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      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
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          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>NCCOS Research Data Type &gt; Geospatial</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>NCCOS Research Location &gt; Region &gt; Great Lakes</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>NCCOS Research Location &gt; U.S. States and Territories &gt; Wisconsin</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>NCCOS Research Priority &gt; Marine Spatial Ecology</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
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            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>NCCOS Keywords</gco:CharacterString>
              </gmd:title>
              <gmd:date gco:nilReason="inapplicable" />
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
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      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
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            <gco:CharacterString>Geospatial</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>NCCOS Research Data Type</gco:CharacterString>
              </gmd:title>
              <gmd:date gco:nilReason="inapplicable" />
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            <gco:CharacterString>Marine Spatial Ecology</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
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          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>NCCOS Research Priority</gco:CharacterString>
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              <gmd:date gco:nilReason="inapplicable" />
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            <gco:CharacterString>Habitat Mapping</gco:CharacterString>
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          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
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          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>NCCOS Research Topic</gco:CharacterString>
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              <gmd:date gco:nilReason="inapplicable" />
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gco:CharacterString>Cruise data collection depths</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Cruise data collection locations</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Cruise data collection times</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Provider Keywords</gco:CharacterString>
              </gmd:title>
              <gmd:date gco:nilReason="inapplicable" />
            </gmd:CI_Citation>
          </gmd:thesaurusName>
        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gco:CharacterString>Benthic videos</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Coastal Change: Vulnerability, Mitigation, and Restoration</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Field Observation</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Geospatial</gco:CharacterString>
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          <gmd:keyword>
            <gco:CharacterString>Great Lakes</gco:CharacterString>
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          <gmd:keyword>
            <gco:CharacterString>Lakebed characterization</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>Sediment samples</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="theme">theme</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Theme Keywords</gco:CharacterString>
              </gmd:title>
              <gmd:date gco:nilReason="inapplicable" />
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        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/33de4965-928a-45d5-acfc-79e006842431" xlink:actuate="onRequest">CAMERA &gt; CAMERA</gmx:Anchor>
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          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/99b3c865-d4a4-43f7-b37d-28a24b2c71e5" xlink:actuate="onRequest">GRAB SAMPLERS</gmx:Anchor>
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          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="instrument">instrument</gmd:MD_KeywordTypeCode>
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              <gmd:title>
                <gco:CharacterString>Global Change Master Directory (GCMD) Instrument Keywords</gco:CharacterString>
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                <gmd:CI_Date>
                  <gmd:date>
                    <gco:Date>2026</gco:Date>
                  </gmd:date>
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                    <gmd:CI_DateTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_DateTypeCode" codeListValue="revision">revision</gmd:CI_DateTypeCode>
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                <gco:CharacterString>24</gco:CharacterString>
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                        <gmd:CI_Address>
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                            <gco:CharacterString>Greenbelt</gco:CharacterString>
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                            <gco:CharacterString>MD</gco:CharacterString>
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                      </gmd:address>
                      <gmd:onlineResource>
                        <gmd:CI_OnlineResource>
                          <gmd:linkage>
                            <gmd:URL>https://forum.earthdata.nasa.gov/app.php/tag/GCMD%2BKeywords</gmd:URL>
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                            <gco:CharacterString>HTTPS</gco:CharacterString>
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                            <gco:CharacterString>GCMD Keyword Forum Page</gco:CharacterString>
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                            <gco:CharacterString>Global Change Master Directory (GCMD). 2025. GCMD Keywords, Version 21. Greenbelt, MD: Earth Science Data and Information System, Earth Science Projects Division, Goddard Space Flight Center (GSFC), National Aeronautics and Space Administration (NASA). URL (GCMD Keyword Forum Page): https://forum.earthdata.nasa.gov/app.php/tag/GCMD+Keywords</gco:CharacterString>
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                            <gmd:CI_OnLineFunctionCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_OnLineFunctionCode" codeListValue="information">information</gmd:CI_OnLineFunctionCode>
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                    <gmd:CI_RoleCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_RoleCode" codeListValue="custodian">custodian</gmd:CI_RoleCode>
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            <gco:CharacterString>AUV</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>ROV</gco:CharacterString>
          </gmd:keyword>
          <gmd:keyword>
            <gco:CharacterString>drop camera</gco:CharacterString>
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          <gmd:keyword>
            <gco:CharacterString>ponar dredge</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="instrument">instrument</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
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              <gmd:title>
                <gco:CharacterString>Provider Instruments</gco:CharacterString>
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        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/1ea3829f-9479-46f5-a075-315da09867ae" xlink:actuate="onRequest">AUVS &gt; Autonomous Underwater Vehicles</gmx:Anchor>
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          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/3d5edc3b-2f75-45a3-a02e-59b6a88c2652" xlink:actuate="onRequest">ROVS &gt; Remotely Operated Vehicle</gmx:Anchor>
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            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="platform">platform</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
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              <gmd:title>
                <gco:CharacterString>Global Change Master Directory (GCMD) Platform Keywords</gco:CharacterString>
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                <gmd:CI_Date>
                  <gmd:date>
                    <gco:Date>2026</gco:Date>
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                    <gmd:CI_DateTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_DateTypeCode" codeListValue="revision">revision</gmd:CI_DateTypeCode>
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                <gco:CharacterString>24</gco:CharacterString>
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                        <gmd:CI_Address>
                          <gmd:city>
                            <gco:CharacterString>Greenbelt</gco:CharacterString>
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                          <gmd:administrativeArea>
                            <gco:CharacterString>MD</gco:CharacterString>
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                      </gmd:address>
                      <gmd:onlineResource>
                        <gmd:CI_OnlineResource>
                          <gmd:linkage>
                            <gmd:URL>https://forum.earthdata.nasa.gov/app.php/tag/GCMD%2BKeywords</gmd:URL>
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                          <gmd:protocol>
                            <gco:CharacterString>HTTPS</gco:CharacterString>
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                            <gco:CharacterString>GCMD Keyword Forum Page</gco:CharacterString>
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                            <gco:CharacterString>Global Change Master Directory (GCMD). 2025. GCMD Keywords, Version 21. Greenbelt, MD: Earth Science Data and Information System, Earth Science Projects Division, Goddard Space Flight Center (GSFC), National Aeronautics and Space Administration (NASA). URL (GCMD Keyword Forum Page): https://forum.earthdata.nasa.gov/app.php/tag/GCMD+Keywords</gco:CharacterString>
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                            <gmd:CI_OnLineFunctionCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_OnLineFunctionCode" codeListValue="information">information</gmd:CI_OnLineFunctionCode>
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                    <gmd:CI_RoleCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_RoleCode" codeListValue="custodian">custodian</gmd:CI_RoleCode>
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        </gmd:MD_Keywords>
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      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gco:CharacterString>R3105</gco:CharacterString>
          </gmd:keyword>
          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="platform">platform</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Provider Platform Names</gco:CharacterString>
              </gmd:title>
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/2844fb17-9f62-47c9-90c4-d61125e0922e" xlink:actuate="onRequest">CONTINENT &gt; NORTH AMERICA &gt; CANADA &gt; GREAT LAKES, CANADA</gmx:Anchor>
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          <gmd:keyword>
            <gmx:Anchor xlink:href="https://cmr.earthdata.nasa.gov/kms/concept/271c9002-8a96-406e-a0ec-8fdbac41eb1e" xlink:actuate="onRequest">CONTINENT &gt; NORTH AMERICA &gt; UNITED STATES OF AMERICA &gt; GREAT LAKES</gmx:Anchor>
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          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="place">place</gmd:MD_KeywordTypeCode>
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          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Global Change Master Directory (GCMD) Location Keywords</gco:CharacterString>
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              <gmd:date>
                <gmd:CI_Date>
                  <gmd:date>
                    <gco:Date>2026</gco:Date>
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                  <gmd:dateType>
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                </gmd:CI_Date>
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              <gmd:edition>
                <gco:CharacterString>24</gco:CharacterString>
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                <gmd:CI_ResponsibleParty>
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                    <gco:CharacterString>Earth Science Data and Information System, Earth Science Projects Division, Goddard Space Flight Center (GSFC), National Aeronautics and Space Administration (NASA)</gco:CharacterString>
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                      <gmd:address>
                        <gmd:CI_Address>
                          <gmd:city>
                            <gco:CharacterString>Greenbelt</gco:CharacterString>
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                          <gmd:administrativeArea>
                            <gco:CharacterString>MD</gco:CharacterString>
                          </gmd:administrativeArea>
                        </gmd:CI_Address>
                      </gmd:address>
                      <gmd:onlineResource>
                        <gmd:CI_OnlineResource>
                          <gmd:linkage>
                            <gmd:URL>https://forum.earthdata.nasa.gov/app.php/tag/GCMD%2BKeywords</gmd:URL>
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                          <gmd:protocol>
                            <gco:CharacterString>HTTPS</gco:CharacterString>
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                          <gmd:name>
                            <gco:CharacterString>GCMD Keyword Forum Page</gco:CharacterString>
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                            <gco:CharacterString>Global Change Master Directory (GCMD). 2025. GCMD Keywords, Version 21. Greenbelt, MD: Earth Science Data and Information System, Earth Science Projects Division, Goddard Space Flight Center (GSFC), National Aeronautics and Space Administration (NASA). URL (GCMD Keyword Forum Page): https://forum.earthdata.nasa.gov/app.php/tag/GCMD+Keywords</gco:CharacterString>
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                    <gmd:CI_RoleCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#CI_RoleCode" codeListValue="custodian">custodian</gmd:CI_RoleCode>
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                </gmd:CI_ResponsibleParty>
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            <gco:CharacterString>Great Lakes</gco:CharacterString>
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            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="place">place</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>NCCOS Research Location</gco:CharacterString>
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
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            <gco:CharacterString>Lake Michigan</gco:CharacterString>
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          <gmd:type>
            <gmd:MD_KeywordTypeCode codeList="https://data.noaa.gov/resources/iso19139/schema/resources/Codelist/gmxCodelists.xml#MD_KeywordTypeCode" codeListValue="place">place</gmd:MD_KeywordTypeCode>
          </gmd:type>
          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Provider Place Names</gco:CharacterString>
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
      <gmd:descriptiveKeywords>
        <gmd:MD_Keywords>
          <gmd:keyword>
            <gco:CharacterString>N5RGF8</gco:CharacterString>
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          <gmd:thesaurusName>
            <gmd:CI_Citation>
              <gmd:title>
                <gco:CharacterString>Send2NCEI Submission Package ID</gco:CharacterString>
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              <gmd:date gco:nilReason="inapplicable" />
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          </gmd:thesaurusName>
        </gmd:MD_Keywords>
      </gmd:descriptiveKeywords>
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        <gco:CharacterString>These data were developed with funding from the Great Lakes Restoration Initiative, and support restoration of the Great Lakes.

This dataset was developed by the Collaborative Benthic Habitat Mapping in the Nearshore Waters of the Great Lakes Basin project, and was funded by the Great Lakes Restoration Initiative. The project is a collaboration between the National Oceanic and Atmospheric Administration, the National Park Service, the U.S. Geological Survey, the U.S. Fish and Wildlife Service, and partners such as Michigan Technological University.

The National Oceanic and Atmospheric Administration (NOAA), National Centers for Coastal Ocean Science (NCCOS), Great Lakes Environmental Research Laboratory (GLERL), and Michigan Technological University (MTU) Great Lakes Research Center completed a 169-day benthic mapping cruise (hereafter, GL2401) between April 30 and October 16, 2024. The goal of the cruise mission was to characterize lakebed habitats in and near the Wisconsin Shipwreck Coast National Marine Sanctuary (WSCNMS) and provide ground-truthing observation data for predictive substrate and biological community models.

The cruise study area comprised 2492 square kilometers, encompassing depths between 3 and 142 meters. The study area extended approximately from 8 km south of Port Washington, WI to 23 km north of Two Rivers, WI and out to a maximum distance of 26.4 km offshore. The cruise collected underwater video imagery with a Seaviewer drop camera at 845 sites, with a BlueROV2 remotely operated vehicle (ROV) at 109 sites, and with an IVER3 autonomous underwater vehicle (AUV) at 46 sites. A Ponar dredge was used to characterize fine unconsolidated sediments at 147 sites. Data acquisition occurred from the NOAA Vessel R3105 stationed successively at Port Washington Marina, Harbor Centre Marina in Sheboygan, WI, and Manitowoc Marina, with one day of operation aboard NOAA Vessel R3012, stationed at Manitowoc Marina.

Sampling sites were selected to ground-truth lakebed features and habitats identifiable from several existing nearshore topographic-bathymetry lidar and Multibeam Echo Sounded (MBES) surveys. A stratified random sampling design was employed to select the sampling sites to capture a wide spectrum of depths and habitats within the study area.

A separate cruise, led by the United States Geological Survey (USGS), provided complementary ground-truthing data using a different IVER3 AUV. Similar to the ROV and drop camera, the AUV collected high-resolution, downward-pointing imagery of the lakebed. Data from GL2401 and the USGS cruise are intended to be complementary and will be annotated with similar workflows to provide seamless ground-truthing coverage and used to develop benthic maps.

The entirety of benthic videos collected by drop cameras were sent to and processed in Tator, an online cloud-based video management and annotation system developed by CVision AI, Inc. For benthic images collected by the USGS IVER3 AUV, only images within 10 m of planned sites were sent to Tator for further processing. Videos were synchronized to positional data collected by an ultrashort baseline system so that each video frame could receive an underwater spatial coordinate. Then, individual video frames were selected every 10 m for annotation. Each selected frame was annotated by a benthic mapping matter expert. Annotations included the percent cover of substrates and biological cover, benthic organism abundance, and geomorphological characteristics. Lakebed measurements and benthic characterization labels were classified according to the Coastal and Marine Ecological Classification Standard (CMECS 2012).</gco:CharacterString>
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