A multi-segment underwater acoustic array telemetry dataset with depth, heading, pitch, and roll time series.

This data article presents time-series telemetry datasets collected from underwater acoustic sensor arrays during field deployments. The data comprise synchronized measurements of depth (m), heading (°), pitch (°), and roll (°), recorded at a nominal sampling rate of approximately 1 Hz and provided in comma-separated value (CSV) format with time-of-day timestamps and deployment location identifiers. The release includes two related CSV files covering different array configurations and water-depth conditions, enabling comparative analysis of array geometry dynamics, sensor orientation stability, and depth variation patterns. An accompanying browser-based 3D visualization tool supports rapid data validation and interactive exploration without specialized software. These datasets are intended for researchers in underwater instrumentation, ocean engineering, and geophysical array deployment who require reference telemetry for array behavior analysis, algorithm development, or educational purposes. The data and visualization tool are deposited in a public repository under an open license, with documented file structure and column definitions.