPS Wilbur, A.R., 170, 172, 173 Wakefield, W. Waldo, 203-217