ROV SuBastian merged navigation and raw magnetic sensor data, Mid-Atlantic Ridge (FKt230303, 2023)

This data set consists of raw magnetic field measurements and vehicle navigation for the remotely-operated vehicle (ROV) SuBastian dives over several ridge axis sites on the northern Mid-Atlantic Ridge. The data were collected in 2023 during research cruise Fkt230303 on R/V Falkor Too. Magnetic data is supplied by Dr. Maurice Tivey of the Woods Hole Oceanographic Institution (WHOI) using an Applied Physics Systems (APS) 3-axis fluxgate sensor, model 1540, mounted in a titanium deepsea housing attached to the frame of ROV SuBastian. Navigation is primarily by ultra-short baseline (USBL). The magnetic data is merged with ROV navigation and with ROV attitude data (pitch, roll, heading, depth). The magnetic data consists of raw magnetic values that have not been corrected (calibrated) for the magnetic effects of the ROV and have not been corrected for the IGRF. No magnetic data was collected during ROV dives S0489 or S0490. The data files are in ASCII format with the following columns: year, month, day, hour, min, sec, latitude(dec. degrees), longitude (dec. degrees), depth (meters), pressure (decibars), heading (degrees), pitch (degrees), roll (degrees), altitude (meters), magX (nT), magY (nT), magZ (nT). Where no sensor data are reported it is shown by 0.0. Navigation commenced only on the seafloor and is flagged with "NaN" where no navigation data is available.

本数据集包含遥控水下机器人（Remotely Operated Vehicle，ROV）SuBastian在北大西洋洋中脊北部多个脊轴区域开展下潜作业时采集的原始磁场测量数据与机器人导航数据。该数据集于2023年随科考航次Fkt230303在R/V Falkor Too号科考研究船上完成采集。磁场数据由伍兹霍尔海洋研究所（Woods Hole Oceanographic Institution，WHOI）的Maurice Tivey博士提供，所用传感器为应用物理系统公司（Applied Physics Systems，APS）型号1540的三轴磁通门传感器，该传感器被安装在固定于SuBastian号ROV机架的钛合金深海密封舱内。导航数据主要通过超短基线（Ultra-Short Baseline，USBL）系统获取，已将磁场数据与ROV导航数据及ROV姿态数据（俯仰角、横滚角、航向角、深度）进行融合。本次提供的磁场数据为原始磁场数值，未针对ROV自身的磁场影响进行校正（校准），也未针对国际地磁参考场（International Geomagnetic Reference Field，IGRF）进行校正。在SuBastian号ROV下潜任务S0489与S0490期间，未采集到磁场数据。数据文件采用ASCII格式，各字段依次为：年份、月份、日期、小时、分钟、秒、纬度（十进制度）、经度（十进制度）、深度（米）、压力（分巴）、航向角（度）、俯仰角（度）、横滚角（度）、高度（米）、magX（纳特斯拉，nT）、magY（纳特斯拉，nT）、magZ（纳特斯拉，nT）。若无对应传感器数据，则以0.0填充。导航数据仅在抵达海底后开始记录，若无可用导航数据的位置则以"NaN"标记。