Underwater images were collected in Lake Tahoe, CA, using a recently developed towed-surface vehicle with multiple downward-looking underwater cameras. The system is named the Structure-from-Motion (SfM) Quantitative Underwater Imaging Device with Five Cameras (SQUID-5). The data were collected March 10th and 11th of 2021 to assess the accuracy, precision, and effectiveness of the new SQUID-5 camera platform to generate contiguous coverage of an area similar in size to an individual coral reef. Photographic and position data generated by the SQUID-5 system were processed using Structure-from-Motion (SfM) photogrammetry to generate the point clouds, bathymetric maps, and full color orthomosaics included in this data release. The raw images and navigation data used to create these products are available in an associated data release at https://doi.org/10.5066/P9V44ZYS.