MBES-lib

Multibeam echosounder function library

Supported datagram types

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

Sample programs

cidco-decoder

Decodes binary datagrams to the legacy CIDCO ASCII format

datagram-dump

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'.

datagram-list

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

georeference

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

data-cleaning

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