SOQ means the data taken by acoustic navigation system which contain 
the location raw data of Shinkai 6500 manned submersible vehicle during 
the dives by means of SSBL surveys. SOQ files include raw data of ascii format. 
The data are used to visualize the tracks of Shinkai 6500 shown in files of 
DSRVTrack_6K_17xx.

YK23-13_(navigation).dat means the QCed data of ascii format obtained 
from radio navigation system which contain QCed data of 
"Time", "Location", "Surface temperature", "Wind direction and velocity", 
"Current direction and velocity", and "Water depth", 
recorded every one minute during the cruise. 

YK23-13_corr.stcm means the QCed data of ascii format obtained from 
onboard three component magnetometer. Three-axes flux-gate sensors 
with ring-cored coils were fixed on the roof of the bridge. They 
measure the following:
h-component : along track line component, positive for the bow direction pitch.
s-component : across track line component, positive for the starboard side roll.
v-component : vertical component, positive for the downward direction.
The effect of ship motion was eliminated by roll and pitch data which was provided by a tilt sensor. The apparent magnetic influence can be detected through a "Figure of 8 turn" (a pair of clockwise and anti-clockwise turns) on each cruise. If no Figure of 8 turn on the cruise was completed, the latest Figure of 8 turn from the previous cruise was applied. As a quality control, data of low reliability was removed (see Data processing for quality control criteria). Synthetic geomagnetic field values were calculated from IGRF models.

YK23-13.dat and YK23-13_t.dat means the QCed data of binary format obtained 
from the multibeam echo sounder system (MBES). YK23-13.dat includes the data 
of surveyed area and YK23-13_t.dat includes the data of transit area. 
The system transmits the shape echo sounder beam from the transmitter and 
receives the beam reflected from the seabed using the hydrophone. The water 
depth is calculated from the travel time of the beam between the transmitter 
and the receiver. Having many transmitters make fan beams across the keel, 
this system can obtain a lot of bathymetric data on a wide angle at once. The 
travel time of the beam (from the transmitter to the seabed and from the 
seabed to the receiver) is corrected using the vertical profile of the sound 
velocity obtained from the in-situ observations (see section Sound velocity 
profile correction) . The raw data with the low reliability such as the noise 
are removed using the software. 


The CSV files includes the raw data obtained from acoustic navigation system 
established with Shinkai 6500. They mainly include the raw data of lat. lon. 
and water depth of Shinkai 6500. 

CSV and CTD files include raw data obtained from CTDO sensors and other 
sensors and recorders the DSRV  Shinkai 6500 is equipped with. So, the 
coordinates of Shinkai 6500 represent the coordinates CTDO sensors and 
other sensors. The coordinates of Shinkai 6500 with time are recorded in 
files 6K_01708.txt to 6K_01711.txt.
