Seafloor mapping is conducted with different types of arrays. Single beam mapping systems are often constructed with piston arrays. Linear arrays are used for both side scan sonar and for multibeam echo sounders. These conventional approaches to seafloor mapping are typically constrained to a single observation of any one point on the seafloor for any one pass of a moving vessel. A less conventional cylindrical array offers the opportunity to observe the majority of the seafloor from different perspectives but with the same angle with a single pass. This has the potential to improve the resulting depth estimates and seafloor backscatter products. In 2016, a Simrad Omnisonar was used to demonstrate seafloor mapping with a cylindrical array. While this array is designed for observing fish schools, a small area was successfully mapped and the results compared with a conventional bathymetric mapping system. Observations on the benefits and challenges of this approach to seafloor mapping will be discussed.