The dataset consists of seven columns: Date/time, latitude, longitude, heading, roll, pitch, standard deviation. Positions are calculated from Marine Inertial Navigation System (MINS), taking GPS coordinates and relative distances from 3D accelerator into account. The coordinates are centered to MINS, which is nearly located in the pivot point of the ship. The parameters have been examined against rough errors and outliers. The master track is provided with interval of one second. See other version link for generalized version of this dataset.