This data was collected to validate simulations performed using the k-Wave toolbox when the wave propagation is nonlinear and the medium is absorbing. Experiments were conducted using a diagnostic ultrasound scanner (Sonix RP, Ultrasonix) with a linear array probe (L9-4/38) in both water and olive oil. Measurements were performed using a two-axis automated scanning tank with a 0.4 mm membrane hydrophone.  The coordinate system used is as follows: X is the elevation direction relative to the transducer (out-of-plane), Y is the lateral (in-plane) direction, Z is the axial direction. In total, this study contains 12 datasets contained in 4 files as follows. File 1. X-Y scans of transducer in water with no steering (4 datasets with planes measured at 1.3, 11.1, 21.3, and 31.3 mm from the transducer). File 2. X-Y scans of transducer in water with a steering angle of 20 degrees (2 datasets with planes measured at 1.3 and 21.3 mm from the transducer). File 3. Y-Z scans of the transducer in water with steering angles of 0 (no steering) and 20 degrees (2 datasets). File 4. X-Y scans of transducer in olive oil with no steering (4 datasets with planes measured at 2.4, 12.4, 22.4, 32.4 mm from the transducer). A MATLAB script is provided to produce simple summary plots of the data. Notes: For all X-Y scans, the reported Z-positions are approximate. Z-alignment was performed using a manual translation stage, and the position of the transducer relative to the hydrophone in the first scan plane was estimated using a diagnostic ultrasound image. A more accurate estimate could potentially be obtained using the time-of-flight data for the recorded waveforms. For dataset 3, the reported X-Y coordinate origin for the scan plane at 2.39mm (dataset1) is not aligned with the X-Y coordinate origin for the other scan planes (dataset2, dataset3, dataset4). This could potentially be corrected, e.g., using acoustic holography and aligning the projections to the measured planes.