The Echoscope is a 3D sonar modeling system from Coda Octopus used for the inspection of submerged structures, such as docks, bridge piers and others. This mobile system consists of high-definition sonar installed on a sounding boat. The data captured by the sonar is georeferenced using an inertial station operating in RTK mode for the planimetric and altimetric positioning of the system. When the sonar is tuned to high frequency, the system can record more than 16,000 simultaneous points up to 12 times per second, allowing a very precise portrait of the seabed and the submerged infrastructures.