Overview of typical applications that involve mapping the sediment-water interface in the ocean and adjacent waters. Emphasis on defining the task-specific resolution and accuracy requirements. Fundamentals of acoustics relevant to seabed mapping. Progressions through typical configurations involving single beam, sidescan, phase differing and multibeam systems. Integration of asynchronous 3D position, orientation and sound speed measurements with sonar-relative acoustic travel times and angles. Analysis of impact offsets, mis-alignments and latency in all integrated sensors.