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The USS Baldwin DD-624 was a WWII US destroyer, which was scuttled close to Rhode Island, US, after running aground in 1962 (Wikipedia).
Exploring the wreck was part of the NOAA 2019 Technology Exploration Cruise.
The object shown here is the range finder and fire control system of the guns, which sits on top of the bridge and is currently the highest point of the wreck. The scan is the manual fusion of multiple scans. Colorization of the point-cloud is based on the remission of the laser and uses a brown to yellow hue map.
Thanks to NOAA Ocean Exploration Research, the Global Foundation of Ocean Exploration and the crew of the Okeanos Explorer