Multibeam echosounder function library

• Kongsberg EM series (.all)
• Reson (.s7k)
• Triton (.xtf)

Decodes binary datagrams to the legacy CIDCO ASCII format

Dumps position,attitude and ping data in a single ASCII stream. Lines with position data start with 'P', lines with attitude data start with 'A', and lines with ping data start with 'X'.

Lists the internal IDs of the packets found inside a binary datagram. Useful for reverse-engineering packet types.

Converts a binary file to a 3D point cloud in the WGS84 cartesian frame

Removes outliers from georeferenced data using various parameterizable filters such as quality, backscatter, etc