Hardware installation (Including transducer mounts and interfacing with ancillary devices)

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What motion sensor should I use with Bathyswath?

Motion sensors are expensive: the best ones are considerably more expensive than the sonar system that they are attached to. Choosing the right one is therefore very important. The first thing to check is the roll measurement accuracy. This needs to be better than 0.05 degrees, but better is better for bathymetry. Of all the kinds of motion, roll has the strongest effect on depth measurement. Some sensors input position information from a GNSS (global navigation satellite system, e.g.