How did Russian navigators survey the Volga River in the late 1700s?

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Volga River The Dnieper, Don, and Volga river basins and their drainage network.

In the late 18th century, the survey of the Volga River was advanced by the work of two pioneer Russian navigators, Makeyev and Gavril Andreyevich Sarychev. Between 1782 and 1783, they conducted a survey of the river's stretch located between Tver and Nizhny Novgorod.1