The $529 million vessel suffered scratches and paint damage to its hull and scientific instruments were damaged or missing from a "substantially damaged" drop keel.
The grounding, described in the report as brief, occurred when the crew were conducting drone surveys near an area of uncharted sea floor.
One underwater device, a high-resolution multi-beam echo sounder system, was collecting data.
To avoid acoustic interference with the multi-beam system, the ship's navigational echo sounders were switched off, the report said.
This meant the depth information was not displayed on the ship's electronic chart display and information system and could not be used to generate navigational alarms.
Nuyina was being repositioned when its operators realised their new route was not on the forward navigation screen.
The ship followed a previously-loaded bearing before its acoustics operator called the bridge to say the multi-beam system was showing a water depth of 15m and then "shallow water".
Nuyina's drop keel, a moveable fin, hit the seabed, followed by its hull, despite the ship master ordering the engines to be stopped.
The vessel was ultimately able to continue its operations at Heard Island and resupply an Antarctic outpost before returning to Hobart.
Nuyina's operating manual states an echo sounder must be always running.
However, its science manual notes navigation echo sounders must be turned off while the science echo sounders conduct measurements, the safety bureau's report said.
The report does not contain analysis or findings, which will be published in a final report at the conclusion of its investigation.
Several safety changes were made after the incident, including the development of a Heard and McDonald Islands navigation decision support guide.
