DOI: 10.5281/zenodo.17759245
title: multi-modal underwater communication dataset

description: Underwater Drone Network Telemetry Dataset (URRC–ODI, 2021–2025)

This dataset contains real-world, high-frequency underwater communication and robotics telemetry collected between January 2021 and September 2025 from the Underwater Robotics Research Centre (URRC) at the Norwegian Marine Technology Institute (NTNU OceanLab, Trondheim, Norway). The dataset is jointly curated under the Ocean Data Initiative (ODI) to support scientific research in underwater networking, marine robotics, and resilient acoustic communication systems.

Data were captured from autonomous underwater vehicles (AUVs), relay nodes, and coastal base-station links operating in structured missions, dynamic patrol routines, and long-distance acoustic communication trials. Sampling was performed at a 15-minute frequency, producing more than 1.5 million multi-modal records stored in a single CSV file.



Dataset Contents

Each record contains synchronized measurements across six major categories:

1. Communication & Acoustic Signal Parameters





Signal strength (dB), SNR (dB), channel attenuation, bandwidth (kHz)




Propagation delay (ms), frame/bit error rates




Transmission and received power (W)




Modulation type, frequency drift, packet transmission rate



2. Network Flow & Topology Metrics





Source/destination node identifiers




Hop count, path stability index




Packet size, retransmission counts




Throughput (kbps), jitter (ms), end-to-end delay (ms)




Network density and routing protocol type



3. Mobility & Localization Attributes





Drone depth (m), drone speed (m/s)




Base-station distance (m), position error (m)




Movement type (hover/patrol/relay)




Heading angle (degrees), communication range (m)



4. Environmental & Oceanographic Conditions





Water temperature (°C), salinity (ppt), turbidity (NTU)




Current velocity (m/s), ambient noise level (dB)




Hydrostatic pressure (kPa), pH level, light intensity (lux)



5. System Health & Energy Indicators





Battery level (%), transmission energy (J)




CPU and memory utilization (%)




Sensor health score, transmission queue length



6. Security & Behavioral Indicators





Packet drop ratio, unexpected beaconing frequency




Invalid packet rate (%), network entropy




Node-degree changes, latency spikes




Duplicate ACK ratio, control-message ratio





Ground-Truth Labels

Each timestamped record includes two labels:





Attack_Type — 8-class categorical label





Normal




Packet Loss




Routing Manipulation




Energy Exhaustion




Jamming / Interference




Replay Attack




Localization Error




Delay Spike






Anomaly_Label — Binary label (0 = normal, 1 = anomaly)





File Format





underwater_drone_network_dataset.csv




UTF-8 encoded, comma-separated




Includes Timestamp column and 65+ feature fields



 

Ethics & Availability

The dataset contains no personal or sensitive human data. All measurements originate from mechanical and environmental sensors.This dataset is publicly released under the Ocean Data Initiative (ODI) guidelines to promote reproducible marine robotics research.