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.bekindtopets.com/flash-grab-Looney-Tunes-Daffy-Duck-Patches-iPhone-14-Plus-Clear-Case-p34015-mega-offer/