System and processes involving submerged hazard mapping

This invention relates generally to systems and processes involving hazard mapping. In one embodiment, a system includes, but is not limited to, an IMU; a radar system; a GPS receiver; and at least one computer processor configured to perform operations including at least: obtaining motion data, radar data, and position data obtained using the IMU, the radar system, and the GPS receiver, respectively, co-registering the radar data, the position data, and the motion data in a cartesian 3D matrix, and determining at least one hazard involving geomorphology, surface current, wave, or bathymetry at least partly using the 3D matrix, and GIS-referencing the hazard to imagery for output.