This paper describes a pose-based underwater 3D Simultaneous Localization and Mapping (SLAM) using a multibeam echosounder to produce high consistency underwater maps. The proposed algorithm compounds swath profiles of the seafloor with dead reckoning localization to build surface patches (i. e. https://www.roneverhart.com/Macallan-Cask-Strength-Red-Label-Gift-Set-With-Luxury-Hip-Flask-750ml/