# Raw converted data

## The EchoData object

`EchoData` is an object that conveniently handles raw converted data from either raw instrument files (via `open_raw`) or previously converted and standardized raw files (via `open_converted`). It is essentially a container for multiple `xarray Dataset` objects, where each such object corresponds to one of the netCDF4 groups specified in the SONAR-netCDF4 convention. `EchoData` objects are used for conveniently accessing and exploring the echosounder data, for calibration and other processing, and for serializing into netCDF4 or Zarr file formats.

A few example `EchoData` objects are presented below. They show the hierarchical structure of the SONAR-netCDF4 version 1 groups for the sonar models currently supported by echopype. Click on a group to drill down to variables and attributes and to examine the structure and representative content of an `EchoData` object.

Depending on the instrument, data variables contained in each group may be different. See the example data sections below and Data from different echosounders for more information.

    The echopype version used to render the EchoData objects below is: 0.7.2.dev50+g451d5ef6

### Kongsberg Simrad EK60

EK60 echosounder transmits narrowband signals (gated sine waves) and therefore the `Sonar` group contains only a single subgroup `Beam_group1`.

EchoData: standardized raw data from Internal Memory

- Top-level: contains metadata about the SONAR-netCDF4 file format.

      <xarray.Dataset>
      Dimensions:  ()
      Data variables:
          *empty*
      Attributes:
          conventions:                 CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
          keywords:                    EK60
          sonar_convention_authority:  ICES
          sonar_convention_name:       SONAR-netCDF4
          sonar_convention_version:    1.0
          summary:                     EK60 raw file s3://ncei-wcsd-archive/data/ra...
          title:                       2017 Pacific Hake Acoustic Trawl Survey
          date_created:                2017-07-28T18:16:19Z
          processing_level:            Level 1A
          processing_level_url:        https://echopype.readthedocs.io/en/stable/pr...

  xarray.Dataset
  - Dimensions:
  - Coordinates: (0)
  - Data variables: (0)
  - Indexes: (0)
  - Attributes: (10)
    conventions :
      CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
    keywords :
      EK60
    sonar_convention_authority :
      ICES
    sonar_convention_name :
      SONAR-netCDF4
    sonar_convention_version :
      1.0
    summary :
      EK60 raw file s3://ncei-wcsd-archive/data/raw/Bell_M._Shimada/SH1707/EK60/Summer2017-D20170728-T181619.raw from the 2017 Pacific Hake Acoustic Trawl Survey, converted to a SONAR-netCDF4 file using echopype.
    title :
      2017 Pacific Hake Acoustic Trawl Survey
    date_created :
      2017-07-28T18:16:19Z
    processing_level :
      Level 1A
    processing_level_url :
      https://echopype.readthedocs.io/en/stable/processing-levels.html

- Environment: contains information relevant to acoustic propagation through water.

      <xarray.Dataset>
      Dimensions:                 (channel: 3, time1: 529)
      Coordinates:
        * channel                 (channel) <U37 'GPT  18 kHz 009072058c8d 1-1 ES18...
        * time1                   (time1) datetime64[ns] 2017-07-28T18:16:19.314790...
      Data variables:
          absorption_indicative   (channel, time1) float64 0.002822 ... 0.03259
          sound_speed_indicative  (channel, time1) float64 1.481e+03 ... 1.481e+03
          frequency_nominal       (channel) float64 1.8e+04 3.8e+04 1.2e+05

  xarray.Dataset
  - Dimensions:
    - channel: 3
    - time1: 529
  - Coordinates: (2)
    - channel
      (channel)
      <U37
      'GPT 18 kHz 009072058c8d 1-1 ES...
      long_name :
        Vendor channel ID

          array(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'], dtype='<U37')

    - time1
      (time1)
      datetime64[ns]
      2017-07-28T18:16:19.314790912 .....
      axis :
        T
      long_name :
        Timestamps for NMEA position datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to environmental variables.

          array(['2017-07-28T18:16:19.314790912', '2017-07-28T18:16:22.143954944',
                 '2017-07-28T18:16:24.963251200', ..., '2017-07-28T18:41:23.292577792',
                 '2017-07-28T18:41:25.949729792', '2017-07-28T18:41:28.597880832'],
                dtype='datetime64[ns]')

  - Data variables: (3)
    - absorption_indicative
      (channel, time1)
      float64
      0.002822 0.002822 ... 0.03259
      long_name :
        Indicative acoustic absorption
      units :
        dB/m
      valid_min :
        0.0

          array([[0.00282171, 0.00282171, 0.00282171, ..., 0.00282171, 0.00282171,
                  0.00282171],
                 [0.00985526, 0.00985526, 0.00985526, ..., 0.00985526, 0.00985526,
                  0.00985526],
                 [0.03259379, 0.03259379, 0.03259379, ..., 0.03259379, 0.03259379,
                  0.03259379]])

    - sound_speed_indicative
      (channel, time1)
      float64
      1.481e+03 1.481e+03 ... 1.481e+03
      long_name :
        Indicative sound speed
      standard_name :
        speed_of_sound_in_sea_water
      units :
        m/s
      valid_min :
        0.0

          array([[1480.62597656, 1480.62597656, 1480.62597656, ..., 1480.62597656,
                  1480.62597656, 1480.62597656],
                 [1480.62597656, 1480.62597656, 1480.62597656, ..., 1480.62597656,
                  1480.62597656, 1480.62597656],
                 [1480.62597656, 1480.62597656, 1480.62597656, ..., 1480.62597656,
                  1480.62597656, 1480.62597656]])

    - frequency_nominal
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000.,  38000., 120000.])

  - Indexes: (2)
    - channel
      PandasIndex

          PandasIndex(Index(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'],
                dtype='object', name='channel'))

    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-07-28 18:16:19.314790912',
                         '2017-07-28 18:16:22.143954944',
                         '2017-07-28 18:16:24.963251200',
                         '2017-07-28 18:16:27.769411072',
                         '2017-07-28 18:16:30.586572800',
                         '2017-07-28 18:16:33.394732032',
                         '2017-07-28 18:16:36.211893248',
                         '2017-07-28 18:16:39.030055936',
                         '2017-07-28 18:16:41.850217984',
                         '2017-07-28 18:16:44.657376768',
                         ...
                         '2017-07-28 18:41:04.671513088',
                         '2017-07-28 18:41:07.338664960',
                         '2017-07-28 18:41:10.005816832',
                         '2017-07-28 18:41:12.671969792',
                         '2017-07-28 18:41:15.320121856',
                         '2017-07-28 18:41:17.976272896',
                         '2017-07-28 18:41:20.634423808',
                         '2017-07-28 18:41:23.292577792',
                         '2017-07-28 18:41:25.949729792',
                         '2017-07-28 18:41:28.597880832'],
                        dtype='datetime64[ns]', name='time1', length=529, freq=None))

  - Attributes: (0)
- Platform: contains information about the platform on which the sonar is installed.

      <xarray.Dataset>
      Dimensions:              (time1: 2165, time2: 529, channel: 3)
      Coordinates:
        * time1                (time1) datetime64[ns] 2017-07-28T18:16:21.476992 .....
        * time2                (time2) datetime64[ns] 2017-07-28T18:16:19.314790912...
        * channel              (channel) <U37 'GPT  18 kHz 009072058c8d 1-1 ES18-11...
      Data variables: (12/20)
          latitude             (time1) float64 43.66 43.66 43.66 ... 43.66 43.66 43.66
          longitude            (time1) float64 -124.9 -124.9 -124.9 ... -125.0 -125.0
          sentence_type        (time1) <U3 'GGA' 'GLL' 'GGA' ... 'GGA' 'GGA' 'GLL'
          pitch                (time2) float64 -1.38 -0.4025 ... -0.4357 -0.7786
          roll                 (time2) float64 -0.374 -0.7127 ... -0.5143 -0.59
          vertical_offset      (time2) float64 0.388 -0.2825 ... -0.2143 0.1995
          ...                   ...
          position_offset_y    float64 nan
          position_offset_z    float64 nan
          transducer_offset_x  (channel) float64 0.0 0.0 0.0
          transducer_offset_y  (channel) float64 0.0 0.0 0.0
          transducer_offset_z  (channel) float64 0.0 0.0 0.0
          frequency_nominal    (channel) float64 1.8e+04 3.8e+04 1.2e+05
      Attributes:
          platform_name:       Bell M. Shimada
          platform_type:       Research vessel
          platform_code_ICES:  315

  xarray.Dataset
  - Dimensions:
    - time1: 2165
    - time2: 529
    - channel: 3
  - Coordinates: (3)
    - time1
      (time1)
      datetime64[ns]
      2017-07-28T18:16:21.476992 ... 2...
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA position data.

          array(['2017-07-28T18:16:21.476992000', '2017-07-28T18:16:21.635322880',
                 '2017-07-28T18:16:22.169930752', ..., '2017-07-28T18:41:29.893932032',
                 '2017-07-28T18:41:31.143182848', '2017-07-28T18:41:31.301514240'],
                dtype='datetime64[ns]')

    - time2
      (time2)
      datetime64[ns]
      2017-07-28T18:16:19.314790912 .....
      axis :
        T
      long_name :
        Timestamps for platform motion and orientation data
      standard_name :
        time
      comment :
        Time coordinate corresponding to platform motion and orientation data.

          array(['2017-07-28T18:16:19.314790912', '2017-07-28T18:16:22.143954944',
                 '2017-07-28T18:16:24.963251200', ..., '2017-07-28T18:41:23.292577792',
                 '2017-07-28T18:41:25.949729792', '2017-07-28T18:41:28.597880832'],
                dtype='datetime64[ns]')

    - channel
      (channel)
      <U37
      'GPT 18 kHz 009072058c8d 1-1 ES...
      long_name :
        Vendor channel ID

          array(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'], dtype='<U37')

  - Data variables: (20)
    - latitude
      (time1)
      float64
      43.66 43.66 43.66 ... 43.66 43.66
      long_name :
        Platform latitude
      standard_name :
        latitude
      units :
        degrees_north
      valid_range :
        (-90.0, 90.0)

          array([43.65753167, 43.6575    , 43.65753167, ..., 43.65651333,
                 43.656515  , 43.6565    ])

    - longitude
      (time1)
      float64
      -124.9 -124.9 ... -125.0 -125.0
      long_name :
        Platform longitude
      standard_name :
        longitude
      units :
        degrees_east
      valid_range :
        (-180.0, 180.0)

          array([-124.887015, -124.887   , -124.88708 , ..., -124.976915,
                 -124.976955, -124.977   ])

    - sentence_type
      (time1)
      <U3
      'GGA' 'GLL' 'GGA' ... 'GGA' 'GLL'
      long_name :
        NMEA sentence type

          array(['GGA', 'GLL', 'GGA', ..., 'GGA', 'GGA', 'GLL'], dtype='<U3')

    - pitch
      (time2)
      float64
      -1.38 -0.4025 ... -0.4357 -0.7786
      long_name :
        Platform pitch
      standard_name :
        platform_pitch_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([-1.38004994e+00, -4.02544618e-01, -7.88280845e-01, -8.42457473e-01,
                 -7.39178121e-01, -7.91503489e-01, -3.01287174e-01, -1.19604325e+00,
                 -3.83608133e-01, -1.08507478e+00, -3.63114953e-01, -1.10040414e+00,
                 -3.07753354e-01, -1.20028925e+00, -1.93753377e-01, -1.17156160e+00,
                 -3.38042498e-01, -9.12182868e-01, -6.94498241e-01, -1.06694257e+00,
                 -4.36327219e-01, -6.86794817e-01, -1.25080121e+00,  1.41915912e-03,
                 -1.67516172e+00,  2.13719159e-01, -1.40101922e+00,  1.84153378e-01,
                 -1.37961078e+00, -2.93827385e-01, -1.24000001e+00, -2.62941837e-01,
                 -1.10041046e+00, -3.92548084e-01, -1.05821252e+00, -3.89879078e-01,
                 -9.84297335e-01, -5.51004469e-01, -8.46564293e-01, -8.59885037e-01,
                 -3.41772467e-01, -1.43962753e+00,  1.41284972e-01, -1.36054921e+00,
                 -3.05767417e-01, -1.27928078e+00, -3.21942508e-01, -7.12219179e-01,
                 -8.00514996e-01, -7.84884989e-01, -9.88114953e-01, -4.34404194e-01,
                 -1.09474254e+00, -3.93415568e-03, -1.62648499e+00, -2.03595862e-01,
                 -8.49404156e-01, -7.35189915e-01, -9.79552865e-01, -3.04191709e-01,
                 -1.28368318e+00, -4.09999996e-01, -1.03586447e+00, -3.34562659e-01,
                 -1.26608086e+00, -1.76238328e-01, -9.22419190e-01, -8.30157518e-01,
                 -1.03718483e+00, -4.71068472e-01, -6.31384552e-01, -8.25485051e-01,
                 -7.99334168e-01, -6.52769685e-01, -4.50238675e-01, -1.20000005e+00,
                 -2.12157503e-01, -1.34794247e+00, -2.73561686e-01, -1.03484249e+00,
          ...
                 -1.28548503e+00,  2.56089240e-01, -1.16473162e+00,  3.18350852e-01,
                 -9.24970031e-01, -3.71510834e-01, -1.79327443e-01, -9.83276665e-01,
                  4.60000008e-01, -1.47668087e+00,  3.49999994e-01, -8.45052421e-01,
                 -5.04714966e-01, -1.24070689e-01, -9.50927258e-01,  2.41134182e-01,
                 -1.43527663e+00,  8.97238314e-01, -1.85681915e+00,  8.98242533e-01,
                 -1.68536413e+00,  5.50000012e-01, -1.12675095e+00,  1.23229012e-01,
                 -7.59999990e-01, -3.07053655e-01, -4.38569963e-01, -5.26707828e-01,
                 -5.49016178e-01,  1.59191623e-01, -1.01095331e+00, -4.39999998e-01,
                  1.32553339e-01, -1.36717248e+00,  7.75115013e-01, -1.74815750e+00,
                  6.65838301e-01, -1.30414271e+00,  1.50000006e-01, -8.70000005e-01,
                 -2.26480827e-01, -7.22361684e-01, -7.17575029e-02, -8.77764881e-01,
                 -7.10383281e-02, -8.03080857e-01, -2.30980828e-01, -4.90957499e-01,
                 -6.38480842e-01,  2.34038323e-01, -1.50287664e+00,  6.77070618e-01,
                 -1.45630968e+00,  4.58088279e-01, -1.13172781e+00, -7.31358677e-02,
                 -4.63987529e-01, -5.26582778e-01, -4.63923335e-01, -3.78480822e-01,
                 -4.13095802e-01, -5.19999981e-01, -4.21180844e-01, -4.24038321e-01,
                 -4.36480671e-01, -4.23715085e-01, -7.09799111e-01, -7.60154240e-03,
                 -5.75618863e-01, -7.37404108e-01,  8.48497637e-03, -7.30898142e-01,
                 -5.96191704e-01, -1.53446704e-01, -5.30057490e-01, -4.35680836e-01,
                 -7.78557479e-01])

    - roll
      (time2)
      float64
      -0.374 -0.7127 ... -0.5143 -0.59
      long_name :
        Platform roll
      standard_name :
        platform_roll_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([-3.74009997e-01, -7.12723017e-01, -4.91404176e-01, -6.71638310e-01,
                 -1.45054793e+00,  6.84964880e-02, -6.74356401e-01, -6.14172876e-01,
                 -1.28917551e+00, -7.91940212e-01, -8.99480820e-01, -1.03791916e+00,
                 -2.89999992e-01, -1.66740417e+00, -4.76876676e-01, -2.00921917e+00,
                 -2.17319161e-01, -1.25999999e+00, -1.51003465e-01, -1.47203827e+00,
                 -2.38418192e-01, -6.55282080e-01, -4.67003137e-01, -1.49277246e+00,
                  8.38683397e-02, -1.85859585e+00, -4.39999998e-01, -4.93865788e-01,
                 -1.39167666e+00, -4.62057531e-01, -1.32833862e+00, -2.27255791e-01,
                 -1.40832829e+00,  3.06862980e-01, -1.88089371e+00, -6.67472854e-02,
                 -7.77107999e-02, -8.88284445e-01, -1.79062247e-01, -7.09999979e-01,
                 -2.19676644e-01, -5.75265825e-01, -2.43119165e-01, -6.58352315e-01,
                 -1.51162967e-01, -9.43595827e-01, -8.89904201e-01, -6.48876667e-01,
                 -1.46838337e-01, -5.44961691e-01, -1.14999998e+00, -8.12476635e-01,
                 -8.25808287e-01, -6.51030004e-01, -3.77565861e-01, -1.53999996e+00,
                 -3.64357501e-01, -7.97468364e-01, -6.70000017e-01, -1.09000003e+00,
                 -5.62633514e-01, -9.41298544e-01, -3.55338812e-01, -2.04030693e-01,
                 -1.04959583e+00, -3.41880828e-01, -5.89999974e-01, -5.56876659e-01,
                 -6.37184799e-01, -1.08106852e+00, -3.01977936e-02, -9.35161650e-01,
                 -9.28095877e-01, -9.14577246e-01, -7.83651531e-01, -7.66196787e-01,
                 -8.11438322e-01, -1.12000000e+00, -2.98904181e-01, -9.51719165e-01,
          ...
                 -2.12419167e-01, -6.16719186e-01, -5.32519162e-01,  1.82180837e-01,
                 -7.97080815e-01, -4.23361659e-01, -6.39038324e-01,  3.30000013e-01,
                 -4.93761659e-01, -8.03276658e-01, -4.29918505e-02, -6.89999998e-01,
                 -1.67072445e-01, -3.24070692e-01, -6.02847755e-01, -4.03961658e-01,
                 -5.29999971e-01,  1.28619164e-01, -7.20000029e-01, -9.48242486e-01,
                 -2.30861261e-01, -3.71793896e-01, -4.21877354e-01, -3.06770980e-01,
                 -4.12488341e-01, -2.91785359e-01, -4.22654301e-01, -7.25975275e-01,
                 -2.24787056e-01, -5.73676646e-01, -2.14404166e-01, -1.67367661e+00,
                  6.32819176e-01, -1.05698085e+00, -2.42519170e-01, -8.39123309e-01,
                 -4.57514971e-01,  9.65709016e-02, -9.00897443e-01,  1.92476645e-01,
                 -1.28055751e+00, -1.04723349e-01, -5.57434142e-01,  1.86705410e-01,
                 -1.21207666e+00, -3.26161683e-01, -1.48038328e-01, -6.29361689e-01,
                 -3.00000012e-01, -3.77980828e-01, -7.62876689e-01,  2.12760836e-01,
                 -1.15892887e+00, -2.38234177e-02, -5.45550287e-01, -1.05923992e-02,
                 -7.64392495e-01,  1.92640745e-03, -6.78466707e-02, -1.11455750e+00,
                  2.15380833e-01, -6.39999986e-01, -3.67638320e-01, -1.75961673e-01,
                 -5.84506452e-01, -1.25698317e-02, -8.80200922e-01,  1.89298838e-01,
                 -6.39682353e-01, -3.55923295e-01, -3.73838335e-01, -5.71235716e-01,
                 -6.36476696e-01,  2.27457494e-01, -3.40000004e-01, -5.14319181e-01,
                 -5.89999974e-01])

    - vertical_offset
      (time2)
      float64
      0.388 -0.2825 ... -0.2143 0.1995
      long_name :
        Platform vertical offset from nominal water level
      units :
        m

          array([ 0.38801998, -0.28254461, -0.02828084,  0.08081916,  0.07917809,
                  0.01      , -0.34653461,  0.41791359, -0.64917558,  0.36208969,
                 -0.25740421,  0.08832332, -0.09946582, -0.2061533 , -0.04624663,
                  0.02468495, -0.02804251, -0.2521829 ,  0.18899654, -0.06407665,
                 -0.04158181, -0.26264104,  0.25999999, -0.42567664,  0.53967667,
                 -0.62743831,  0.40000001, -0.56801915,  0.27625749, -0.10411508,
                  0.15110759, -0.1586279 ,  0.        , -0.20843148,  0.15955313,
                 -0.23449819,  0.40200812, -0.40485331,  0.1646888 , -0.11011498,
                  0.04209581,  0.21308501, -0.34128496,  0.30219686, -0.29693037,
                  0.53712332, -0.5       ,  0.26221916,  0.05841917, -0.04503833,
                  0.16207665, -0.18559581,  0.11683834, -0.16316167,  0.17216168,
                 -0.21456166,  0.1156425 ,  0.02012662,  0.06651761, -0.55790412,
                  0.50736648, -0.44825971,  0.31586447, -0.29087469,  0.29432333,
                 -0.42376167,  0.17      , -0.17      ,  0.2871848 , -0.31      ,
                  0.18098897, -0.16967665,  0.15685751, -0.12361517, -0.07976133,
                  0.22929518, -0.1478425 ,  0.25392333, -0.3053425 ,  0.14312336,
                 -0.269885  ,  0.36890414, -0.0687425 , -0.23785748,  0.31327668,
                 -0.47087666,  0.18316518,  0.14297275, -0.17224663,  0.177285  ,
                 -0.19474252, -0.06143834,  0.09635751, -0.15159585,  0.1725958 ,
                  0.07436167, -0.31916204,  0.21724764, -0.2738035 , -0.05386069,
          ...
                  0.33409581, -0.50127667,  0.43805751, -0.39700815,  0.36139005,
                 -0.41739029,  0.29070309, -0.15177192, -0.17805818,  0.32844833,
                 -0.48640069,  0.48887667, -0.62367666,  0.55627787, -0.24905016,
                  0.02687952,  0.01985749, -0.20183831,  0.27418455, -0.18960349,
                  0.25351912, -0.55000001,  0.5327425 , -0.37968504,  0.33984667,
                 -0.56744671,  0.21080837,  0.08655333, -0.14711504,  0.26245749,
                 -0.49000001,  0.47336167, -0.41099727,  0.28505242,  0.01235748,
                 -0.37796465,  0.50284773, -0.51603836,  0.55131918, -0.80138081,
                  0.75954252, -0.79432333,  0.90072834, -0.70726466,  0.48162451,
                 -0.37338549,  0.08375584,  0.07116099,  0.06734569,  0.02536627,
                 -0.02788544, -0.35327247,  0.35583419,  0.06316167, -0.35281917,
                  0.48905751, -0.74503833,  0.64999998, -0.37      ,  0.20414272,
                 -0.32089746,  0.15935749, -0.16407666,  0.19145748, -0.27391917,
                  0.07223514, -0.2365575 ,  0.08383833, -0.08803833, -0.10904252,
                  0.09848084, -0.54000002,  0.55321914, -0.7243098 ,  0.5418452 ,
                 -0.66047794,  0.52654439, -0.38686413,  0.04959501,  0.12701839,
                 -0.13098083, -0.11455749,  0.04847665,  0.12344638, -0.23      ,
                  0.06      , -0.10901289,  0.04743017, -0.01060275, -0.06380077,
                  0.04      , -0.13      , -0.09808083, -0.02157323,  0.27485749,
                 -0.37163833,  0.06001917, -0.21431917,  0.19951916])

    - water_level
      ()
      float64
      9.15
      long_name :
        Distance from the platform coordinate system origin to the nominal water level along the z-axis
      units :
        m

          array(9.14999962)

    - MRU_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_rotation_x
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the x-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_y
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the y-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_z
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the z-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - position_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - transducer_offset_x
      (channel)
      float64
      0.0 0.0 0.0
      long_name :
        x-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0.])

    - transducer_offset_y
      (channel)
      float64
      0.0 0.0 0.0
      long_name :
        y-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0.])

    - transducer_offset_z
      (channel)
      float64
      0.0 0.0 0.0
      long_name :
        z-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0.])

    - frequency_nominal
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000.,  38000., 120000.])

  - Indexes: (3)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex([   '2017-07-28 18:16:21.476992',
                         '2017-07-28 18:16:21.635322880',
                         '2017-07-28 18:16:22.169930752',
                         '2017-07-28 18:16:23.263174144',
                         '2017-07-28 18:16:23.421502976',
                         '2017-07-28 18:16:23.914032128',
                         '2017-07-28 18:16:25.171338752',
                         '2017-07-28 18:16:25.329670144',
                         '2017-07-28 18:16:26.124294144',
                         '2017-07-28 18:16:27.483549184',
                         ...
                         '2017-07-28 18:41:23.398981120',
                         '2017-07-28 18:41:24.093599232',
                         '2017-07-28 18:41:25.142838784',
                         '2017-07-28 18:41:25.301168128',
                         '2017-07-28 18:41:26.493735936',
                         '2017-07-28 18:41:28.140930048',
                         '2017-07-28 18:41:28.299260928',
                         '2017-07-28 18:41:29.893932032',
                         '2017-07-28 18:41:31.143182848',
                         '2017-07-28 18:41:31.301514240'],
                        dtype='datetime64[ns]', name='time1', length=2165, freq=None))

    - time2
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-07-28 18:16:19.314790912',
                         '2017-07-28 18:16:22.143954944',
                         '2017-07-28 18:16:24.963251200',
                         '2017-07-28 18:16:27.769411072',
                         '2017-07-28 18:16:30.586572800',
                         '2017-07-28 18:16:33.394732032',
                         '2017-07-28 18:16:36.211893248',
                         '2017-07-28 18:16:39.030055936',
                         '2017-07-28 18:16:41.850217984',
                         '2017-07-28 18:16:44.657376768',
                         ...
                         '2017-07-28 18:41:04.671513088',
                         '2017-07-28 18:41:07.338664960',
                         '2017-07-28 18:41:10.005816832',
                         '2017-07-28 18:41:12.671969792',
                         '2017-07-28 18:41:15.320121856',
                         '2017-07-28 18:41:17.976272896',
                         '2017-07-28 18:41:20.634423808',
                         '2017-07-28 18:41:23.292577792',
                         '2017-07-28 18:41:25.949729792',
                         '2017-07-28 18:41:28.597880832'],
                        dtype='datetime64[ns]', name='time2', length=529, freq=None))

    - channel
      PandasIndex

          PandasIndex(Index(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'],
                dtype='object', name='channel'))

  - Attributes: (3)
    platform_name :
      Bell M. Shimada
    platform_type :
      Research vessel
    platform_code_ICES :
      315

- NMEA: contains information specific to the NMEA protocol.

      <xarray.Dataset>
      Dimensions:        (time1: 22037)
      Coordinates:
        * time1          (time1) datetime64[ns] 2017-07-28T18:16:19.314790912 ... 2...
      Data variables:
          NMEA_datagram  (time1) <U73 '$SDVLW,5050.149,N,5050.149,N' ... '$GPDTM,W8...
      Attributes:
          description:  All NMEA sensor datagrams

  xarray.Dataset
  - Dimensions:
    - time1: 22037
  - Coordinates: (1)
    - time1
      (time1)
      datetime64[ns]
      2017-07-28T18:16:19.314790912 .....
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA sensor data.

          array(['2017-07-28T18:16:19.314790912', '2017-07-28T18:16:20.896096768',
                 '2017-07-28T18:16:20.996103168', ..., '2017-07-28T18:41:32.516319232',
                 '2017-07-28T18:41:32.616325120', '2017-07-28T18:41:32.402416128'],
                dtype='datetime64[ns]')

  - Data variables: (1)
    - NMEA_datagram
      (time1)
      <U73
      '$SDVLW,5050.149,N,5050.149,N' ....
      long_name :
        NMEA datagram

          array(['$SDVLW,5050.149,N,5050.149,N', '$INHDT,268.8,T', '$INHDT,268.8,T',
                 ..., '$INHDT,270.9,T', '$INHDT,270.9,T',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84'], dtype='<U73')

  - Indexes: (1)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-07-28 18:16:19.314790912',
                         '2017-07-28 18:16:20.896096768',
                         '2017-07-28 18:16:20.996103168',
                         '2017-07-28 18:16:21.096107008',
                         '2017-07-28 18:16:21.196114944',
                         '2017-07-28 18:16:21.296121856',
                         '2017-07-28 18:16:21.356703232',
                         '2017-07-28 18:16:21.396126208',
                         '2017-07-28 18:16:21.496132096',
                         '2017-07-28 18:16:21.596135936',
                         ...
                         '2017-07-28 18:41:31.816278016',
                         '2017-07-28 18:41:31.916285952',
                         '2017-07-28 18:41:32.016290816',
                         '2017-07-28 18:41:32.116297216',
                         '2017-07-28 18:41:32.216303104',
                         '2017-07-28 18:41:32.316308992',
                         '2017-07-28 18:41:32.416314880',
                         '2017-07-28 18:41:32.516319232',
                         '2017-07-28 18:41:32.616325120',
                         '2017-07-28 18:41:32.402416128'],
                        dtype='datetime64[ns]', name='time1', length=22037, freq=None))

  - Attributes: (1)
    description :
      All NMEA sensor datagrams

- Provenance: contains metadata about how the SONAR-netCDF4 version of the data were obtained.

      <xarray.Dataset>
      Dimensions:           (filenames: 1)
      Coordinates:
        * filenames         (filenames) int64 0
      Data variables:
          source_filenames  (filenames) <U92 's3://ncei-wcsd-archive/data/raw/Bell_...
      Attributes:
          conversion_software_name:     echopype
          conversion_software_version:  0.7.2.dev50+g451d5ef6
          conversion_time:              2023-08-20T18:29:16Z

  xarray.Dataset
  - Dimensions:
    - filenames: 1
  - Coordinates: (1)
    - filenames
      (filenames)
      int64
      0
      long_name :
        Index for data and metadata source filenames

          array([0])

  - Data variables: (1)
    - source_filenames
      (filenames)
      <U92
      's3://ncei-wcsd-archive/data/raw...
      long_name :
        Source filenames

          array(['s3://ncei-wcsd-archive/data/raw/Bell_M._Shimada/SH1707/EK60/Summer2017-D20170728-T181619.raw'],
                dtype='<U92')

  - Indexes: (1)
    - filenames
      PandasIndex

          PandasIndex(Index([0], dtype='int64', name='filenames'))

  - Attributes: (3)
    conversion_software_name :
      echopype
    conversion_software_version :
      0.7.2.dev50+g451d5ef6
    conversion_time :
      2023-08-20T18:29:16Z
- Sonar: contains sonar system metadata and sonar beam groups.

      <xarray.Dataset>
      Dimensions:           (beam_group: 1)
      Coordinates:
        * beam_group        (beam_group) <U11 'Beam_group1'
      Data variables:
          beam_group_descr  (beam_group) <U131 'contains backscatter power (uncalib...
      Attributes:
          sonar_manufacturer:      Simrad
          sonar_model:             EK60
          sonar_serial_number:
          sonar_software_name:     ER60
          sonar_software_version:  2.4.3
          sonar_type:              echosounder

  xarray.Dataset
  - Dimensions:
    - beam_group: 1
  - Coordinates: (1)
    - beam_group
      (beam_group)
      <U11
      'Beam_group1'
      long_name :
        Beam group name

          array(['Beam_group1'], dtype='<U11')

  - Data variables: (1)
    - beam_group_descr
      (beam_group)
      <U131
      'contains backscatter power (unc...
      long_name :
        Beam group description

          array(['contains backscatter power (uncalibrated) and other beam or channel-specific data, including split-beam angle data when they exist.'],
                dtype='<U131')

  - Indexes: (1)
    - beam_group
      PandasIndex

          PandasIndex(Index(['Beam_group1'], dtype='object', name='beam_group'))

  - Attributes: (6)
    sonar_manufacturer :
      Simrad
    sonar_model :
      EK60
    sonar_serial_number :
    sonar_software_name :
      ER60
    sonar_software_version :
      2.4.3
    sonar_type :
      echosounder

- Beam_group1: contains backscatter power (uncalibrated) and other beam or channel-specific data, including split-beam angle data when they exist.

      <xarray.Dataset>
      Dimensions:                        (channel: 3, ping_time: 529,
                                          range_sample: 3957)
      Coordinates:
        * channel                        (channel) <U37 'GPT  18 kHz 009072058c8d 1...
        * ping_time                      (ping_time) datetime64[ns] 2017-07-28T18:1...
        * range_sample                   (range_sample) int64 0 1 2 ... 3954 3955 3956
      Data variables: (12/29)
          frequency_nominal              (channel) float64 1.8e+04 3.8e+04 1.2e+05
          beam_type                      (channel) int64 1 1 1
          beamwidth_twoway_alongship     (channel) float64 10.9 6.81 6.58
          beamwidth_twoway_athwartship   (channel) float64 10.82 6.85 6.52
          beam_direction_x               (channel) float64 nan nan nan
          beam_direction_y               (channel) float64 nan nan nan
          ...                             ...
          data_type                      (channel, ping_time) float32 3.0 3.0 ... 3.0
          sample_time_offset             (channel, ping_time) float64 0.0 0.0 ... 0.0
          channel_mode                   (channel, ping_time) int8 0 0 0 0 ... 0 0 0 0
          backscatter_r                  (channel, ping_time, range_sample) float32 ...
          angle_athwartship              (channel, ping_time, range_sample) float32 ...
          angle_alongship                (channel, ping_time, range_sample) float32 ...
      Attributes:
          beam_mode:              vertical
          conversion_equation_t:  type_3

  xarray.Dataset
  - Dimensions:
    - channel: 3
    - ping_time: 529
    - range_sample: 3957
  - Coordinates: (3)
    - channel
      (channel)
      <U37
      'GPT 18 kHz 009072058c8d 1-1 ES...
      long_name :
        Vendor channel ID

          array(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'], dtype='<U37')

    - ping_time
      (ping_time)
      datetime64[ns]
      2017-07-28T18:16:19.314790912 .....
      long_name :
        Timestamp of each ping
      standard_name :
        time
      axis :
        T

          array(['2017-07-28T18:16:19.314790912', '2017-07-28T18:16:22.143954944',
                 '2017-07-28T18:16:24.963251200', ..., '2017-07-28T18:41:23.292577792',
                 '2017-07-28T18:41:25.949729792', '2017-07-28T18:41:28.597880832'],
                dtype='datetime64[ns]')

    - range_sample
      (range_sample)
      int64
      0 1 2 3 4 ... 3953 3954 3955 3956
      long_name :
        Along-range sample number, base 0

          array([   0,    1,    2, ..., 3954, 3955, 3956])

  - Data variables: (29)
    - frequency_nominal
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000.,  38000., 120000.])

    - beam_type
      (channel)
      int64
      1 1 1
      long_name :
        type of transducer (0-single, 1-split)

          array([1, 1, 1])

    - beamwidth_twoway_alongship
      (channel)
      float64
      10.9 6.81 6.58
      long_name :
        Half power two-way beam width along alongship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_minor and beamwidth_transmit_minor), but Simrad echosounders record two-way beamwidth in the data.

          array([10.89999962,  6.80999994,  6.57999992])

    - beamwidth_twoway_athwartship
      (channel)
      float64
      10.82 6.85 6.52
      long_name :
        Half power two-way beam width along athwartship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_major and beamwidth_transmit_major), but Simrad echosounders record two-way beamwidth in the data.

          array([10.81999969,  6.8499999 ,  6.51999998])

    - beam_direction_x
      (channel)
      float64
      nan nan nan
      long_name :
        x-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - beam_direction_y
      (channel)
      float64
      nan nan nan
      long_name :
        y-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - beam_direction_z
      (channel)
      float64
      nan nan nan
      long_name :
        z-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - angle_offset_alongship
      (channel)
      float64
      -0.18 -0.08 -0.05
      long_name :
        electrical alongship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([-0.18000001, -0.08      , -0.05      ])

    - angle_offset_athwartship
      (channel)
      float64
      0.25 0.0 0.37
      long_name :
        electrical athwartship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([0.25, 0.  , 0.37])

    - angle_sensitivity_alongship
      (channel)
      float64
      13.89 21.97 23.12
      long_name :
        alongship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([13.89000034, 21.96999931, 23.12000084])

    - angle_sensitivity_athwartship
      (channel)
      float64
      13.89 21.97 23.12
      long_name :
        athwartship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([13.89000034, 21.96999931, 23.12000084])

    - equivalent_beam_angle
      (channel)
      float64
      -17.37 -21.01 -20.47
      long_name :
        Equivalent beam angle
      units :
        sr
      valid_range :
        (0.0, 12.566370614359172)

          array([-17.37000084, -21.01000023, -20.46999931])

    - gain_correction
      (channel)
      float64
      22.95 26.07 26.55
      long_name :
        Gain correction
      units :
        dB

          array([22.95000076, 26.06999969, 26.54999924])

    - gpt_software_version
      (channel)
      <U6
      '070413' '070413' '070413'

          array(['070413', '070413', '070413'], dtype='<U6')

    - transmit_frequency_start
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      long_name :
        Start frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([ 18000.,  38000., 120000.])

    - transmit_frequency_stop
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      long_name :
        Stop frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([ 18000.,  38000., 120000.])

    - transmit_type
      ()
      <U2
      'CW'
      long_name :
        Type of transmitted pulse
      flag_values :
        ['CW']
      flag_meanings :
        ['Continuous Wave – a pulse nominally of one frequency']

          array('CW', dtype='<U2')

    - beam_stabilisation
      ()
      int8
      0
      long_name :
        Beam stabilisation applied (or not)
      flag_values :
        [0, 1]
      flag_meanings :
        ['not stabilised', 'stabilised']

          array(0, dtype=int8)

    - non_quantitative_processing
      ()
      int16
      0
      long_name :
        Presence or not of non-quantitative processing applied to the backscattering data (sonar specific)
      flag_values :
        [0]
      flag_meanings :
        ['None']

          array(0, dtype=int16)

    - sample_interval
      (channel, ping_time)
      float64
      0.000256 0.000256 ... 0.000256
      long_name :
        Interval between recorded raw data samples
      units :
        s
      valid_min :
        0.0

          array([[0.000256, 0.000256, 0.000256, ..., 0.000256, 0.000256, 0.000256],
                 [0.000256, 0.000256, 0.000256, ..., 0.000256, 0.000256, 0.000256],
                 [0.000256, 0.000256, 0.000256, ..., 0.000256, 0.000256, 0.000256]])

    - transmit_bandwidth
      (channel, ping_time)
      float64
      1.574e+03 1.574e+03 ... 3.026e+03
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        Hz
      valid_min :
        0.0

          array([[1573.66552734, 1573.66552734, 1573.66552734, ..., 1573.66552734,
                  1573.66552734, 1573.66552734],
                 [2425.1496582 , 2425.1496582 , 2425.1496582 , ..., 2425.1496582 ,
                  2425.1496582 , 2425.1496582 ],
                 [3026.39160156, 3026.39160156, 3026.39160156, ..., 3026.39160156,
                  3026.39160156, 3026.39160156]])

    - transmit_duration_nominal
      (channel, ping_time)
      float64
      0.001024 0.001024 ... 0.001024
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        s
      valid_min :
        0.0

          array([[0.001024, 0.001024, 0.001024, ..., 0.001024, 0.001024, 0.001024],
                 [0.001024, 0.001024, 0.001024, ..., 0.001024, 0.001024, 0.001024],
                 [0.001024, 0.001024, 0.001024, ..., 0.001024, 0.001024, 0.001024]])

    - transmit_power
      (channel, ping_time)
      float64
      2e+03 2e+03 2e+03 ... 250.0 250.0
      long_name :
        Nominal transmit power
      units :
        W
      valid_min :
        0.0

          array([[2000., 2000., 2000., ..., 2000., 2000., 2000.],
                 [2000., 2000., 2000., ..., 2000., 2000., 2000.],
                 [ 250.,  250.,  250., ...,  250.,  250.,  250.]])

    - data_type
      (channel, ping_time)
      float32
      3.0 3.0 3.0 3.0 ... 3.0 3.0 3.0 3.0
      long_name :
        recorded data type (1=power only, 2=angle only, 3=power and angle)
      flag_values :
        [1, 2, 3]
      flag_meanings :
        ['power only', 'angle only', 'power and angle']

          array([[3., 3., 3., ..., 3., 3., 3.],
                 [3., 3., 3., ..., 3., 3., 3.],
                 [3., 3., 3., ..., 3., 3., 3.]], dtype=float32)

    - sample_time_offset
      (channel, ping_time)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
      long_name :
        Time offset that is subtracted from the timestamp of each sample
      units :
        s

          array([[0., 0., 0., ..., 0., 0., 0.],
                 [0., 0., 0., ..., 0., 0., 0.],
                 [0., 0., 0., ..., 0., 0., 0.]])

    - channel_mode
      (channel, ping_time)
      int8
      0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
      long_name :
        Transceiver mode
      flag_values :
        [-1, 0, 1, 2]
      flag_meanings :
        ['Unknown', 'Active', 'Passive', 'Test']
      comment :
        From transmit_mode in the EK60 datagram

          array([[0, 0, 0, ..., 0, 0, 0],
                 [0, 0, 0, ..., 0, 0, 0],
                 [0, 0, 0, ..., 0, 0, 0]], dtype=int8)

    - backscatter_r
      (channel, ping_time, range_sample)
      float32
      15.79 26.34 26.27 ... -159.5 -158.4
      long_name :
        Raw backscatter measurements (real part)
      units :
        dB

          array([[[  15.7923155,   26.340124 ,   26.269571 , ..., -145.34105  ,
                   -146.65805  , -139.60266  ],
                  [  15.7923155,   26.340124 ,   26.269571 , ..., -145.08235  ,
                   -146.19945  , -134.15825  ],
                  [  15.7923155,   26.340124 ,   26.269571 , ..., -141.47234  ,
                   -142.30722  , -146.36407  ],
                  ...,
                  [  15.7923155,   26.340124 ,   26.269571 , ..., -158.02899  ,
                   -148.25728  , -143.49489  ],
                  [  15.7923155,   26.340124 ,   26.269571 , ..., -135.67516  ,
                   -145.0941   , -131.0186   ],
                  [  15.7923155,   26.340124 ,   26.269571 , ..., -134.85204  ,
                   -136.62764  , -132.78246  ]],

                 [[  17.379778 ,   26.72817  ,   27.175013 , ..., -151.70265  ,
                   -155.86534  , -161.45085  ],
                  [  17.379778 ,   26.72817  ,   27.175013 , ..., -163.59099  ,
                   -162.27399  , -161.35678  ],
                  [  17.379778 ,   26.72817  ,   27.175013 , ..., -155.99469  ,
                   -147.63405  , -154.08972  ],
          ...
                  [  17.379778 ,   26.72817  ,   27.175013 , ..., -145.42336  ,
                   -144.48264  , -146.96378  ],
                  [  17.379778 ,   26.72817  ,   27.175013 , ..., -145.67029  ,
                   -149.93881  , -147.42238  ],
                  [  17.379778 ,   26.72817  ,   27.175013 , ..., -150.23277  ,
                   -150.35037  , -152.79623  ]],

                 [[  12.417487 ,   18.073559 ,   18.050041 , ..., -180.3593   ,
                   -160.2632   , -163.3558   ],
                  [  12.417487 ,   18.073559 ,   18.0618   , ..., -183.04034  ,
                   -162.48564  , -157.74677  ],
                  [  12.417487 ,   18.073559 ,   18.050041 , ..., -166.00157  ,
                   -167.4009   , -170.03491  ],
                  ...,
                  [  12.417487 ,   18.073559 ,   18.0618   , ..., -169.77621  ,
                   -155.05397  , -162.21518  ],
                  [  12.417487 ,   18.073559 ,   18.0618   , ..., -157.81732  ,
                   -167.87126  , -162.45036  ],
                  [  12.417487 ,   18.073559 ,   18.050041 , ..., -158.89915  ,
                   -159.53413  , -158.37     ]]], dtype=float32)

    - angle_athwartship
      (channel, ping_time, range_sample)
      float32
      -3.0 -3.0 -4.0 ... 19.0 54.0 33.0
      long_name :
        electrical athwartship angle
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([[[  -3.,   -3.,   -4., ...,   46., -103.,  -18.],
                  [  -3.,   -3.,   -4., ...,  -13., -126.,   -2.],
                  [  -3.,   -3.,   -4., ...,    6.,   17.,  -61.],
                  ...,
                  [  -3.,   -3.,   -4., ...,  107., -103.,  112.],
                  [  -3.,   -3.,   -4., ...,   30.,  123.,   33.],
                  [  -3.,   -3.,   -4., ...,   -9.,  -15.,   15.]],

                 [[  -1.,   -2.,   -2., ...,  -37.,  -65., -117.],
                  [  -1.,   -2.,   -2., ...,  -38.,   47., -100.],
                  [  -1.,   -2.,   -2., ...,   11.,   23.,   32.],
                  ...,
                  [  -1.,   -2.,   -2., ...,   13.,   13.,   32.],
                  [  -1.,   -2.,   -2., ...,    4.,   31.,   24.],
                  [  -1.,   -2.,   -2., ...,  -11.,  -42., -104.]],

                 [[  -2.,   -3.,   -3., ...,  122.,  -30.,   -7.],
                  [  -2.,   -3.,   -3., ..., -120.,   81.,    9.],
                  [  -2.,   -3.,   -3., ...,   -2.,   51., -105.],
                  ...,
                  [  -2.,   -3.,   -3., ...,  107.,  -32.,  -20.],
                  [  -2.,   -3.,   -3., ...,  -13.,  -99.,  -39.],
                  [  -2.,   -3.,   -3., ...,   19.,   54.,   33.]]], dtype=float32)

    - angle_alongship
      (channel, ping_time, range_sample)
      float32
      3.0 2.0 3.0 3.0 ... 51.0 93.0 -27.0
      long_name :
        electrical alongship angle
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([[[   3.,    2.,    3., ...,  -90.,  -78.,  -29.],
                  [   3.,    2.,    3., ...,   90., -101.,  -70.],
                  [   3.,    2.,    3., ...,   49.,   75.,  105.],
                  ...,
                  [   3.,    2.,    3., ...,  118.,   77.,  -63.],
                  [   3.,    2.,    3., ...,  -55.,  116.,   18.],
                  [   3.,    2.,    3., ...,   -1.,  -46.,  -42.]],

                 [[   0.,    0.,   -1., ...,  -42.,    7., -103.],
                  [   0.,    0.,   -1., ...,   93.,  -76.,   86.],
                  [   0.,   -1.,   -1., ...,  -60.,    9.,   33.],
                  ...,
                  [   0.,   -1.,   -1., ...,   19.,   47.,   64.],
                  [   0.,    0.,   -1., ...,   25.,   -2.,    4.],
                  [   0.,   -1.,   -1., ...,   63.,  -10.,  -14.]],

                 [[  -1.,   -1.,   -1., ..., -122.,  -30., -100.],
                  [  -1.,   -1.,   -1., ...,  118.,   61.,    9.],
                  [  -1.,   -1.,   -1., ...,  109.,   42.,  120.],
                  ...,
                  [  -1.,   -1.,   -1., ...,   88.,    3.,  -71.],
                  [  -1.,   -1.,   -1., ...,   47.,  109.,   70.],
                  [  -1.,   -1.,   -1., ...,   51.,   93.,  -27.]]], dtype=float32)

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'],
                dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-07-28 18:16:19.314790912',
                         '2017-07-28 18:16:22.143954944',
                         '2017-07-28 18:16:24.963251200',
                         '2017-07-28 18:16:27.769411072',
                         '2017-07-28 18:16:30.586572800',
                         '2017-07-28 18:16:33.394732032',
                         '2017-07-28 18:16:36.211893248',
                         '2017-07-28 18:16:39.030055936',
                         '2017-07-28 18:16:41.850217984',
                         '2017-07-28 18:16:44.657376768',
                         ...
                         '2017-07-28 18:41:04.671513088',
                         '2017-07-28 18:41:07.338664960',
                         '2017-07-28 18:41:10.005816832',
                         '2017-07-28 18:41:12.671969792',
                         '2017-07-28 18:41:15.320121856',
                         '2017-07-28 18:41:17.976272896',
                         '2017-07-28 18:41:20.634423808',
                         '2017-07-28 18:41:23.292577792',
                         '2017-07-28 18:41:25.949729792',
                         '2017-07-28 18:41:28.597880832'],
                        dtype='datetime64[ns]', name='ping_time', length=529, freq=None))

    - range_sample
      PandasIndex

          PandasIndex(Index([   0,    1,    2,    3,    4,    5,    6,    7,    8,    9,
                 ...
                 3947, 3948, 3949, 3950, 3951, 3952, 3953, 3954, 3955, 3956],
                dtype='int64', name='range_sample', length=3957))

  - Attributes: (2)
    beam_mode :
      vertical
    conversion_equation_t :
      type_3

- Vendor_specific: contains vendor-specific information about the sonar and the data.

      <xarray.Dataset>
      Dimensions:            (channel: 3, pulse_length_bin: 5)
      Coordinates:
        * channel            (channel) <U37 'GPT  18 kHz 009072058c8d 1-1 ES18-11' ...
        * pulse_length_bin   (pulse_length_bin) int64 0 1 2 3 4
      Data variables:
          frequency_nominal  (channel) float64 1.8e+04 3.8e+04 1.2e+05
          sa_correction      (channel, pulse_length_bin) float64 0.0 -0.7 ... 0.0 -0.3
          gain_correction    (channel, pulse_length_bin) float64 20.3 22.95 ... 26.55
          pulse_length       (channel, pulse_length_bin) float64 0.000512 ... 0.001024

  xarray.Dataset
  - Dimensions:
    - channel: 3
    - pulse_length_bin: 5
  - Coordinates: (2)
    - channel
      (channel)
      <U37
      'GPT 18 kHz 009072058c8d 1-1 ES...
      long_name :
        Vendor channel ID

          array(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'], dtype='<U37')

    - pulse_length_bin
      (pulse_length_bin)
      int64
      0 1 2 3 4

          array([0, 1, 2, 3, 4])

  - Data variables: (4)
    - frequency_nominal
      (channel)
      float64
      1.8e+04 3.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000.,  38000., 120000.])

    - sa_correction
      (channel, pulse_length_bin)
      float64
      0.0 -0.7 0.0 0.0 ... 0.0 0.0 -0.3

          array([[ 0.  , -0.7 ,  0.  ,  0.  ,  0.  ],
                 [ 0.  ,  0.  , -0.52,  0.  ,  0.  ],
                 [ 0.  ,  0.  ,  0.  ,  0.  , -0.3 ]])

    - gain_correction
      (channel, pulse_length_bin)
      float64
      20.3 22.95 22.9 ... 27.0 27.0 26.55

          array([[20.299999, 22.950001, 22.9     , 23.      , 23.      ],
                 [24.      , 26.      , 26.07    , 26.5     , 26.5     ],
                 [25.5     , 26.799999, 27.      , 27.      , 26.549999]])

    - pulse_length
      (channel, pulse_length_bin)
      float64
      0.000512 0.001024 ... 0.001024

          array([[5.120e-04, 1.024e-03, 2.048e-03, 4.096e-03, 8.192e-03],
                 [2.560e-04, 5.120e-04, 1.024e-03, 2.048e-03, 4.096e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03]])

  - Indexes: (2)
    - channel
      PandasIndex

          PandasIndex(Index(['GPT  18 kHz 009072058c8d 1-1 ES18-11',
                 'GPT  38 kHz 009072058146 2-1 ES38B',
                 'GPT 120 kHz 00907205a6d0 4-1 ES120-7C'],
                dtype='object', name='channel'))

    - pulse_length_bin
      PandasIndex

          PandasIndex(Index([0, 1, 2, 3, 4], dtype='int64', name='pulse_length_bin'))

  - Attributes: (0)

### Kongsberg Simrad EK80

EK80 echosounder can transmit both narrowband (“CW” or “continuous wave”) or broadband (“BB”, or “FM” or “frequency-modulated”) signals.

In echopype-converted files, there can be at most 2 groups under the `Sonar` group. The type of data stored in these `Beam_groupX` groups follow the scenarios below:

If only complex data (can be BB or CW signals) exist, there exists only Beam_group1 and this group may contain CW or BB complex data, or a mixture of both. See example below. If only power/angle data (only valid for CW signals) exist, there exists only Beam_group1 and this group contains CW power and angle data. The structure is almost identical with EK60 data above. If both complex and power/angle data exist, there exist Beam_group1 (contaning complex data) and Beam_group2 (containing power/angle data). See example below.

#### Scenario 1

The example file below contains both CW complex and BB complex data, both stored as complex data. Therefore, there is only `Beam_group1` under the `Sonar` group.

EchoData: standardized raw data from Internal Memory

- Top-level: contains metadata about the SONAR-netCDF4 file format.

      <xarray.Dataset>
      Dimensions:  ()
      Data variables:
          *empty*
      Attributes:
          conventions:                 CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
          keywords:                    EK80
          sonar_convention_authority:  ICES
          sonar_convention_name:       SONAR-netCDF4
          sonar_convention_version:    1.0
          summary:
          title:
          date_created:                2018-12-13T09:46:00Z
          processing_level:            Level 1A
          processing_level_url:        https://echopype.readthedocs.io/en/stable/pr...

  xarray.Dataset
  - Dimensions:
  - Coordinates: (0)
  - Data variables: (0)
  - Indexes: (0)
  - Attributes: (10)
    conventions :
      CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
    keywords :
      EK80
    sonar_convention_authority :
      ICES
    sonar_convention_name :
      SONAR-netCDF4
    sonar_convention_version :
      1.0
    summary :
    title :
    date_created :
      2018-12-13T09:46:00Z
    processing_level :
      Level 1A
    processing_level_url :
      https://echopype.readthedocs.io/en/stable/processing-levels.html

- Environment: contains information relevant to acoustic propagation through water.

      <xarray.Dataset>
      Dimensions:                       (time1: 1, sound_velocity_profile_depth: 2)
      Coordinates:
        * time1                         (time1) datetime64[ns] 2018-12-13T09:46:00....
        * sound_velocity_profile_depth  (sound_velocity_profile_depth) float64 1.0 ...
      Data variables:
          depth                         (time1) float64 50.0
          acidity                       (time1) float64 8.0
          salinity                      (time1) float64 32.8
          temperature                   (time1) float64 9.8
          sound_speed_indicative        (time1) float64 1.48e+03
          sound_velocity_profile        (time1, sound_velocity_profile_depth) float64 ...
          sound_velocity_source         (time1) <U6 'Manual'
          transducer_name               (time1) <U7 'Unknown'
          transducer_sound_speed        (time1) float64 1.49e+03

  xarray.Dataset
  - Dimensions:
    - time1: 1
    - sound_velocity_profile_depth: 2
  - Coordinates: (2)
    - time1
      (time1)
      datetime64[ns]
      2018-12-13T09:46:00.747195904
      axis :
        T
      long_name :
        Timestamps for NMEA position datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to environmental variables. Note that Platform.time3 is the same as Environment.time1.

          array(['2018-12-13T09:46:00.747195904'], dtype='datetime64[ns]')

    - sound_velocity_profile_depth
      (sound_velocity_profile_depth)
      float64
      1.0 1e+03
      standard_name :
        depth
      units :
        m
      axis :
        Z
      positive :
        down
      valid_min :
        0.0

          array([   1., 1000.])

  - Data variables: (9)
    - depth
      (time1)
      float64
      50.0

          array([50.])

    - acidity
      (time1)
      float64
      8.0

          array([8.])

    - salinity
      (time1)
      float64
      32.8

          array([32.8])

    - temperature
      (time1)
      float64
      9.8

          array([9.8])

    - sound_speed_indicative
      (time1)
      float64
      1.48e+03

          array([1480.])

    - sound_velocity_profile
      (time1, sound_velocity_profile_depth)
      float64
      1.48e+03 1.48e+03
      long_name :
        sound velocity profile
      standard_name :
        speed_of_sound_in_sea_water
      units :
        m/s
      valid_min :
        0.0
      comment :
        parsed from raw data files as (depth, sound_speed) value pairs

          array([[1480., 1480.]])

    - sound_velocity_source
      (time1)
      <U6
      'Manual'

          array(['Manual'], dtype='<U6')

    - transducer_name
      (time1)
      <U7
      'Unknown'

          array(['Unknown'], dtype='<U7')

    - transducer_sound_speed
      (time1)
      float64
      1.49e+03

          array([1490.])

  - Indexes: (2)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-12-13 09:46:00.747195904'], dtype='datetime64[ns]', name='time1', freq=None))

    - sound_velocity_profile_depth
      PandasIndex

          PandasIndex(Index([1.0, 1000.0], dtype='float64', name='sound_velocity_profile_depth'))

  - Attributes: (0)
- Platform: contains information about the platform on which the sonar is installed.

      <xarray.Dataset>
      Dimensions:                      (time1: 12, time2: 4, channel: 6)
      Coordinates:
        * channel                      (channel) <U22 'WBT 714581-15 ES18' ... 'WBT...
        * time1                        (time1) datetime64[ns] 2018-12-13T09:46:01.3...
        * time2                        (time2) datetime64[ns] 2018-12-13T09:46:00.7...
      Data variables: (12/23)
          latitude                     (time1) float64 60.41 60.41 ... 60.41 60.41
          longitude                    (time1) float64 5.312 5.312 ... 5.312 5.312
          sentence_type                (time1) <U3 'GGA' 'GLL' 'RMC' ... 'GLL' 'RMC'
          pitch                        (time2) float64 0.84 0.85 0.8582 0.88
          roll                         (time2) float64 -0.58 -0.58 -0.58 -0.58
          vertical_offset              (time2) float64 0.0 -0.01 -0.01 -0.01
          ...                           ...
          MRU_rotation_y               float64 nan
          MRU_rotation_z               float64 nan
          position_offset_x            float64 nan
          position_offset_y            float64 nan
          position_offset_z            float64 nan
          frequency_nominal            (channel) float64 1.8e+04 1.2e+05 ... 2e+05
      Attributes:
          platform_name:
          platform_type:
          platform_code_ICES:

  xarray.Dataset
  - Dimensions:
    - time1: 12
    - time2: 4
    - channel: 6
  - Coordinates: (3)
    - channel
      (channel)
      <U22
      'WBT 714581-15 ES18' ... 'WBT 71...
      long_name :
        Vendor channel ID

          array(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'], dtype='<U22')

    - time1
      (time1)
      datetime64[ns]
      2018-12-13T09:46:01.363802112 .....
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA position data.

          array(['2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112'],
                dtype='datetime64[ns]')

    - time2
      (time2)
      datetime64[ns]
      2018-12-13T09:46:00.747195904 .....
      axis :
        T
      long_name :
        Timestamps for platform motion and orientation data
      standard_name :
        time
      comment :
        Time coordinate corresponding to platform motion and orientation data.

          array(['2018-12-13T09:46:00.747195904', '2018-12-13T09:46:01.457195008',
                 '2018-12-13T09:46:01.930196992', '2018-12-13T09:46:03.337196032'],
                dtype='datetime64[ns]')

  - Data variables: (23)
    - latitude
      (time1)
      float64
      60.41 60.41 60.41 ... 60.41 60.41
      long_name :
        Platform latitude
      standard_name :
        latitude
      units :
        degrees_north
      valid_range :
        (-90.0, 90.0)

          array([60.41212748, 60.41212748, 60.41212748, 60.41212735, 60.41212735,
                 60.41212735, 60.41212718, 60.41212718, 60.41212718, 60.41212703,
                 60.41212703, 60.41212703])

    - longitude
      (time1)
      float64
      5.312 5.312 5.312 ... 5.312 5.312
      long_name :
        Platform longitude
      standard_name :
        longitude
      units :
        degrees_east
      valid_range :
        (-180.0, 180.0)

          array([5.31187017, 5.31187017, 5.31187017, 5.31187007, 5.31187007,
                 5.31187007, 5.31186997, 5.31186997, 5.31186997, 5.31186982,
                 5.31186982, 5.31186982])

    - sentence_type
      (time1)
      <U3
      'GGA' 'GLL' 'RMC' ... 'GLL' 'RMC'
      long_name :
        NMEA sentence type

          array(['GGA', 'GLL', 'RMC', 'GGA', 'GLL', 'RMC', 'GGA', 'GLL', 'RMC',
                 'GGA', 'GLL', 'RMC'], dtype='<U3')

    - pitch
      (time2)
      float64
      0.84 0.85 0.8582 0.88
      long_name :
        Platform pitch
      standard_name :
        platform_pitch_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([0.83999997, 0.85000002, 0.85823959, 0.88      ])

    - roll
      (time2)
      float64
      -0.58 -0.58 -0.58 -0.58
      long_name :
        Platform roll
      standard_name :
        platform_roll_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([-0.57999998, -0.57999998, -0.57999998, -0.57999998])

    - vertical_offset
      (time2)
      float64
      0.0 -0.01 -0.01 -0.01
      long_name :
        Platform vertical offset from nominal water level
      units :
        m

          array([ 0.  , -0.01, -0.01, -0.01])

    - water_level
      ()
      float64
      0.0
      long_name :
        Distance from the platform coordinate system origin to the nominal water level along the z-axis
      units :
        m

          array(0.)

    - drop_keel_offset
      ()
      float64
      6.0

          array(6.)

    - drop_keel_offset_is_manual
      ()
      int64
      1

          array(1)

    - water_level_draft_is_manual
      ()
      int64
      1

          array(1)

    - transducer_offset_x
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        x-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0., 0.])

    - transducer_offset_y
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        y-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0., 0.])

    - transducer_offset_z
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        z-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0., 0.])

    - MRU_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_rotation_x
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the x-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_y
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the y-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_z
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the z-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - position_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - frequency_nominal
      (channel)
      float64
      1.8e+04 1.2e+05 ... 3.33e+05 2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000., 120000.,  70000.,  38000., 333000., 200000.])

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'],
                dtype='object', name='channel'))

    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:02.363802112',
                         '2018-12-13 09:46:02.363802112',
                         '2018-12-13 09:46:02.363802112',
                         '2018-12-13 09:46:03.363802112',
                         '2018-12-13 09:46:03.363802112',
                         '2018-12-13 09:46:03.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112'],
                        dtype='datetime64[ns]', name='time1', freq=None))

    - time2
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-12-13 09:46:00.747195904',
                         '2018-12-13 09:46:01.457195008',
                         '2018-12-13 09:46:01.930196992',
                         '2018-12-13 09:46:03.337196032'],
                        dtype='datetime64[ns]', name='time2', freq=None))

  - Attributes: (3)
    platform_name :
    platform_type :
    platform_code_ICES :

- NMEA: contains information specific to the NMEA protocol.

      <xarray.Dataset>
      Dimensions:        (time1: 142)
      Coordinates:
        * time1          (time1) datetime64[ns] 2018-12-13T09:46:00.747195904 ... 2...
      Data variables:
          NMEA_datagram  (time1) <U93 '$SDVLW,2559.924,N,2559.924,N' ... '$PBFG,1,0...
      Attributes:
          description:  All NMEA sensor datagrams

  xarray.Dataset
  - Dimensions:
    - time1: 142
  - Coordinates: (1)
    - time1
      (time1)
      datetime64[ns]
      2018-12-13T09:46:00.747195904 .....
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA sensor data.

          array(['2018-12-13T09:46:00.747195904', '2018-12-13T09:46:01.126800896',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:01.363802112',
                 '2018-12-13T09:46:01.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:02.363802112', '2018-12-13T09:46:02.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:03.363802112',
                 '2018-12-13T09:46:03.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112',
                 '2018-12-13T09:46:04.363802112', '2018-12-13T09:46:04.363802112'],
                dtype='datetime64[ns]')

  - Data variables: (1)
    - NMEA_datagram
      (time1)
      <U93
      '$SDVLW,2559.924,N,2559.924,N' ....
      long_name :
        NMEA datagram

          array(['$SDVLW,2559.924,N,2559.924,N', '$SDVLW,2559.924,N,2559.924,N',
                 '$INZDA,094601.39,13,12,2018,,', '$INDTM,W84,,0.0,N,0.0,E,0.0,W84',
                 '$INGGA,094601.39,6024.727649,N,00518.712210,E,2,12,0.6,3.18,M,43.93,M,6.0,1015',
                 '$GNGNS,094601.39,6024.727649,N,00518.712210,E,DD,17,0.6,3.18,43.93,,',
                 '$GPGNS,094601.39,,,,,,11,,,,6.0,1015',
                 '$GLGNS,094601.39,,,,,,6,,,,6.0,1015',
                 '$INGLL,6024.727649,N,00518.712210,E,094601.39,A,D',
                 '$INVTG,208.52,T,207.46,M,0.0,N,0.1,K,D',
                 '$INVBW,,,V,-0.03,-0.01,A,,V,,V',
                 '$INRMC,094601.39,A,6024.727649,N,00518.712210,E,0.0,208.52,131218,1.1,E,D',
                 '$GNGST,094601.39,0.34,0.024,0.016,162,0.023,0.017,0.053',
                 '$GNGBS,094601.39,0.00,-0.01,0.04,79,0.80,0.26,0.07',
                 '$GNGFA,094601.39,,10.0,0.053,162,0.016,0.024,VVV',
                 '$GNGSA,M,3,19,31,06,23,02,22,03,25,17,01,09,,1.3,0.6,1.1',
                 '$GNGSA,M,3,85,79,78,69,86,71,,,,,,,1.3,0.6,1.1',
                 '$GNGRS,094601.39,1,-0.0,-0.0,-0.0,-0.0,0.0,-0.0,-0.0,0.0,0.0,-0.0,0.0,',
                 '$GNGRS,094601.39,1,-0.0,-0.0,-0.0,0.0,0.0,0.0,,,,,,',
                 '$GPGSV,6,1,22,01,10,150,45,02,13,313,43,03,54,104,51,06,48,290,50',
                 '$GPGSV,6,2,22,09,39,207,51,12,06,319,40,17,20,229,46,19,32,253,47',
                 '$GPGSV,6,3,22,22,32,104,47,23,64,172,51,25,11,350,40,31,26,045,48',
          ...
                 '$GNGFA,094604.39,,10.0,0.054,162,0.017,0.024,VVV',
                 '$GNGSA,M,3,19,31,06,23,02,22,03,25,17,01,09,,1.3,0.6,1.1',
                 '$GNGSA,M,3,85,79,78,69,86,71,,,,,,,1.3,0.6,1.1',
                 '$GNGRS,094604.39,1,-0.0,-0.0,-0.0,-0.0,0.0,-0.0,-0.0,0.0,0.0,-0.0,0.0,',
                 '$GNGRS,094604.39,1,-0.0,-0.0,-0.0,0.0,0.0,0.0,,,,,,',
                 '$GPGSV,6,1,22,01,10,150,45,02,13,313,43,03,54,104,51,06,48,290,50',
                 '$GPGSV,6,2,22,09,39,207,50,12,06,319,41,17,20,229,46,19,32,253,47',
                 '$GPGSV,6,3,22,22,32,104,47,23,64,172,51,25,11,350,40,31,26,045,48',
                 '$GLGSV,6,4,22,68,01,069,,69,49,065,50,70,66,257,50,71,14,251,39',
                 '$GLGSV,6,5,22,77,06,347,35,78,28,032,48,79,24,090,46,84,09,183,39',
                 '$GLGSV,6,6,22,85,50,225,49,86,41,317,47',
                 '$GPBLM,1228413618.000000,16,RS Koblenz Testbetrieb',
                 '$INHDT,12.60,T', '$INTHS,12.60,A', '$INROT,-0.8,A',
                 '$PSXN,20,0,0,0,0', '$PSXN,22,-0.30,-0.11',
                 '$PSXN,23,-0.58,0.87,12.60,0.00', '$PSXN,24,0.01,-0.01,-0.01,0.01',
                 '$PSXN,25,1,37.9920,1.8120,-35.1850,NOV702GG        NONE,NOV OEM6            ',
                 '$PSXN,26,0,37.0000,0.0000,-7.0000,NRP',
                 '$PSXN,27,37.0000,0.0000,-7.0000,0.587,0.393,-0.300',
                 '$PBFG,1,094604.39,-0.580,0.870,12.604,0.002,0.006,-0.011,-0.013,-0.011,-0.008,0.012,2,2,2,2'],
                dtype='<U93')

  - Indexes: (1)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-12-13 09:46:00.747195904',
                         '2018-12-13 09:46:01.126800896',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         '2018-12-13 09:46:01.363802112',
                         ...
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112',
                         '2018-12-13 09:46:04.363802112'],
                        dtype='datetime64[ns]', name='time1', length=142, freq=None))

  - Attributes: (1)
    description :
      All NMEA sensor datagrams

- Provenance: contains metadata about how the SONAR-netCDF4 version of the data were obtained.

      <xarray.Dataset>
      Dimensions:           (filenames: 1)
      Coordinates:
        * filenames         (filenames) int64 0
      Data variables:
          source_filenames  (filenames) <U43 './example_raw/2018115-D20181213-T0946...
      Attributes:
          conversion_software_name:     echopype
          conversion_software_version:  0.7.2.dev50+g451d5ef6
          conversion_time:              2023-08-20T18:29:17Z

  xarray.Dataset
  - Dimensions:
    - filenames: 1
  - Coordinates: (1)
    - filenames
      (filenames)
      int64
      0
      long_name :
        Index for data and metadata source filenames

          array([0])

  - Data variables: (1)
    - source_filenames
      (filenames)
      <U43
      './example_raw/2018115-D20181213...
      long_name :
        Source filenames

          array(['./example_raw/2018115-D20181213-T094600.raw'], dtype='<U43')

  - Indexes: (1)
    - filenames
      PandasIndex

          PandasIndex(Index([0], dtype='int64', name='filenames'))

  - Attributes: (3)
    conversion_software_name :
      echopype
    conversion_software_version :
      0.7.2.dev50+g451d5ef6
    conversion_time :
      2023-08-20T18:29:17Z
- Sonar: contains sonar system metadata and sonar beam groups.

      <xarray.Dataset>
      Dimensions:                    (channel: 6, beam_group: 1)
      Coordinates:
        * channel                    (channel) <U22 'WBT 714581-15 ES18' ... 'WBT 7...
        * beam_group                 (beam_group) <U11 'Beam_group1'
      Data variables:
          frequency_nominal          (channel) float64 1.8e+04 1.2e+05 ... 2e+05
          transceiver_serial_number  (channel) <U6 '714581' '714583' ... '714605'
          transducer_name            (channel) <U8 'ES18' 'ES120-7C' ... 'ES200-7C'
          transducer_serial_number   (channel) <U4 '2039' '124' '105' ... '101' '208'
          beam_group_descr           (beam_group) <U74 'contains complex backscatte...
      Attributes:
          sonar_manufacturer:      Simrad
          sonar_model:             EK80
          sonar_serial_number:
          sonar_software_name:     EK80
          sonar_software_version:  1.12.2.0
          sonar_type:              echosounder

  xarray.Dataset
  - Dimensions:
    - channel: 6
    - beam_group: 1
  - Coordinates: (2)
    - channel
      (channel)
      <U22
      'WBT 714581-15 ES18' ... 'WBT 71...
      long_name :
        Vendor channel ID

          array(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'], dtype='<U22')

    - beam_group
      (beam_group)
      <U11
      'Beam_group1'
      long_name :
        Beam group name

          array(['Beam_group1'], dtype='<U11')

  - Data variables: (5)
    - frequency_nominal
      (channel)
      float64
      1.8e+04 1.2e+05 ... 3.33e+05 2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000., 120000.,  70000.,  38000., 333000., 200000.])

    - transceiver_serial_number
      (channel)
      <U6
      '714581' '714583' ... '714605'
      long_name :
        Transceiver serial number

          array(['714581', '714583', '714590', '714596', '714597', '714605'],
                dtype='<U6')

    - transducer_name
      (channel)
      <U8
      'ES18' 'ES120-7C' ... 'ES200-7C'
      long_name :
        Transducer name

          array(['ES18', 'ES120-7C', 'ES70-7C', 'ES38-7', 'ES333-7C', 'ES200-7C'],
                dtype='<U8')

    - transducer_serial_number
      (channel)
      <U4
      '2039' '124' '105' ... '101' '208'
      long_name :
        Transducer serial number

          array(['2039', '124', '105', '200', '101', '208'], dtype='<U4')

    - beam_group_descr
      (beam_group)
      <U74
      'contains complex backscatter da...
      long_name :
        Beam group description

          array(['contains complex backscatter data and other beam or channel-specific data.'],
                dtype='<U74')

  - Indexes: (2)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'],
                dtype='object', name='channel'))

    - beam_group
      PandasIndex

          PandasIndex(Index(['Beam_group1'], dtype='object', name='beam_group'))

  - Attributes: (6)
    sonar_manufacturer :
      Simrad
    sonar_model :
      EK80
    sonar_serial_number :
    sonar_software_name :
      EK80
    sonar_software_version :
      1.12.2.0
    sonar_type :
      echosounder

- Beam_group1: contains complex backscatter data and other beam or channel-specific data.

      <xarray.Dataset>
      Dimensions:                        (channel: 6, ping_time: 4,
                                          range_sample: 4434, beam: 4)
      Coordinates:
        * channel                        (channel) <U22 'WBT 714581-15 ES18' ... 'W...
        * ping_time                      (ping_time) datetime64[ns] 2018-12-13T09:4...
        * range_sample                   (range_sample) int64 0 1 2 ... 4431 4432 4433
        * beam                           (beam) <U21 '1' '2' '3' '4'
      Data variables: (12/26)
          frequency_nominal              (channel) float64 1.8e+04 1.2e+05 ... 2e+05
          beam_type                      (channel) int64 1 1 1 65 1 1
          beamwidth_twoway_alongship     (channel) float64 10.2 6.56 ... 5.25 5.64
          beamwidth_twoway_athwartship   (channel) float64 10.31 6.57 ... 6.47 6.06
          beam_direction_x               (channel) float64 nan nan nan nan nan nan
          beam_direction_y               (channel) float64 nan nan nan nan nan nan
          ...                             ...
          transmit_power                 (channel, ping_time) float64 2e+03 ... 105.0
          transmit_duration_nominal      (channel, ping_time) float32 0.001024 ... ...
          slope                          (channel, ping_time) float64 0.5 ... 0.009766
          channel_mode                   (channel, ping_time) int8 1 1 1 1 ... 1 1 1 1
          transmit_type                  (channel, ping_time) <U3 'CW' 'CW' ... 'CW'
          sample_time_offset             (channel, ping_time) float64 0.0 0.0 ... 0.0
      Attributes:
          beam_mode:              vertical
          conversion_equation_t:  type_3

  xarray.Dataset
  - Dimensions:
    - channel: 6
    - ping_time: 4
    - range_sample: 4434
    - beam: 4
  - Coordinates: (4)
    - channel
      (channel)
      <U22
      'WBT 714581-15 ES18' ... 'WBT 71...
      long_name :
        Vendor channel ID

          array(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'], dtype='<U22')

    - ping_time
      (ping_time)
      datetime64[ns]
      2018-12-13T09:46:00.747195904 .....
      long_name :
        Timestamp of each ping
      standard_name :
        time
      axis :
        T

          array(['2018-12-13T09:46:00.747195904', '2018-12-13T09:46:01.457195008',
                 '2018-12-13T09:46:01.930196992', '2018-12-13T09:46:03.337196032'],
                dtype='datetime64[ns]')

    - range_sample
      (range_sample)
      int64
      0 1 2 3 4 ... 4430 4431 4432 4433
      long_name :
        Along-range sample number, base 0

          array([   0,    1,    2, ..., 4431, 4432, 4433])

    - beam
      (beam)
      <U21
      '1' '2' '3' '4'
      long_name :
        Beam name

          array(['1', '2', '3', '4'], dtype='<U21')

  - Data variables: (26)
    - frequency_nominal
      (channel)
      float64
      1.8e+04 1.2e+05 ... 3.33e+05 2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000., 120000.,  70000.,  38000., 333000., 200000.])

    - beam_type
      (channel)
      int64
      1 1 1 65 1 1
      long_name :
        type of transducer (0-single, 1-split)

          array([ 1,  1,  1, 65,  1,  1])

    - beamwidth_twoway_alongship
      (channel)
      float64
      10.2 6.56 6.87 6.48 5.25 5.64
      long_name :
        Half power two-way beam width along alongship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_minor and beamwidth_transmit_minor), but Simrad echosounders record two-way beamwidth in the data.

          array([10.2 ,  6.56,  6.87,  6.48,  5.25,  5.64])

    - beamwidth_twoway_athwartship
      (channel)
      float64
      10.31 6.57 6.85 6.22 6.47 6.06
      long_name :
        Half power two-way beam width along athwartship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_major and beamwidth_transmit_major), but Simrad echosounders record two-way beamwidth in the data.

          array([10.31,  6.57,  6.85,  6.22,  6.47,  6.06])

    - beam_direction_x
      (channel)
      float64
      nan nan nan nan nan nan
      long_name :
        x-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan, nan, nan])

    - beam_direction_y
      (channel)
      float64
      nan nan nan nan nan nan
      long_name :
        y-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan, nan, nan])

    - beam_direction_z
      (channel)
      float64
      nan nan nan nan nan nan
      long_name :
        z-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan, nan, nan])

    - angle_offset_alongship
      (channel)
      float64
      0.07 0.0 0.02 0.05 -0.15 -0.11
      long_name :
        electrical alongship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([ 0.07,  0.  ,  0.02,  0.05, -0.15, -0.11])

    - angle_offset_athwartship
      (channel)
      float64
      0.08 0.0 -0.11 0.11 -1.85 -0.06
      long_name :
        electrical athwartship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([ 0.08,  0.  , -0.11,  0.11, -1.85, -0.06])

    - angle_sensitivity_alongship
      (channel)
      float64
      15.5 23.0 23.0 18.0 23.0 23.0
      long_name :
        alongship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([15.5, 23. , 23. , 18. , 23. , 23. ])

    - angle_sensitivity_athwartship
      (channel)
      float64
      15.5 23.0 23.0 18.0 23.0 23.0
      long_name :
        athwartship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([15.5, 23. , 23. , 18. , 23. , 23. ])

    - equivalent_beam_angle
      (channel)
      float64
      -17.0 -20.7 -20.7 -20.7 -20.7 -20.7
      long_name :
        Equivalent beam angle
      units :
        sr
      valid_range :
        (0.0, 12.566370614359172)

          array([-17. , -20.7, -20.7, -20.7, -20.7, -20.7])

    - transceiver_software_version
      (channel)
      <U4
      '2.20' '2.20' ... '2.20' '2.20'

          array(['2.20', '2.20', '2.20', '2.20', '2.20', '2.20'], dtype='<U4')

    - beam_stabilisation
      ()
      int8
      0
      long_name :
        Beam stabilisation applied (or not)
      flag_values :
        [0, 1]
      flag_meanings :
        ['not stabilised', 'stabilised']

          array(0, dtype=int8)

    - non_quantitative_processing
      ()
      int16
      0
      long_name :
        Presence or not of non-quantitative processing applied to the backscattering data (sonar specific)
      flag_values :
        [0]
      flag_meanings :
        ['None']

          array(0, dtype=int16)

    - backscatter_r
      (channel, ping_time, range_sample, beam)
      float32
      -0.01289 0.03423 ... nan nan
      long_name :
        Raw backscatter measurements (real part)
      units :
        dB

          array([[[[-1.28920395e-02,  3.42344306e-02,  1.46622611e-02,
                    -5.56103513e-03],
                   [ 1.44484267e-02, -3.77746075e-02, -1.46317678e-02,
                     6.24768576e-03],
                   [-1.44178672e-02,  3.74084488e-02,  1.30753778e-02,
                    -8.68065935e-03],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[ 9.77926049e-03, -1.55777158e-02, -3.41123864e-02,
                     4.40140208e-03],
                   [-1.32277710e-02,  2.13288255e-02,  3.44788209e-02,
                    -8.65021069e-03],
                   [ 1.66289546e-02, -2.52961051e-02, -3.02399881e-02,
                     1.39907384e-02],
          ...
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[-1.29483407e-03, -1.70557443e-02,  2.13893913e-02,
                     3.81367430e-02],
                   [ 5.51529787e-03,  1.41125275e-02, -1.61404330e-02,
                    -4.29014713e-02],
                   [-1.03288367e-02, -8.40559881e-03,  8.22297111e-03,
                     2.92023439e-02],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]]]], dtype=float32)

    - backscatter_i
      (channel, ping_time, range_sample, beam)
      float32
      -0.0092 0.03314 ... nan nan
      long_name :
        Raw backscatter measurements (imaginary part)
      units :
        dB

          array([[[[-9.19969473e-03,  3.31364311e-02,  7.40730437e-03,
                     9.50816199e-02],
                   [ 7.51427514e-03, -3.74089368e-02,  1.86177538e-04,
                    -8.94665197e-02],
                   [-5.42381266e-03,  3.55778970e-02, -9.93139949e-03,
                     7.26207718e-02],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[ 3.10946498e-02,  9.44385398e-03,  7.16440156e-02,
                     3.82631160e-02],
                   [-3.52116413e-02, -1.60190258e-02, -6.89585283e-02,
                    -3.76524962e-02],
                   [ 3.65540572e-02,  2.19393391e-02,  5.77947013e-02,
                     3.24024446e-02],
          ...
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[-6.38506981e-03, -3.51283536e-03, -1.64585176e-03,
                     7.27002183e-03],
                   [ 7.74312718e-03, -4.35542269e-03,  1.10611236e-02,
                     1.69340242e-02],
                   [-5.95780322e-03,  4.52320790e-03, -1.12746796e-02,
                    -3.92384566e-02],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]]]], dtype=float32)

    - transmit_frequency_start
      (channel, ping_time)
      float64
      1.8e+04 1.8e+04 ... 2e+05 2e+05
      long_name :
        Start frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([[ 18000.,  18000.,  18000.,  18000.],
                 [120000., 120000., 120000., 120000.],
                 [ 55000.,  55000.,  55000.,  55000.],
                 [ 34000.,  34000.,  34000.,  34000.],
                 [333000., 333000., 333000., 333000.],
                 [200000., 200000., 200000., 200000.]])

    - transmit_frequency_stop
      (channel, ping_time)
      float64
      1.8e+04 1.8e+04 ... 2e+05 2e+05
      long_name :
        Stop frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([[ 18000.,  18000.,  18000.,  18000.],
                 [120000., 120000., 120000., 120000.],
                 [ 90000.,  90000.,  90000.,  90000.],
                 [ 45000.,  45000.,  45000.,  45000.],
                 [333000., 333000., 333000., 333000.],
                 [200000., 200000., 200000., 200000.]])

    - sample_interval
      (channel, ping_time)
      float64
      2.8e-05 2.8e-05 ... 3.2e-05 3.2e-05
      long_name :
        Interval between recorded raw data samples
      units :
        s
      valid_min :
        0.0

          array([[2.80000000e-05, 2.80000000e-05, 2.80000000e-05, 2.80000000e-05],
                 [4.00000000e-05, 4.00000000e-05, 4.00000000e-05, 4.00000000e-05],
                 [2.13333333e-05, 2.13333333e-05, 2.13333333e-05, 2.13333333e-05],
                 [4.26666667e-05, 4.26666667e-05, 4.26666667e-05, 4.26666667e-05],
                 [2.40000000e-05, 2.40000000e-05, 2.40000000e-05, 2.40000000e-05],
                 [3.20000000e-05, 3.20000000e-05, 3.20000000e-05, 3.20000000e-05]])

    - transmit_power
      (channel, ping_time)
      float64
      2e+03 2e+03 2e+03 ... 105.0 105.0
      long_name :
        Nominal transmit power
      units :
        W
      valid_min :
        0.0

          array([[2000., 2000., 2000., 2000.],
                 [ 200.,  200.,  200.,  200.],
                 [ 600.,  600.,  600.,  600.],
                 [2000., 2000., 2000., 2000.],
                 [  40.,   40.,   40.,   40.],
                 [ 105.,  105.,  105.,  105.]])

    - transmit_duration_nominal
      (channel, ping_time)
      float32
      0.001024 0.001024 ... 0.001024
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        s
      valid_min :
        0.0

          array([[0.001024, 0.001024, 0.001024, 0.001024],
                 [0.001024, 0.001024, 0.001024, 0.001024],
                 [0.002048, 0.002048, 0.002048, 0.002048],
                 [0.002048, 0.002048, 0.002048, 0.002048],
                 [0.001024, 0.001024, 0.001024, 0.001024],
                 [0.001024, 0.001024, 0.001024, 0.001024]], dtype=float32)

    - slope
      (channel, ping_time)
      float64
      0.5 0.5 0.5 ... 0.009766 0.009766
      long_name :
        Hann window slope parameter for transmit signal

          array([[0.5       , 0.5       , 0.5       , 0.5       ],
                 [0.01627604, 0.01627604, 0.01627604, 0.01627604],
                 [0.01775568, 0.01775568, 0.01775568, 0.01775568],
                 [0.05744485, 0.05744485, 0.05744485, 0.05744485],
                 [0.00586524, 0.00586524, 0.00586524, 0.00586524],
                 [0.00976562, 0.00976562, 0.00976562, 0.00976562]])

    - channel_mode
      (channel, ping_time)
      int8
      1 1 1 1 1 1 1 1 ... 1 1 1 1 1 1 1 1
      long_name :
        Transceiver mode
      flag_values :
        [0, 1]
      flag_meanings :
        ['Active', 'Unknown']

          array([[1, 1, 1, 1],
                 [1, 1, 1, 1],
                 [0, 0, 0, 0],
                 [1, 1, 1, 1],
                 [1, 1, 1, 1],
                 [1, 1, 1, 1]], dtype=int8)

    - transmit_type
      (channel, ping_time)
      <U3
      'CW' 'CW' 'CW' ... 'CW' 'CW' 'CW'
      long_name :
        Type of transmitted pulse
      flag_values :
        ['CW', 'LFM', 'FMD']
      flag_meanings :
        ['Continuous Wave – a pulse nominally of one frequency', 'Linear Frequency Modulation – a pulse which varies from transmit_frequency_start to transmit_frequency_stop in a linear manner over the nominal pulse duration (transmit_duration_nominal)', "Frequency Modulated 'D' - An EK80-specific FM type that is not clearly described"]

          array([['CW', 'CW', 'CW', 'CW'],
                 ['CW', 'CW', 'CW', 'CW'],
                 ['LFM', 'LFM', 'LFM', 'LFM'],
                 ['LFM', 'LFM', 'LFM', 'LFM'],
                 ['CW', 'CW', 'CW', 'CW'],
                 ['CW', 'CW', 'CW', 'CW']], dtype='<U3')

    - sample_time_offset
      (channel, ping_time)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
      long_name :
        Time offset that is subtracted from the timestamp of each sample
      units :
        s

          array([[0., 0., 0., 0.],
                 [0., 0., 0., 0.],
                 [0., 0., 0., 0.],
                 [0., 0., 0., 0.],
                 [0., 0., 0., 0.],
                 [0., 0., 0., 0.]])

  - Indexes: (4)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'],
                dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-12-13 09:46:00.747195904',
                         '2018-12-13 09:46:01.457195008',
                         '2018-12-13 09:46:01.930196992',
                         '2018-12-13 09:46:03.337196032'],
                        dtype='datetime64[ns]', name='ping_time', freq=None))

    - range_sample
      PandasIndex

          PandasIndex(Index([   0,    1,    2,    3,    4,    5,    6,    7,    8,    9,
                 ...
                 4424, 4425, 4426, 4427, 4428, 4429, 4430, 4431, 4432, 4433],
                dtype='int64', name='range_sample', length=4434))

    - beam
      PandasIndex

          PandasIndex(Index(['1', '2', '3', '4'], dtype='object', name='beam'))

  - Attributes: (2)
    beam_mode :
      vertical
    conversion_equation_t :
      type_3

- Vendor_specific: contains vendor-specific information about the sonar and the data.

      <xarray.Dataset>
      Dimensions:                      (channel: 6, pulse_length_bin: 5,
                                        cal_frequency: 382, cal_channel_id: 5,
                                        WBT_filter_n: 511, PC_filter_n: 337)
      Coordinates:
        * channel                      (channel) <U22 'WBT 714581-15 ES18' ... 'WBT...
        * pulse_length_bin             (pulse_length_bin) int64 0 1 2 3 4
        * cal_frequency                (cal_frequency) int64 34000 34099 ... 450000
        * cal_channel_id               (cal_channel_id) <U22 'WBT 714583-15 ES120-7...
      Dimensions without coordinates: WBT_filter_n, PC_filter_n
      Data variables: (12/21)
          frequency_nominal            (channel) float64 1.8e+04 1.2e+05 ... 2e+05
          sa_correction                (channel, pulse_length_bin) float64 0.0 ... ...
          gain_correction              (channel, pulse_length_bin) float64 20.3 ......
          pulse_length                 (channel, pulse_length_bin) float64 0.000512...
          impedance_transceiver        (channel) int64 5400 5400 5400 5400 5400 5400
          receiver_sampling_frequency  (channel) float64 1.5e+06 1.5e+06 ... 1.5e+06
          ...                           ...
          WBT_filter_r                 (channel, WBT_filter_n) float32 -2.983e-05 ....
          WBT_decimation               (channel) int64 6 6 8 64 6 6
          PC_filter_i                  (channel, PC_filter_n) float32 -3.319e-05 .....
          PC_filter_r                  (channel, PC_filter_n) float32 1.402e-07 ......
          PC_decimation                (channel) int64 7 10 4 1 6 8
          config_xml                   <U91708 '<?xml version="1.0" encoding="utf-8...

  xarray.Dataset
  - Dimensions:
    - channel: 6
    - pulse_length_bin: 5
    - cal_frequency: 382
    - cal_channel_id: 5
    - WBT_filter_n: 511
    - PC_filter_n: 337
  - Coordinates: (4)
    - channel
      (channel)
      <U22
      'WBT 714581-15 ES18' ... 'WBT 71...
      long_name :
        Vendor channel ID

          array(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'], dtype='<U22')

    - pulse_length_bin
      (pulse_length_bin)
      int64
      0 1 2 3 4

          array([0, 1, 2, 3, 4])

    - cal_frequency
      (cal_frequency)
      int64
      34000 34099 34198 ... 449319 450000
      long_name :
        Frequency of calibration parameter
      units :
        Hz

          array([ 34000,  34099,  34198, ..., 448468, 449319, 450000])

    - cal_channel_id
      (cal_channel_id)
      <U22
      'WBT 714583-15 ES120-7C' ... 'WB...
      long_name :
        ID of channels containing broadband calibration information

          array(['WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'], dtype='<U22')

  - Data variables: (21)
    - frequency_nominal
      (channel)
      float64
      1.8e+04 1.2e+05 ... 3.33e+05 2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 18000., 120000.,  70000.,  38000., 333000., 200000.])

    - sa_correction
      (channel, pulse_length_bin)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.04

          array([[ 0.  ,  0.  ,  0.  ,  0.  ,  0.  ],
                 [ 0.  ,  0.  ,  0.  ,  0.  ,  0.02],
                 [ 0.  ,  0.  ,  0.  ,  0.09,  0.  ],
                 [ 0.  ,  0.  , -0.15,  0.  ,  0.  ],
                 [ 0.  ,  0.  ,  0.  ,  0.  , -0.29],
                 [ 0.  ,  0.  ,  0.  ,  0.  ,  0.04]])

    - gain_correction
      (channel, pulse_length_bin)
      float64
      20.3 21.94 22.9 ... 27.0 27.0 27.84

          array([[20.3 , 21.94, 22.9 , 23.  , 23.  ],
                 [27.  , 27.  , 27.  , 27.  , 27.01],
                 [27.  , 27.  , 27.  , 27.99, 27.  ],
                 [25.5 , 25.5 , 26.07, 25.5 , 25.5 ],
                 [24.  , 24.  , 24.  , 24.  , 26.11],
                 [27.  , 27.  , 27.  , 27.  , 27.84]])

    - pulse_length
      (channel, pulse_length_bin)
      float64
      0.000512 0.001024 ... 0.001024

          array([[5.120e-04, 1.024e-03, 2.048e-03, 4.096e-03, 8.192e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03, 2.048e-03],
                 [2.560e-04, 5.120e-04, 1.024e-03, 2.048e-03, 4.096e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03]])

    - impedance_transceiver
      (channel)
      int64
      5400 5400 5400 5400 5400 5400
      units :
        ohm
      long_name :
        Transceiver impedance

          array([5400, 5400, 5400, 5400, 5400, 5400])

    - receiver_sampling_frequency
      (channel)
      float64
      1.5e+06 1.5e+06 ... 1.5e+06 1.5e+06
      units :
        Hz
      long_name :
        Receiver sampling frequency

          array([1500000., 1500000., 1500000., 1500000., 1500000., 1500000.])

    - transceiver_type
      (channel)
      <U3
      'WBT' 'WBT' 'WBT' 'WBT' 'WBT' 'WBT'
      long_name :
        Transceiver type

          array(['WBT', 'WBT', 'WBT', 'WBT', 'WBT', 'WBT'], dtype='<U3')

    - gain
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [24.92, 25.07, 25.22, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ..., 27.54, 27.9 , 26.8 ],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan]])

    - impedance_transducer
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[nan, nan, nan, ..., nan, nan, nan],
                 [nan, nan, nan, ..., nan, nan, nan],
                 [75., 75., 75., ..., nan, nan, nan],
                 [nan, nan, nan, ..., 75., 75., 75.],
                 [nan, nan, nan, ..., nan, nan, nan]])

    - phase
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[nan, nan, nan, ..., nan, nan, nan],
                 [nan, nan, nan, ..., nan, nan, nan],
                 [ 0.,  0.,  0., ..., nan, nan, nan],
                 [nan, nan, nan, ...,  0.,  0.,  0.],
                 [nan, nan, nan, ..., nan, nan, nan]])

    - beamwidth_alongship
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[ nan,  nan,  nan, ...,  nan,  nan,  nan],
                 [ nan,  nan,  nan, ...,  nan,  nan,  nan],
                 [7.66, 7.63, 7.6 , ...,  nan,  nan,  nan],
                 [ nan,  nan,  nan, ..., 6.05, 5.09, 6.77],
                 [ nan,  nan,  nan, ...,  nan,  nan,  nan]])

    - beamwidth_athwartship
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[ nan,  nan,  nan, ...,  nan,  nan,  nan],
                 [ nan,  nan,  nan, ...,  nan,  nan,  nan],
                 [7.98, 7.91, 7.83, ...,  nan,  nan,  nan],
                 [ nan,  nan,  nan, ..., 4.42, 3.77, 4.77],
                 [ nan,  nan,  nan, ...,  nan,  nan,  nan]])

    - angle_offset_alongship
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [ 0.04,  0.03,  0.02, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ..., -0.08, -0.28,  0.04],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan]])

    - angle_offset_athwartship
      (cal_channel_id, cal_frequency)
      float64
      nan nan nan nan ... nan nan nan nan

          array([[  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan],
                 [ 0.03,  0.02,  0.02, ...,   nan,   nan,   nan],
                 [  nan,   nan,   nan, ..., -0.13, -0.19, -0.46],
                 [  nan,   nan,   nan, ...,   nan,   nan,   nan]])

    - WBT_filter_i
      (channel, WBT_filter_n)
      float32
      -0.000181 -0.0004216 ... nan nan
      long_name :
        Wideband transceiver filter coefficients (imaginary part)

          array([[-1.80988136e-04, -4.21589793e-04, -8.79614206e-04, ...,
                              nan,             nan,             nan],
                 [ 4.27060440e-04,  2.56522908e-03,  7.59602245e-03, ...,
                              nan,             nan,             nan],
                 [-1.48302614e-04, -6.60169695e-04, -1.84742000e-03, ...,
                              nan,             nan,             nan],
                 [ 6.20866413e-05,  1.79804829e-05,  1.90145201e-05, ...,
                  -1.90145201e-05, -1.79804829e-05, -6.20866413e-05],
                 [-1.13309776e-04,  2.81812885e-04,  7.48444640e-04, ...,
                              nan,             nan,             nan],
                 [-1.29707449e-04, -2.33587972e-03, -7.35451514e-03, ...,
                              nan,             nan,             nan]], dtype=float32)

    - WBT_filter_r
      (channel, WBT_filter_n)
      float32
      -2.983e-05 -3.718e-05 ... nan nan
      long_name :
        Wideband transceiver filter coefficients (real part)

          array([[-2.9832590e-05, -3.7180922e-05, -1.1054140e-05, ...,
                             nan,            nan,            nan],
                 [ 4.5477320e-04,  8.3349342e-04, -1.4490187e-03, ...,
                             nan,            nan,            nan],
                 [-2.6319473e-04, -6.1994063e-04, -8.9307770e-04, ...,
                             nan,            nan,            nan],
                 [-1.3878008e-05, -7.2938064e-06, -1.1679520e-05, ...,
                  -1.1679520e-05, -7.2938064e-06, -1.3878008e-05],
                 [ 1.4419807e-04,  3.1563378e-04, -4.6188798e-04, ...,
                             nan,            nan,            nan],
                 [-6.1022560e-04, -1.3486207e-03,  2.3896268e-03, ...,
                             nan,            nan,            nan]], dtype=float32)

    - WBT_decimation
      (channel)
      int64
      6 6 8 64 6 6
      long_name :
        Wideband transceiver decimation factor

          array([ 6,  6,  8, 64,  6,  6])

    - PC_filter_i
      (channel, PC_filter_n)
      float32
      -3.319e-05 -2.785e-05 ... nan nan
      long_name :
        Pulse compression filter coefficients (imaginary part)

          array([[-3.3194141e-05, -2.7849796e-05, -2.7858097e-05, ...,
                             nan,            nan,            nan],
                 [-2.9875926e-05,  2.6285019e-05, -3.6441059e-05, ...,
                             nan,            nan,            nan],
                 [-2.4418116e-05, -6.0537412e-05,  1.7209169e-04, ...,
                  -1.7209169e-04,  6.0537412e-05,  2.4418116e-05],
                 [-2.5596874e-04, -1.7225969e-03,  3.7351721e-03, ...,
                             nan,            nan,            nan],
                 [ 1.6648992e-05, -2.9733179e-05,  2.0111624e-05, ...,
                             nan,            nan,            nan],
                 [ 2.8926064e-05,  1.8754275e-18, -3.8302926e-05, ...,
                             nan,            nan,            nan]], dtype=float32)

    - PC_filter_r
      (channel, PC_filter_n)
      float32
      1.402e-07 1.369e-05 ... nan nan
      long_name :
        Pulse compression filter coefficients (real part)

          array([[ 1.40246357e-07,  1.36935605e-05,  3.61072998e-05, ...,
                              nan,             nan,             nan],
                 [-5.64898892e-06,  8.59066949e-06, -1.70977128e-05, ...,
                              nan,             nan,             nan],
                 [-9.48749730e-05,  1.22179132e-04, -7.21133765e-05, ...,
                  -7.21133765e-05,  1.22179132e-04, -9.48749730e-05],
                 [ 4.81071213e-04, -2.15504528e-03, -1.02252723e-03, ...,
                              nan,             nan,             nan],
                 [-2.66578591e-05, -8.01230783e-07,  3.91858557e-05, ...,
                              nan,             nan,             nan],
                 [ 9.14701923e-06,  2.73860878e-05,  1.21937455e-05, ...,
                              nan,             nan,             nan]], dtype=float32)

    - PC_decimation
      (channel)
      int64
      7 10 4 1 6 8
      long_name :
        Pulse compression decimation factor

          array([ 7, 10,  4,  1,  6,  8])

    - config_xml
      ()
      <U91708
      '<?xml version="1.0" encoding="u...

          array('<?xml version="1.0" encoding="utf-8"?>\r\n<Configuration>\r\n  <Header Copyright="Copyright(c) Kongsberg Maritime AS, Norway" ApplicationName="EK80" Version="1.12.2.0" FileFormatVersion="1.22" TimeBias="0" />\r\n  <Transceivers MergeOperation="AddNodeTree">\r\n    <Transceiver TransceiverName="WBT 714581" EthernetAddress="0090720ae755" IPAddress="157.237.15.104" Version="[0] Ethernet: 00:90:72:0A:E7:55&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.104&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714581&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 518W CH2: 508W CH3: 507W CH4: 489W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="1" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714581" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714581-15 ES18" ChannelIdShort="ES18 Serial No: 2039" MaxTxPowerTransceiver="2000" PulseDuration="0.000512;0.001024;0.002048;0.004096;0.008192" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES18" SerialNumber="2039" Frequency="18000" FrequencyMinimum="18000" FrequencyMaximum="18000" BeamType="1" EquivalentBeamAngle="-17" Gain="20.3;21.94;22.9;23;23" SaCorrection="0;0;0;0;0" MaxTxPowerTransducer="2000" BeamWidthAlongship="10.2" BeamWidthAthwartship="10.31" AngleSensitivityAlongship="15.5" AngleSensitivityAthwartship="15.5" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0.08" DirectivityDropAt2XBeamWidth="0" />\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n    <Transceiver TransceiverName="WBT 714596" EthernetAddress="0090720ae764" IPAddress="157.237.15.105" Version="[0] Ethernet: 00:90:72:0A:E7:64&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.105&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714596&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 520W CH2: 504W CH3: 501W CH4: 499W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="2" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714596" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714596-15 ES38-7" ChannelIdShort="ES38-7 Serial No: 200 - Narrow" MaxTxPowerTransceiver="2000" PulseDuration="0.000256;0.000512;0.001024;0.002048;0.004096" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES38-7" ArticleNumber="321842" SerialNumber="200" Frequency="38000" FrequencyMinimum="34000" FrequencyMaximum="45000" BeamType="65" EquivalentBeamAngle="-20.7" Gain="25.5;25.5;26.07;25.5;25.5" SaCorrection="0;0;-0.15;0;0" MaxTxPowerTransducer="2000" BeamWidthAlongship="6.48" BeamWidthAthwartship="6.22" AngleSensitivityAlongship="18" AngleSensitivityAthwartship="18" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.11" DirectivityDropAt2XBeamWidth="0">\r\n            <FrequencyPar Frequency="34000" Gain="24.92" Impedance="75" Phase="0" BeamWidthAlongship="7.66" BeamWidthAthwartship="7.98" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="34099" Gain="25.07" Impedance="75" Phase="0" BeamWidthAlongship="7.63" BeamWidthAthwartship="7.91" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="34198" Gain="25.22" Impedance="75" Phase="0" BeamWidthAlongship="7.6" BeamWidthAthwartship="7.83" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="34297" Gain="25.38" Impedance="75" Phase="0" BeamWidthAlongship="7.49" BeamWidthAthwartship="7.75" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="34396" Gain="25.53" Impedance="75" Phase="0" BeamWidthAlongship="7.42" BeamWidthAthwartship="7.67" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="34495" Gain="25.67" Impedance="75" Phase="0" BeamWidthAlongship="7.36" BeamWidthAthwartship="7.58" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="34595" Gain="25.78" Impedance="75" Phase="0" BeamWidthAlongship="7.29" BeamWidthAthwartship="7.51" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="34694" Gain="25.86" Impedance="75" Phase="0" BeamWidthAlongship="7.19" BeamWidthAthwartship="7.44" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="34793" Gain="25.93" Impedance="75" Phase="0" BeamWidthAlongship="7.17" BeamWidthAthwartship="7.39" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="34892" Gain="25.98" Impedance="75" Phase="0" BeamWidthAlongship="7.14" BeamWidthAthwartship="7.36" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="34991" Gain="26.02" Impedance="75" Phase="0" BeamWidthAlongship="7.12" BeamWidthAthwartship="7.32" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35090" Gain="26.07" Impedance="75" Phase="0" BeamWidthAlongship="7.11" BeamWidthAthwartship="7.3" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35189" Gain="26.11" Impedance="75" Phase="0" BeamWidthAlongship="7.13" BeamWidthAthwartship="7.27" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35288" Gain="26.15" Impedance="75" Phase="0" BeamWidthAlongship="7.11" BeamWidthAthwartship="7.24" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35387" Gain="26.2" Impedance="75" Phase="0" BeamWidthAlongship="7.08" BeamWidthAthwartship="7.2" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35486" Gain="26.24" Impedance="75" Phase="0" BeamWidthAlongship="7.06" BeamWidthAthwartship="7.16" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35586" Gain="26.27" Impedance="75" Phase="0" BeamWidthAlongship="7.04" BeamWidthAthwartship="7.13" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35685" Gain="26.29" Impedance="75" Phase="0" BeamWidthAlongship="7.01" BeamWidthAthwartship="7.12" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35784" Gain="26.31" Impedance="75" Phase="0" BeamWidthAlongship="7" BeamWidthAthwartship="7.1" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35883" Gain="26.32" Impedance="75" Phase="0" BeamWidthAlongship="6.99" BeamWidthAthwartship="7.08" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="35982" Gain="26.33" Impedance="75" Phase="0" BeamWidthAlongship="6.98" BeamWidthAthwartship="7.06" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="36081" Gain="26.33" Impedance="75" Phase="0" BeamWidthAlongship="6.97" BeamWidthAthwartship="7.03" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="36180" Gain="26.35" Impedance="75" Phase="0" BeamWidthAlongship="6.94" BeamWidthAthwartship="7.01" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="36279" Gain="26.36" Impedance="75" Phase="0" BeamWidthAlongship="6.94" BeamWidthAthwartship="6.98" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="36378" Gain="26.39" Impedance="75" Phase="0" BeamWidthAlongship="6.91" BeamWidthAthwartship="6.95" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="36477" Gain="26.41" Impedance="75" Phase="0" BeamWidthAlongship="6.94" BeamWidthAthwartship="6.92" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="36577" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="6.91" BeamWidthAthwartship="6.9" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="36676" Gain="26.45" Impedance="75" Phase="0" BeamWidthAlongship="6.88" BeamWidthAthwartship="6.87" AngleOffsetAlongship="0.1" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="36775" Gain="26.48" Impedance="75" Phase="0" BeamWidthAlongship="6.86" BeamWidthAthwartship="6.85" AngleOffsetAlongship="0.1" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="36874" Gain="26.5" Impedance="75" Phase="0" BeamWidthAlongship="6.83" BeamWidthAthwartship="6.83" AngleOffsetAlongship="0.1" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="36973" Gain="26.51" Impedance="75" Phase="0" BeamWidthAlongship="6.82" BeamWidthAthwartship="6.81" AngleOffsetAlongship="0.1" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37072" Gain="26.52" Impedance="75" Phase="0" BeamWidthAlongship="6.8" BeamWidthAthwartship="6.8" AngleOffsetAlongship="0.1" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37171" Gain="26.52" Impedance="75" Phase="0" BeamWidthAlongship="6.79" BeamWidthAthwartship="6.79" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37270" Gain="26.51" Impedance="75" Phase="0" BeamWidthAlongship="6.77" BeamWidthAthwartship="6.79" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37369" Gain="26.48" Impedance="75" Phase="0" BeamWidthAlongship="6.75" BeamWidthAthwartship="6.78" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37468" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="6.72" BeamWidthAthwartship="6.78" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37568" Gain="26.36" Impedance="75" Phase="0" BeamWidthAlongship="6.7" BeamWidthAthwartship="6.77" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="37667" Gain="26.27" Impedance="75" Phase="0" BeamWidthAlongship="6.67" BeamWidthAthwartship="6.75" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="37766" Gain="26.16" Impedance="75" Phase="0" BeamWidthAlongship="6.65" BeamWidthAthwartship="6.73" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="37865" Gain="26.04" Impedance="75" Phase="0" BeamWidthAlongship="6.63" BeamWidthAthwartship="6.71" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="37964" Gain="25.93" Impedance="75" Phase="0" BeamWidthAlongship="6.62" BeamWidthAthwartship="6.69" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="38063" Gain="25.84" Impedance="75" Phase="0" BeamWidthAlongship="6.6" BeamWidthAthwartship="6.68" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="38162" Gain="25.75" Impedance="75" Phase="0" BeamWidthAlongship="6.59" BeamWidthAthwartship="6.66" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="38261" Gain="25.7" Impedance="75" Phase="0" BeamWidthAlongship="6.58" BeamWidthAthwartship="6.65" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="38360" Gain="25.66" Impedance="75" Phase="0" BeamWidthAlongship="6.59" BeamWidthAthwartship="6.67" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="38459" Gain="25.66" Impedance="75" Phase="0" BeamWidthAlongship="6.59" BeamWidthAthwartship="6.68" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="38559" Gain="25.7" Impedance="75" Phase="0" BeamWidthAlongship="6.58" BeamWidthAthwartship="6.68" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="38658" Gain="25.77" Impedance="75" Phase="0" BeamWidthAlongship="6.58" BeamWidthAthwartship="6.67" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="38757" Gain="25.86" Impedance="75" Phase="0" BeamWidthAlongship="6.56" BeamWidthAthwartship="6.63" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="38856" Gain="25.94" Impedance="75" Phase="0" BeamWidthAlongship="6.53" BeamWidthAthwartship="6.64" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="38955" Gain="26" Impedance="75" Phase="0" BeamWidthAlongship="6.49" BeamWidthAthwartship="6.6" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="39054" Gain="26.03" Impedance="75" Phase="0" BeamWidthAlongship="6.45" BeamWidthAthwartship="6.57" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="39153" Gain="26.03" Impedance="75" Phase="0" BeamWidthAlongship="6.43" BeamWidthAthwartship="6.54" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="39252" Gain="26.01" Impedance="75" Phase="0" BeamWidthAlongship="6.41" BeamWidthAthwartship="6.51" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="39351" Gain="25.99" Impedance="75" Phase="0" BeamWidthAlongship="6.39" BeamWidthAthwartship="6.48" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="39450" Gain="25.96" Impedance="75" Phase="0" BeamWidthAlongship="6.38" BeamWidthAthwartship="6.46" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="39550" Gain="25.94" Impedance="75" Phase="0" BeamWidthAlongship="6.39" BeamWidthAthwartship="6.45" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="39649" Gain="25.93" Impedance="75" Phase="0" BeamWidthAlongship="6.38" BeamWidthAthwartship="6.46" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="39748" Gain="25.92" Impedance="75" Phase="0" BeamWidthAlongship="6.37" BeamWidthAthwartship="6.45" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="39847" Gain="25.91" Impedance="75" Phase="0" BeamWidthAlongship="6.36" BeamWidthAthwartship="6.45" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="39946" Gain="25.9" Impedance="75" Phase="0" BeamWidthAlongship="6.35" BeamWidthAthwartship="6.44" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="40045" Gain="25.88" Impedance="75" Phase="0" BeamWidthAlongship="6.32" BeamWidthAthwartship="6.42" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="40144" Gain="25.87" Impedance="75" Phase="0" BeamWidthAlongship="6.29" BeamWidthAthwartship="6.4" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="40243" Gain="25.86" Impedance="75" Phase="0" BeamWidthAlongship="6.28" BeamWidthAthwartship="6.39" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="40342" Gain="25.87" Impedance="75" Phase="0" BeamWidthAlongship="6.24" BeamWidthAthwartship="6.36" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="40441" Gain="25.91" Impedance="75" Phase="0" BeamWidthAlongship="6.21" BeamWidthAthwartship="6.33" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="40541" Gain="25.97" Impedance="75" Phase="0" BeamWidthAlongship="6.19" BeamWidthAthwartship="6.32" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="40640" Gain="26.05" Impedance="75" Phase="0" BeamWidthAlongship="6.17" BeamWidthAthwartship="6.3" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="40739" Gain="26.14" Impedance="75" Phase="0" BeamWidthAlongship="6.16" BeamWidthAthwartship="6.28" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="40838" Gain="26.25" Impedance="75" Phase="0" BeamWidthAlongship="6.15" BeamWidthAthwartship="6.26" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="40937" Gain="26.36" Impedance="75" Phase="0" BeamWidthAlongship="6.14" BeamWidthAthwartship="6.24" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="41036" Gain="26.47" Impedance="75" Phase="0" BeamWidthAlongship="6.13" BeamWidthAthwartship="6.23" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="41135" Gain="26.58" Impedance="75" Phase="0" BeamWidthAlongship="6.13" BeamWidthAthwartship="6.2" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="41234" Gain="26.68" Impedance="75" Phase="0" BeamWidthAlongship="6.13" BeamWidthAthwartship="6.18" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="41333" Gain="26.77" Impedance="75" Phase="0" BeamWidthAlongship="6.1" BeamWidthAthwartship="6.14" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="41432" Gain="26.85" Impedance="75" Phase="0" BeamWidthAlongship="6.09" BeamWidthAthwartship="6.1" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="41532" Gain="26.92" Impedance="75" Phase="0" BeamWidthAlongship="6.06" BeamWidthAthwartship="6.06" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="41631" Gain="26.99" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="6.03" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="41730" Gain="27.05" Impedance="75" Phase="0" BeamWidthAlongship="6.02" BeamWidthAthwartship="6.02" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="41829" Gain="27.12" Impedance="75" Phase="0" BeamWidthAlongship="6.01" BeamWidthAthwartship="6.01" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="41928" Gain="27.21" Impedance="75" Phase="0" BeamWidthAlongship="6" BeamWidthAthwartship="5.99" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42027" Gain="27.29" Impedance="75" Phase="0" BeamWidthAlongship="5.99" BeamWidthAthwartship="5.99" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42126" Gain="27.39" Impedance="75" Phase="0" BeamWidthAlongship="5.98" BeamWidthAthwartship="5.99" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42225" Gain="27.48" Impedance="75" Phase="0" BeamWidthAlongship="5.98" BeamWidthAthwartship="5.98" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42324" Gain="27.56" Impedance="75" Phase="0" BeamWidthAlongship="5.97" BeamWidthAthwartship="5.98" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42423" Gain="27.65" Impedance="75" Phase="0" BeamWidthAlongship="5.97" BeamWidthAthwartship="5.96" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42523" Gain="27.73" Impedance="75" Phase="0" BeamWidthAlongship="5.95" BeamWidthAthwartship="5.95" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="42622" Gain="27.82" Impedance="75" Phase="0" BeamWidthAlongship="5.9" BeamWidthAthwartship="5.94" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="42721" Gain="27.9" Impedance="75" Phase="0" BeamWidthAlongship="5.91" BeamWidthAthwartship="5.92" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="42820" Gain="27.98" Impedance="75" Phase="0" BeamWidthAlongship="5.88" BeamWidthAthwartship="5.89" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="42919" Gain="28.08" Impedance="75" Phase="0" BeamWidthAlongship="5.85" BeamWidthAthwartship="5.87" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="43018" Gain="28.17" Impedance="75" Phase="0" BeamWidthAlongship="5.83" BeamWidthAthwartship="5.85" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="43117" Gain="28.27" Impedance="75" Phase="0" BeamWidthAlongship="5.79" BeamWidthAthwartship="5.83" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="43216" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="5.76" BeamWidthAthwartship="5.81" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="43315" Gain="28.45" Impedance="75" Phase="0" BeamWidthAlongship="5.73" BeamWidthAthwartship="5.79" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="43414" Gain="28.52" Impedance="75" Phase="0" BeamWidthAlongship="5.71" BeamWidthAthwartship="5.82" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="43514" Gain="28.59" Impedance="75" Phase="0" BeamWidthAlongship="5.69" BeamWidthAthwartship="5.81" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="43613" Gain="28.64" Impedance="75" Phase="0" BeamWidthAlongship="5.66" BeamWidthAthwartship="5.79" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="43712" Gain="28.67" Impedance="75" Phase="0" BeamWidthAlongship="5.64" BeamWidthAthwartship="5.78" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="43811" Gain="28.7" Impedance="75" Phase="0" BeamWidthAlongship="5.62" BeamWidthAthwartship="5.75" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="43910" Gain="28.72" Impedance="75" Phase="0" BeamWidthAlongship="5.58" BeamWidthAthwartship="5.73" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="44009" Gain="28.74" Impedance="75" Phase="0" BeamWidthAlongship="5.57" BeamWidthAthwartship="5.71" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="44108" Gain="28.77" Impedance="75" Phase="0" BeamWidthAlongship="5.56" BeamWidthAthwartship="5.69" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="44207" Gain="28.79" Impedance="75" Phase="0" BeamWidthAlongship="5.54" BeamWidthAthwartship="5.68" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="44306" Gain="28.8" Impedance="75" Phase="0" BeamWidthAlongship="5.54" BeamWidthAthwartship="5.68" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="44405" Gain="28.81" Impedance="75" Phase="0" BeamWidthAlongship="5.53" BeamWidthAthwartship="5.69" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="44505" Gain="28.8" Impedance="75" Phase="0" BeamWidthAlongship="5.52" BeamWidthAthwartship="5.69" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="44604" Gain="28.77" Impedance="75" Phase="0" BeamWidthAlongship="5.52" BeamWidthAthwartship="5.7" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="44703" Gain="28.73" Impedance="75" Phase="0" BeamWidthAlongship="5.53" BeamWidthAthwartship="5.71" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="44802" Gain="28.68" Impedance="75" Phase="0" BeamWidthAlongship="5.53" BeamWidthAthwartship="5.72" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="44901" Gain="28.64" Impedance="75" Phase="0" BeamWidthAlongship="5.53" BeamWidthAthwartship="5.74" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="45000" Gain="28.64" Impedance="75" Phase="0" BeamWidthAlongship="5.53" BeamWidthAthwartship="5.75" AngleOffsetAlongship="0.07" AngleOffsetAthwartship="-0.01" />\r\n          </Transducer>\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n    <Transceiver TransceiverName="WBT 714590" EthernetAddress="0090720ae75e" IPAddress="157.237.15.100" Version="[0] Ethernet: 00:90:72:0A:E7:5E&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.100&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714590&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 510W CH2: 497W CH3: 487W CH4: 503W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="3" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714590" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714590-15 ES70-7C" ChannelIdShort="ES70-7C Serial No: 105" MaxTxPowerTransceiver="2000" PulseDuration="0.000128;0.000256;0.000512;0.001024;0.002048" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES70-7C" SerialNumber="105" Frequency="70000" FrequencyMinimum="45000" FrequencyMaximum="90000" BeamType="1" EquivalentBeamAngle="-20.7" Gain="27;27;27;27.99;27" SaCorrection="0;0;0;0.09;0" MaxTxPowerTransducer="750" BeamWidthAlongship="6.87" BeamWidthAthwartship="6.85" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="-0.11" DirectivityDropAt2XBeamWidth="0">\r\n            <FrequencyPar Frequency="55000" Gain="25.79" Impedance="75" Phase="0" BeamWidthAlongship="8.91" BeamWidthAthwartship="9.02" AngleOffsetAlongship="0.15" AngleOffsetAthwartship="0.24" />\r\n            <FrequencyPar Frequency="55490" Gain="26.27" Impedance="75" Phase="0" BeamWidthAlongship="8.31" BeamWidthAthwartship="8.45" AngleOffsetAlongship="0.11" AngleOffsetAthwartship="0.23" />\r\n            <FrequencyPar Frequency="55981" Gain="26.33" Impedance="75" Phase="0" BeamWidthAlongship="8.15" BeamWidthAthwartship="8.35" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="0.21" />\r\n            <FrequencyPar Frequency="56471" Gain="26.52" Impedance="75" Phase="0" BeamWidthAlongship="8.01" BeamWidthAthwartship="8.13" AngleOffsetAlongship="0.09" AngleOffsetAthwartship="0.18" />\r\n            <FrequencyPar Frequency="56962" Gain="26.61" Impedance="75" Phase="0" BeamWidthAlongship="8.01" BeamWidthAthwartship="8.16" AngleOffsetAlongship="0.06" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="57452" Gain="26.7" Impedance="75" Phase="0" BeamWidthAlongship="7.93" BeamWidthAthwartship="8.04" AngleOffsetAlongship="0.05" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="57943" Gain="26.83" Impedance="75" Phase="0" BeamWidthAlongship="7.9" BeamWidthAthwartship="7.96" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="63338" Gain="27.42" Impedance="75" Phase="0" BeamWidthAlongship="7.32" BeamWidthAthwartship="7.39" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="63829" Gain="27.47" Impedance="75" Phase="0" BeamWidthAlongship="7.28" BeamWidthAthwartship="7.35" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="64319" Gain="27.45" Impedance="75" Phase="0" BeamWidthAlongship="7.22" BeamWidthAthwartship="7.28" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="64810" Gain="27.51" Impedance="75" Phase="0" BeamWidthAlongship="7.14" BeamWidthAthwartship="7.24" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="65300" Gain="27.56" Impedance="75" Phase="0" BeamWidthAlongship="7.08" BeamWidthAthwartship="7.18" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="65791" Gain="27.64" Impedance="75" Phase="0" BeamWidthAlongship="7.05" BeamWidthAthwartship="7.14" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="66281" Gain="27.71" Impedance="75" Phase="0" BeamWidthAlongship="7.01" BeamWidthAthwartship="7.05" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="66772" Gain="27.78" Impedance="75" Phase="0" BeamWidthAlongship="6.97" BeamWidthAthwartship="7" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="67262" Gain="27.83" Impedance="75" Phase="0" BeamWidthAlongship="6.9" BeamWidthAthwartship="6.92" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="67753" Gain="27.83" Impedance="75" Phase="0" BeamWidthAlongship="6.85" BeamWidthAthwartship="6.93" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="68243" Gain="27.86" Impedance="75" Phase="0" BeamWidthAlongship="6.82" BeamWidthAthwartship="6.85" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="68734" Gain="27.83" Impedance="75" Phase="0" BeamWidthAlongship="6.81" BeamWidthAthwartship="6.84" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="69224" Gain="27.85" Impedance="75" Phase="0" BeamWidthAlongship="6.8" BeamWidthAthwartship="6.83" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="69715" Gain="27.85" Impedance="75" Phase="0" BeamWidthAlongship="6.74" BeamWidthAthwartship="6.8" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="70205" Gain="27.89" Impedance="75" Phase="0" BeamWidthAlongship="6.71" BeamWidthAthwartship="6.77" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="70696" Gain="27.93" Impedance="75" Phase="0" BeamWidthAlongship="6.63" BeamWidthAthwartship="6.65" AngleOffsetAlongship="0.02" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="71186" Gain="27.98" Impedance="75" Phase="0" BeamWidthAlongship="6.63" BeamWidthAthwartship="6.66" AngleOffsetAlongship="0" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="71677" Gain="28.02" Impedance="75" Phase="0" BeamWidthAlongship="6.56" BeamWidthAthwartship="6.56" AngleOffsetAlongship="0.01" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="72167" Gain="28.08" Impedance="75" Phase="0" BeamWidthAlongship="6.52" BeamWidthAthwartship="6.56" AngleOffsetAlongship="-0.01" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="72658" Gain="28.11" Impedance="75" Phase="0" BeamWidthAlongship="6.42" BeamWidthAthwartship="6.44" AngleOffsetAlongship="-0.01" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="73148" Gain="28.17" Impedance="75" Phase="0" BeamWidthAlongship="6.46" BeamWidthAthwartship="6.42" AngleOffsetAlongship="-0.03" AngleOffsetAthwartship="0.18" />\r\n            <FrequencyPar Frequency="73639" Gain="28.14" Impedance="75" Phase="0" BeamWidthAlongship="6.4" BeamWidthAthwartship="6.36" AngleOffsetAlongship="-0.04" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="74129" Gain="28.24" Impedance="75" Phase="0" BeamWidthAlongship="6.32" BeamWidthAthwartship="6.3" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="0.17" />\r\n            <FrequencyPar Frequency="74620" Gain="28.15" Impedance="75" Phase="0" BeamWidthAlongship="6.3" BeamWidthAthwartship="6.32" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="80015" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="5.91" BeamWidthAthwartship="5.84" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.09" />\r\n            <FrequencyPar Frequency="80506" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="5.81" BeamWidthAthwartship="5.73" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.08" />\r\n            <FrequencyPar Frequency="80996" Gain="28.45" Impedance="75" Phase="0" BeamWidthAlongship="5.82" BeamWidthAthwartship="5.8" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="81486" Gain="28.51" Impedance="75" Phase="0" BeamWidthAlongship="5.77" BeamWidthAthwartship="5.72" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="81977" Gain="28.48" Impedance="75" Phase="0" BeamWidthAlongship="5.74" BeamWidthAthwartship="5.7" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="82467" Gain="28.54" Impedance="75" Phase="0" BeamWidthAlongship="5.69" BeamWidthAthwartship="5.66" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="82958" Gain="28.55" Impedance="75" Phase="0" BeamWidthAlongship="5.65" BeamWidthAthwartship="5.63" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="83448" Gain="28.64" Impedance="75" Phase="0" BeamWidthAlongship="5.64" BeamWidthAthwartship="5.64" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="83939" Gain="28.63" Impedance="75" Phase="0" BeamWidthAlongship="5.59" BeamWidthAthwartship="5.55" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="84429" Gain="28.7" Impedance="75" Phase="0" BeamWidthAlongship="5.57" BeamWidthAthwartship="5.54" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="84920" Gain="28.71" Impedance="75" Phase="0" BeamWidthAlongship="5.47" BeamWidthAthwartship="5.41" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="85410" Gain="28.82" Impedance="75" Phase="0" BeamWidthAlongship="5.42" BeamWidthAthwartship="5.38" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="85901" Gain="28.86" Impedance="75" Phase="0" BeamWidthAlongship="5.37" BeamWidthAthwartship="5.33" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.08" />\r\n            <FrequencyPar Frequency="86391" Gain="28.97" Impedance="75" Phase="0" BeamWidthAlongship="5.34" BeamWidthAthwartship="5.3" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.09" />\r\n            <FrequencyPar Frequency="86882" Gain="29.01" Impedance="75" Phase="0" BeamWidthAlongship="5.34" BeamWidthAthwartship="5.28" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.1" />\r\n            <FrequencyPar Frequency="87372" Gain="29.09" Impedance="75" Phase="0" BeamWidthAlongship="5.3" BeamWidthAthwartship="5.27" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.1" />\r\n            <FrequencyPar Frequency="87863" Gain="29.14" Impedance="75" Phase="0" BeamWidthAlongship="5.28" BeamWidthAthwartship="5.23" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.11" />\r\n          </Transducer>\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n    <Transceiver TransceiverName="WBT 714583" EthernetAddress="0090720ae757" IPAddress="157.237.15.102" Version="[0] Ethernet: 00:90:72:0A:E7:57&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.102&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714583&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 502W CH2: 500W CH3: 497W CH4: 497W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="4" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714583" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714583-15 ES120-7C" ChannelIdShort="ES120-7C Serial No: 124" MaxTxPowerTransceiver="2000" PulseDuration="6.4E-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES120-7C" SerialNumber="124" Frequency="120000" FrequencyMinimum="90000" FrequencyMaximum="170000" BeamType="1" EquivalentBeamAngle="-20.7" Gain="27;27;27;27;27.01" SaCorrection="0;0;0;0;0.02" MaxTxPowerTransducer="250" BeamWidthAlongship="6.56" BeamWidthAthwartship="6.57" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" DirectivityDropAt2XBeamWidth="0">\r\n            <FrequencyPar Frequency="95000" Gain="26.06" Impedance="75" Phase="0" BeamWidthAlongship="8.28" BeamWidthAthwartship="8.48" AngleOffsetAlongship="-0.01" AngleOffsetAthwartship="0.45" />\r\n            <FrequencyPar Frequency="95976" Gain="26.47" Impedance="75" Phase="0" BeamWidthAlongship="8.27" BeamWidthAthwartship="8.32" AngleOffsetAlongship="-0.02" AngleOffsetAthwartship="0.44" />\r\n            <FrequencyPar Frequency="96952" Gain="26.42" Impedance="75" Phase="0" BeamWidthAlongship="8.19" BeamWidthAthwartship="8.25" AngleOffsetAlongship="-0.04" AngleOffsetAthwartship="0.41" />\r\n            <FrequencyPar Frequency="97928" Gain="26.45" Impedance="75" Phase="0" BeamWidthAlongship="8.13" BeamWidthAthwartship="8.19" AngleOffsetAlongship="-0.06" AngleOffsetAthwartship="0.36" />\r\n            <FrequencyPar Frequency="98904" Gain="26.49" Impedance="75" Phase="0" BeamWidthAlongship="8.11" BeamWidthAthwartship="8.13" AngleOffsetAlongship="-0.06" AngleOffsetAthwartship="0.31" />\r\n            <FrequencyPar Frequency="99880" Gain="26.48" Impedance="75" Phase="0" BeamWidthAlongship="8.06" BeamWidthAthwartship="8.07" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="0.28" />\r\n            <FrequencyPar Frequency="100856" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="8.01" BeamWidthAthwartship="7.99" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.24" />\r\n            <FrequencyPar Frequency="101832" Gain="26.41" Impedance="75" Phase="0" BeamWidthAlongship="7.96" BeamWidthAthwartship="7.91" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.2" />\r\n            <FrequencyPar Frequency="102808" Gain="26.38" Impedance="75" Phase="0" BeamWidthAlongship="7.9" BeamWidthAthwartship="7.89" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="0.18" />\r\n            <FrequencyPar Frequency="103784" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="7.85" BeamWidthAthwartship="7.83" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="104760" Gain="26.45" Impedance="75" Phase="0" BeamWidthAlongship="7.76" BeamWidthAthwartship="7.75" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="0.12" />\r\n            <FrequencyPar Frequency="105736" Gain="26.45" Impedance="75" Phase="0" BeamWidthAlongship="7.68" BeamWidthAthwartship="7.64" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="0.12" />\r\n            <FrequencyPar Frequency="106712" Gain="26.42" Impedance="75" Phase="0" BeamWidthAlongship="7.61" BeamWidthAthwartship="7.58" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="0.13" />\r\n            <FrequencyPar Frequency="107688" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="7.48" BeamWidthAthwartship="7.47" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="0.13" />\r\n            <FrequencyPar Frequency="121351" Gain="27.01" Impedance="75" Phase="0" BeamWidthAlongship="6.7" BeamWidthAthwartship="6.72" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="0.19" />\r\n            <FrequencyPar Frequency="122327" Gain="27.1" Impedance="75" Phase="0" BeamWidthAlongship="6.68" BeamWidthAthwartship="6.63" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="123303" Gain="27.17" Impedance="75" Phase="0" BeamWidthAlongship="6.69" BeamWidthAthwartship="6.62" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.16" />\r\n            <FrequencyPar Frequency="124279" Gain="27.25" Impedance="75" Phase="0" BeamWidthAlongship="6.7" BeamWidthAthwartship="6.59" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="125255" Gain="27.3" Impedance="75" Phase="0" BeamWidthAlongship="6.68" BeamWidthAthwartship="6.56" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.11" />\r\n            <FrequencyPar Frequency="126231" Gain="27.41" Impedance="75" Phase="0" BeamWidthAlongship="6.61" BeamWidthAthwartship="6.51" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.1" />\r\n            <FrequencyPar Frequency="127207" Gain="27.53" Impedance="75" Phase="0" BeamWidthAlongship="6.52" BeamWidthAthwartship="6.4" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="128183" Gain="27.65" Impedance="75" Phase="0" BeamWidthAlongship="6.44" BeamWidthAthwartship="6.33" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="129159" Gain="27.74" Impedance="75" Phase="0" BeamWidthAlongship="6.42" BeamWidthAthwartship="6.27" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.05" />\r\n            <FrequencyPar Frequency="130135" Gain="27.85" Impedance="75" Phase="0" BeamWidthAlongship="6.35" BeamWidthAthwartship="6.22" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.04" />\r\n            <FrequencyPar Frequency="131111" Gain="27.95" Impedance="75" Phase="0" BeamWidthAlongship="6.28" BeamWidthAthwartship="6.17" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.04" />\r\n            <FrequencyPar Frequency="132087" Gain="28.12" Impedance="75" Phase="0" BeamWidthAlongship="6.24" BeamWidthAthwartship="6.16" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="133063" Gain="28.27" Impedance="75" Phase="0" BeamWidthAlongship="6.16" BeamWidthAthwartship="6.11" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="0.04" />\r\n            <FrequencyPar Frequency="134039" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="6.06" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="144775" Gain="28.76" Impedance="75" Phase="0" BeamWidthAlongship="5.68" BeamWidthAthwartship="5.6" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="145751" Gain="28.72" Impedance="75" Phase="0" BeamWidthAlongship="5.66" BeamWidthAthwartship="5.59" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="0.15" />\r\n            <FrequencyPar Frequency="146727" Gain="28.69" Impedance="75" Phase="0" BeamWidthAlongship="5.65" BeamWidthAthwartship="5.55" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.14" />\r\n            <FrequencyPar Frequency="147703" Gain="28.69" Impedance="75" Phase="0" BeamWidthAlongship="5.64" BeamWidthAthwartship="5.53" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="0.13" />\r\n            <FrequencyPar Frequency="148679" Gain="28.81" Impedance="75" Phase="0" BeamWidthAlongship="5.6" BeamWidthAthwartship="5.47" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.12" />\r\n            <FrequencyPar Frequency="149655" Gain="28.39" Impedance="75" Phase="0" BeamWidthAlongship="5.57" BeamWidthAthwartship="5.42" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.11" />\r\n            <FrequencyPar Frequency="150631" Gain="28.1" Impedance="75" Phase="0" BeamWidthAlongship="5.52" BeamWidthAthwartship="5.36" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="151607" Gain="28.89" Impedance="75" Phase="0" BeamWidthAlongship="5.42" BeamWidthAthwartship="5.32" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="152583" Gain="28.86" Impedance="75" Phase="0" BeamWidthAlongship="5.35" BeamWidthAthwartship="5.3" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="0.05" />\r\n            <FrequencyPar Frequency="153559" Gain="28.85" Impedance="75" Phase="0" BeamWidthAlongship="5.27" BeamWidthAthwartship="5.26" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="154535" Gain="28.92" Impedance="75" Phase="0" BeamWidthAlongship="5.19" BeamWidthAthwartship="5.24" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="155511" Gain="29.02" Impedance="75" Phase="0" BeamWidthAlongship="5.1" BeamWidthAthwartship="5.22" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="156486" Gain="29.1" Impedance="75" Phase="0" BeamWidthAlongship="5.04" BeamWidthAthwartship="5.22" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="157462" Gain="29.21" Impedance="75" Phase="0" BeamWidthAlongship="5.03" BeamWidthAthwartship="5.21" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="158438" Gain="29.4" Impedance="75" Phase="0" BeamWidthAlongship="5" BeamWidthAthwartship="5.18" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="159414" Gain="29.73" Impedance="75" Phase="0" BeamWidthAlongship="4.96" BeamWidthAthwartship="5.18" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="160000" Gain="30.03" Impedance="75" Phase="0" BeamWidthAlongship="4.96" BeamWidthAthwartship="5.18" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="-0.06" />\r\n          </Transducer>\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n    <Transceiver TransceiverName="WBT 714605" EthernetAddress="0090720ae76d" IPAddress="157.237.15.101" Version="[0] Ethernet: 00:90:72:0A:E7:6D&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.101&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714605&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 510W CH2: 499W CH3: 491W CH4: 488W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="5" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714605" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714605-15 ES200-7C" ChannelIdShort="ES200-7C Serial No: 208" MaxTxPowerTransceiver="2000" PulseDuration="6.4E-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES200-7C" SerialNumber="208" Frequency="200000" FrequencyMinimum="160000" FrequencyMaximum="260000" BeamType="1" EquivalentBeamAngle="-20.7" Gain="27;27;27;27;27.84" SaCorrection="0;0;0;0;0.04" MaxTxPowerTransducer="150" BeamWidthAlongship="5.64" BeamWidthAthwartship="6.06" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.06" DirectivityDropAt2XBeamWidth="0">\r\n            <FrequencyPar Frequency="160000" Gain="22.88" Impedance="75" Phase="0" BeamWidthAlongship="7.97" BeamWidthAthwartship="8.05" AngleOffsetAlongship="-0.02" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="161001" Gain="23.06" Impedance="75" Phase="0" BeamWidthAlongship="8.08" BeamWidthAthwartship="8.07" AngleOffsetAlongship="-0.04" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="162002" Gain="23.18" Impedance="75" Phase="0" BeamWidthAlongship="8.06" BeamWidthAthwartship="7.98" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="163003" Gain="23.47" Impedance="75" Phase="0" BeamWidthAlongship="7.88" BeamWidthAthwartship="7.89" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="164004" Gain="23.82" Impedance="75" Phase="0" BeamWidthAlongship="7.81" BeamWidthAthwartship="7.84" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="165005" Gain="24.1" Impedance="75" Phase="0" BeamWidthAlongship="7.85" BeamWidthAthwartship="7.87" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="166006" Gain="24.28" Impedance="75" Phase="0" BeamWidthAlongship="7.8" BeamWidthAthwartship="7.86" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="167007" Gain="24.4" Impedance="75" Phase="0" BeamWidthAlongship="7.74" BeamWidthAthwartship="7.78" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="168008" Gain="24.48" Impedance="75" Phase="0" BeamWidthAlongship="7.74" BeamWidthAthwartship="7.67" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="169009" Gain="24.64" Impedance="75" Phase="0" BeamWidthAlongship="7.56" BeamWidthAthwartship="7.51" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="170010" Gain="24.95" Impedance="75" Phase="0" BeamWidthAlongship="7.46" BeamWidthAthwartship="7.42" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="171011" Gain="25.17" Impedance="75" Phase="0" BeamWidthAlongship="7.45" BeamWidthAthwartship="7.48" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="172012" Gain="25.31" Impedance="75" Phase="0" BeamWidthAlongship="7.52" BeamWidthAthwartship="7.46" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="173013" Gain="25.38" Impedance="75" Phase="0" BeamWidthAlongship="7.54" BeamWidthAthwartship="7.52" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="174014" Gain="25.47" Impedance="75" Phase="0" BeamWidthAlongship="7.5" BeamWidthAthwartship="7.51" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="175015" Gain="25.48" Impedance="75" Phase="0" BeamWidthAlongship="7.54" BeamWidthAthwartship="7.54" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="176016" Gain="25.55" Impedance="75" Phase="0" BeamWidthAlongship="7.51" BeamWidthAthwartship="7.52" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="177017" Gain="25.66" Impedance="75" Phase="0" BeamWidthAlongship="7.49" BeamWidthAthwartship="7.36" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.07" />\r\n            <FrequencyPar Frequency="178018" Gain="25.8" Impedance="75" Phase="0" BeamWidthAlongship="7.39" BeamWidthAthwartship="7.31" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.07" />\r\n            <FrequencyPar Frequency="179019" Gain="25.91" Impedance="75" Phase="0" BeamWidthAlongship="7.29" BeamWidthAthwartship="7.3" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.07" />\r\n            <FrequencyPar Frequency="180020" Gain="26.01" Impedance="75" Phase="0" BeamWidthAlongship="7.33" BeamWidthAthwartship="7.25" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="181021" Gain="25.96" Impedance="75" Phase="0" BeamWidthAlongship="7.34" BeamWidthAthwartship="7.3" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="182022" Gain="25.91" Impedance="75" Phase="0" BeamWidthAlongship="7.38" BeamWidthAthwartship="7.2" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="183023" Gain="25.91" Impedance="75" Phase="0" BeamWidthAlongship="7.24" BeamWidthAthwartship="7.18" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="184024" Gain="25.97" Impedance="75" Phase="0" BeamWidthAlongship="7.16" BeamWidthAthwartship="7.17" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="185025" Gain="26.1" Impedance="75" Phase="0" BeamWidthAlongship="7.04" BeamWidthAthwartship="7" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="186026" Gain="26.22" Impedance="75" Phase="0" BeamWidthAlongship="7.06" BeamWidthAthwartship="7.06" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="187027" Gain="26.32" Impedance="75" Phase="0" BeamWidthAlongship="7.02" BeamWidthAthwartship="7.07" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="188028" Gain="26.3" Impedance="75" Phase="0" BeamWidthAlongship="7.05" BeamWidthAthwartship="6.98" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.03" />\r\n            <FrequencyPar Frequency="189029" Gain="26.28" Impedance="75" Phase="0" BeamWidthAlongship="7" BeamWidthAthwartship="7.04" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="190030" Gain="26.26" Impedance="75" Phase="0" BeamWidthAlongship="7.03" BeamWidthAthwartship="6.94" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="191031" Gain="26.34" Impedance="75" Phase="0" BeamWidthAlongship="6.94" BeamWidthAthwartship="6.78" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.05" />\r\n            <FrequencyPar Frequency="192032" Gain="26.51" Impedance="75" Phase="0" BeamWidthAlongship="6.79" BeamWidthAthwartship="6.74" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.06" />\r\n            <FrequencyPar Frequency="193033" Gain="26.77" Impedance="75" Phase="0" BeamWidthAlongship="6.7" BeamWidthAthwartship="6.64" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.04" />\r\n            <FrequencyPar Frequency="205045" Gain="27.36" Impedance="75" Phase="0" BeamWidthAlongship="6.36" BeamWidthAthwartship="6.26" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="206046" Gain="27.48" Impedance="75" Phase="0" BeamWidthAlongship="6.25" BeamWidthAthwartship="6.15" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="207047" Gain="27.64" Impedance="75" Phase="0" BeamWidthAlongship="6.22" BeamWidthAthwartship="6.09" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.02" />\r\n            <FrequencyPar Frequency="208048" Gain="27.81" Impedance="75" Phase="0" BeamWidthAlongship="6.16" BeamWidthAthwartship="6.07" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.01" />\r\n            <FrequencyPar Frequency="209049" Gain="27.92" Impedance="75" Phase="0" BeamWidthAlongship="6.15" BeamWidthAthwartship="6.1" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="210050" Gain="27.87" Impedance="75" Phase="0" BeamWidthAlongship="6.13" BeamWidthAthwartship="6.11" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="211051" Gain="27.88" Impedance="75" Phase="0" BeamWidthAlongship="6.11" BeamWidthAthwartship="6.04" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="212052" Gain="27.94" Impedance="75" Phase="0" BeamWidthAlongship="6.07" BeamWidthAthwartship="5.96" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="213053" Gain="28.06" Impedance="75" Phase="0" BeamWidthAlongship="6.01" BeamWidthAthwartship="5.89" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="214054" Gain="28.25" Impedance="75" Phase="0" BeamWidthAlongship="5.96" BeamWidthAthwartship="5.86" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="215055" Gain="28.44" Impedance="75" Phase="0" BeamWidthAlongship="6.06" BeamWidthAthwartship="5.86" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="0.05" />\r\n            <FrequencyPar Frequency="216056" Gain="28.53" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="5.87" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="217057" Gain="28.54" Impedance="75" Phase="0" BeamWidthAlongship="6.03" BeamWidthAthwartship="5.89" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="218058" Gain="28.49" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="5.89" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="0.08" />\r\n            <FrequencyPar Frequency="219059" Gain="28.43" Impedance="75" Phase="0" BeamWidthAlongship="5.92" BeamWidthAthwartship="5.87" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="0.08" />\r\n            <FrequencyPar Frequency="220060" Gain="28.54" Impedance="75" Phase="0" BeamWidthAlongship="5.88" BeamWidthAthwartship="5.65" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="0.04" />\r\n            <FrequencyPar Frequency="221061" Gain="28.75" Impedance="75" Phase="0" BeamWidthAlongship="5.79" BeamWidthAthwartship="5.55" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="222062" Gain="28.96" Impedance="75" Phase="0" BeamWidthAlongship="5.75" BeamWidthAthwartship="5.54" AngleOffsetAlongship="-0.36" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="223063" Gain="29.06" Impedance="75" Phase="0" BeamWidthAlongship="5.76" BeamWidthAthwartship="5.55" AngleOffsetAlongship="-0.32" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="224064" Gain="29.03" Impedance="75" Phase="0" BeamWidthAlongship="5.78" BeamWidthAthwartship="5.59" AngleOffsetAlongship="-0.3" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="243083" Gain="29.96" Impedance="75" Phase="0" BeamWidthAlongship="5.28" BeamWidthAthwartship="4.97" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="244084" Gain="29.82" Impedance="75" Phase="0" BeamWidthAlongship="5.21" BeamWidthAthwartship="4.92" AngleOffsetAlongship="-0.36" AngleOffsetAthwartship="0.01" />\r\n            <FrequencyPar Frequency="245085" Gain="29.79" Impedance="75" Phase="0" BeamWidthAlongship="5.17" BeamWidthAthwartship="4.91" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="0" />\r\n            <FrequencyPar Frequency="246086" Gain="29.84" Impedance="75" Phase="0" BeamWidthAlongship="5.22" BeamWidthAthwartship="4.92" AngleOffsetAlongship="-0.33" AngleOffsetAthwartship="0.02" />\r\n            <FrequencyPar Frequency="247087" Gain="29.82" Impedance="75" Phase="0" BeamWidthAlongship="5.22" BeamWidthAthwartship="5" AngleOffsetAlongship="-0.31" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="248088" Gain="30.01" Impedance="75" Phase="0" BeamWidthAlongship="5.23" BeamWidthAthwartship="4.95" AngleOffsetAlongship="-0.3" AngleOffsetAthwartship="0.04" />\r\n            <FrequencyPar Frequency="249089" Gain="30.17" Impedance="75" Phase="0" BeamWidthAlongship="5.3" BeamWidthAthwartship="4.91" AngleOffsetAlongship="-0.33" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="250090" Gain="30.25" Impedance="75" Phase="0" BeamWidthAlongship="5.22" BeamWidthAthwartship="4.84" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="251091" Gain="30.16" Impedance="75" Phase="0" BeamWidthAlongship="5.17" BeamWidthAthwartship="4.79" AngleOffsetAlongship="-0.38" AngleOffsetAthwartship="0.03" />\r\n            <FrequencyPar Frequency="252092" Gain="30.12" Impedance="75" Phase="0" BeamWidthAlongship="5.12" BeamWidthAthwartship="4.71" AngleOffsetAlongship="-0.33" AngleOffsetAthwartship="0.05" />\r\n            <FrequencyPar Frequency="253093" Gain="30.02" Impedance="75" Phase="0" BeamWidthAlongship="5.16" BeamWidthAthwartship="4.75" AngleOffsetAlongship="-0.3" AngleOffsetAthwartship="0.06" />\r\n            <FrequencyPar Frequency="254094" Gain="29.83" Impedance="75" Phase="0" BeamWidthAlongship="5.2" BeamWidthAthwartship="4.81" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="255095" Gain="29.57" Impedance="75" Phase="0" BeamWidthAlongship="5.12" BeamWidthAthwartship="4.79" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="256096" Gain="29.3" Impedance="75" Phase="0" BeamWidthAlongship="5.04" BeamWidthAthwartship="4.71" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="257097" Gain="29.14" Impedance="75" Phase="0" BeamWidthAlongship="4.98" BeamWidthAthwartship="4.62" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="0.08" />\r\n            <FrequencyPar Frequency="258098" Gain="29.12" Impedance="75" Phase="0" BeamWidthAlongship="4.95" BeamWidthAthwartship="4.58" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="0.07" />\r\n            <FrequencyPar Frequency="259099" Gain="29.01" Impedance="75" Phase="0" BeamWidthAlongship="4.96" BeamWidthAthwartship="4.63" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="0.09" />\r\n            <FrequencyPar Frequency="260000" Gain="28.66" Impedance="75" Phase="0" BeamWidthAlongship="4.8" BeamWidthAthwartship="4.84" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="0.05" />\r\n          </Transducer>\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n    <Transceiver TransceiverName="WBT 714597" EthernetAddress="0090720ae765" IPAddress="157.237.15.103" Version="[0] Ethernet: 00:90:72:0A:E7:65&#xD;&#xA;[1] Parts-list: WBT 371790/F&#xD;&#xA;[2] Product: WBT&#xD;&#xA;IP Address: 157.237.15.103&#xD;&#xA;Subnet mask: 255.255.0.0&#xD;&#xA;Default gateway: 157.237.15.1&#xD;&#xA;Serial number: 714597&#xD;&#xA;Embedded software: Rev. 2.20&#xD;&#xA;FPGA TX firmware: Rev. 5&#xD;&#xA;FPGA RX firmware: Rev. 7&#xD;&#xA;CH1: 513W CH2: 493W CH3: 491W CH4: 497W&#xD;&#xA;TRD1: Unable to detect transducer&#xD;&#xA;TRD2: Unable to detect transducer&#xD;&#xA;TRD3: Unable to detect transducer&#xD;&#xA;TRD4: Unable to detect transducer&#xD;&#xA;" TransceiverSoftwareVersion="2.20" TransceiverNumber="6" MarketSegment="Scientific" TransceiverType="WBT" SerialNumber="714597" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000">\r\n      <Channels>\r\n        <Channel ChannelID="WBT 714597-15 ES333-7C" ChannelIdShort="ES333-7C Serial No: 101" MaxTxPowerTransceiver="2000" PulseDuration="6.4E-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192" HWChannelConfiguration="15">\r\n          <Transducer TransducerName="ES333-7C" SerialNumber="101" Frequency="333000" FrequencyMinimum="280000" FrequencyMaximum="450000" BeamType="1" EquivalentBeamAngle="-20.7" Gain="24;24;24;24;26.11" SaCorrection="0;0;0;0;-0.29" MaxTxPowerTransducer="50" BeamWidthAlongship="5.25" BeamWidthAthwartship="6.47" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="-1.85" DirectivityDropAt2XBeamWidth="0">\r\n            <FrequencyPar Frequency="310631" Gain="25.25" Impedance="75" Phase="0" BeamWidthAlongship="6.89" BeamWidthAthwartship="5.73" AngleOffsetAlongship="-0.04" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="311481" Gain="25.18" Impedance="75" Phase="0" BeamWidthAlongship="6.66" BeamWidthAthwartship="5.72" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="312332" Gain="25.14" Impedance="75" Phase="0" BeamWidthAlongship="6.51" BeamWidthAthwartship="5.64" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.25" />\r\n            <FrequencyPar Frequency="313183" Gain="25.12" Impedance="75" Phase="0" BeamWidthAlongship="6.35" BeamWidthAthwartship="5.75" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="314034" Gain="25.11" Impedance="75" Phase="0" BeamWidthAlongship="6.49" BeamWidthAthwartship="5.66" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="314885" Gain="25.32" Impedance="75" Phase="0" BeamWidthAlongship="6.37" BeamWidthAthwartship="5.52" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="315736" Gain="25.51" Impedance="75" Phase="0" BeamWidthAlongship="6.29" BeamWidthAthwartship="5.38" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="316587" Gain="25.6" Impedance="75" Phase="0" BeamWidthAlongship="6.23" BeamWidthAthwartship="5.46" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="317437" Gain="25.7" Impedance="75" Phase="0" BeamWidthAlongship="6.19" BeamWidthAthwartship="5.39" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="318288" Gain="25.71" Impedance="75" Phase="0" BeamWidthAlongship="6.61" BeamWidthAthwartship="5.37" AngleOffsetAlongship="-0.06" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="319139" Gain="25.56" Impedance="75" Phase="0" BeamWidthAlongship="6.32" BeamWidthAthwartship="5.56" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="319990" Gain="25.4" Impedance="75" Phase="0" BeamWidthAlongship="6.13" BeamWidthAthwartship="5.63" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="-0.29" />\r\n            <FrequencyPar Frequency="320841" Gain="25.55" Impedance="75" Phase="0" BeamWidthAlongship="6.14" BeamWidthAthwartship="5.35" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="321692" Gain="25.58" Impedance="75" Phase="0" BeamWidthAlongship="6.06" BeamWidthAthwartship="5.4" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="-0.35" />\r\n            <FrequencyPar Frequency="322543" Gain="25.84" Impedance="75" Phase="0" BeamWidthAlongship="5.89" BeamWidthAthwartship="5.27" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="323393" Gain="26.1" Impedance="75" Phase="0" BeamWidthAlongship="5.7" BeamWidthAthwartship="5.21" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="324244" Gain="26.18" Impedance="75" Phase="0" BeamWidthAlongship="5.91" BeamWidthAthwartship="5.22" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.35" />\r\n            <FrequencyPar Frequency="325095" Gain="26.04" Impedance="75" Phase="0" BeamWidthAlongship="6.08" BeamWidthAthwartship="5.48" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="325946" Gain="25.96" Impedance="75" Phase="0" BeamWidthAlongship="6.19" BeamWidthAthwartship="5.48" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.27" />\r\n            <FrequencyPar Frequency="326797" Gain="25.8" Impedance="75" Phase="0" BeamWidthAlongship="6.48" BeamWidthAthwartship="5.52" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="327648" Gain="25.74" Impedance="75" Phase="0" BeamWidthAlongship="6.31" BeamWidthAthwartship="5.55" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="328498" Gain="25.85" Impedance="75" Phase="0" BeamWidthAlongship="6.37" BeamWidthAthwartship="5.46" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="329349" Gain="26.01" Impedance="75" Phase="0" BeamWidthAlongship="6.08" BeamWidthAthwartship="5.25" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="330200" Gain="26.19" Impedance="75" Phase="0" BeamWidthAlongship="6.1" BeamWidthAthwartship="5.17" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="331051" Gain="26.31" Impedance="75" Phase="0" BeamWidthAlongship="6.3" BeamWidthAthwartship="5.22" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.35" />\r\n            <FrequencyPar Frequency="331902" Gain="26.48" Impedance="75" Phase="0" BeamWidthAlongship="6.19" BeamWidthAthwartship="5.46" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="332753" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="6.48" BeamWidthAthwartship="5.23" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="333604" Gain="26.26" Impedance="75" Phase="0" BeamWidthAlongship="6.65" BeamWidthAthwartship="5.32" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="334454" Gain="26.15" Impedance="75" Phase="0" BeamWidthAlongship="6.15" BeamWidthAthwartship="5.44" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="335305" Gain="26.29" Impedance="75" Phase="0" BeamWidthAlongship="6.35" BeamWidthAthwartship="5.26" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="336156" Gain="26.38" Impedance="75" Phase="0" BeamWidthAlongship="5.95" BeamWidthAthwartship="5.3" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.37" />\r\n            <FrequencyPar Frequency="337007" Gain="26.61" Impedance="75" Phase="0" BeamWidthAlongship="6.1" BeamWidthAthwartship="5.11" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.36" />\r\n            <FrequencyPar Frequency="337858" Gain="26.81" Impedance="75" Phase="0" BeamWidthAlongship="6.05" BeamWidthAthwartship="5.49" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.37" />\r\n            <FrequencyPar Frequency="338709" Gain="26.95" Impedance="75" Phase="0" BeamWidthAlongship="6.32" BeamWidthAthwartship="5.16" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="-0.35" />\r\n            <FrequencyPar Frequency="339560" Gain="26.96" Impedance="75" Phase="0" BeamWidthAlongship="6.28" BeamWidthAthwartship="5.24" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="340410" Gain="26.93" Impedance="75" Phase="0" BeamWidthAlongship="6.22" BeamWidthAthwartship="5.34" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="341261" Gain="26.82" Impedance="75" Phase="0" BeamWidthAlongship="5.86" BeamWidthAthwartship="5.34" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="342112" Gain="26.66" Impedance="75" Phase="0" BeamWidthAlongship="6.21" BeamWidthAthwartship="5.3" AngleOffsetAlongship="-0.03" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="342963" Gain="26.84" Impedance="75" Phase="0" BeamWidthAlongship="6.17" BeamWidthAthwartship="5.27" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="343814" Gain="26.93" Impedance="75" Phase="0" BeamWidthAlongship="6.15" BeamWidthAthwartship="5.15" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="344665" Gain="27.07" Impedance="75" Phase="0" BeamWidthAlongship="5.97" BeamWidthAthwartship="5.22" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="-0.41" />\r\n            <FrequencyPar Frequency="345516" Gain="27.29" Impedance="75" Phase="0" BeamWidthAlongship="6.15" BeamWidthAthwartship="5.08" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="346366" Gain="27.29" Impedance="75" Phase="0" BeamWidthAlongship="6.18" BeamWidthAthwartship="5.15" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="347217" Gain="27.23" Impedance="75" Phase="0" BeamWidthAlongship="6.22" BeamWidthAthwartship="5.13" AngleOffsetAlongship="-0.02" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="348068" Gain="27.11" Impedance="75" Phase="0" BeamWidthAlongship="6.31" BeamWidthAthwartship="5.18" AngleOffsetAlongship="-0.04" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="348919" Gain="26.96" Impedance="75" Phase="0" BeamWidthAlongship="6.07" BeamWidthAthwartship="5.2" AngleOffsetAlongship="-0.01" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="349770" Gain="26.83" Impedance="75" Phase="0" BeamWidthAlongship="5.85" BeamWidthAthwartship="5.46" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="370190" Gain="26.84" Impedance="75" Phase="0" BeamWidthAlongship="5.73" BeamWidthAthwartship="4.76" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.36" />\r\n            <FrequencyPar Frequency="371041" Gain="26.6" Impedance="75" Phase="0" BeamWidthAlongship="5.52" BeamWidthAthwartship="4.71" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="371892" Gain="26.57" Impedance="75" Phase="0" BeamWidthAlongship="5.25" BeamWidthAthwartship="4.55" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="372743" Gain="26.46" Impedance="75" Phase="0" BeamWidthAlongship="5.7" BeamWidthAthwartship="4.72" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.43" />\r\n            <FrequencyPar Frequency="373594" Gain="26.54" Impedance="75" Phase="0" BeamWidthAlongship="5.47" BeamWidthAthwartship="5.02" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.38" />\r\n            <FrequencyPar Frequency="374444" Gain="26.62" Impedance="75" Phase="0" BeamWidthAlongship="5.91" BeamWidthAthwartship="4.64" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.44" />\r\n            <FrequencyPar Frequency="375295" Gain="26.57" Impedance="75" Phase="0" BeamWidthAlongship="5.79" BeamWidthAthwartship="4.91" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.45" />\r\n            <FrequencyPar Frequency="376146" Gain="26.73" Impedance="75" Phase="0" BeamWidthAlongship="5.77" BeamWidthAthwartship="4.7" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.43" />\r\n            <FrequencyPar Frequency="376997" Gain="26.75" Impedance="75" Phase="0" BeamWidthAlongship="6.11" BeamWidthAthwartship="4.39" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.36" />\r\n            <FrequencyPar Frequency="377848" Gain="26.48" Impedance="75" Phase="0" BeamWidthAlongship="5.64" BeamWidthAthwartship="4.65" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="378699" Gain="26.06" Impedance="75" Phase="0" BeamWidthAlongship="5.75" BeamWidthAthwartship="4.54" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="379550" Gain="26.05" Impedance="75" Phase="0" BeamWidthAlongship="5.66" BeamWidthAthwartship="4.94" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.39" />\r\n            <FrequencyPar Frequency="390611" Gain="25.18" Impedance="75" Phase="0" BeamWidthAlongship="5.44" BeamWidthAthwartship="4.53" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="391461" Gain="25" Impedance="75" Phase="0" BeamWidthAlongship="5.66" BeamWidthAthwartship="4.29" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.29" />\r\n            <FrequencyPar Frequency="392312" Gain="25.86" Impedance="75" Phase="0" BeamWidthAlongship="5.28" BeamWidthAthwartship="4.49" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.26" />\r\n            <FrequencyPar Frequency="393163" Gain="26.06" Impedance="75" Phase="0" BeamWidthAlongship="5.47" BeamWidthAthwartship="4.04" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.38" />\r\n            <FrequencyPar Frequency="394014" Gain="26.04" Impedance="75" Phase="0" BeamWidthAlongship="5.39" BeamWidthAthwartship="4.65" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.38" />\r\n            <FrequencyPar Frequency="394865" Gain="26.46" Impedance="75" Phase="0" BeamWidthAlongship="5.3" BeamWidthAthwartship="4.11" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="395716" Gain="26.3" Impedance="75" Phase="0" BeamWidthAlongship="5.47" BeamWidthAthwartship="4.21" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="396567" Gain="26.76" Impedance="75" Phase="0" BeamWidthAlongship="5.25" BeamWidthAthwartship="4.09" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="397417" Gain="26.47" Impedance="75" Phase="0" BeamWidthAlongship="5.36" BeamWidthAthwartship="4.24" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.18" />\r\n            <FrequencyPar Frequency="398268" Gain="26.77" Impedance="75" Phase="0" BeamWidthAlongship="5.63" BeamWidthAthwartship="4.04" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="399119" Gain="26.27" Impedance="75" Phase="0" BeamWidthAlongship="5.38" BeamWidthAthwartship="4.23" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="-0.35" />\r\n            <FrequencyPar Frequency="399970" Gain="26.43" Impedance="75" Phase="0" BeamWidthAlongship="5.71" BeamWidthAthwartship="4.04" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="-0.34" />\r\n            <FrequencyPar Frequency="400821" Gain="26.21" Impedance="75" Phase="0" BeamWidthAlongship="5.57" BeamWidthAthwartship="4.26" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.26" />\r\n            <FrequencyPar Frequency="401672" Gain="26.61" Impedance="75" Phase="0" BeamWidthAlongship="5.04" BeamWidthAthwartship="4.28" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="402523" Gain="26.31" Impedance="75" Phase="0" BeamWidthAlongship="5.47" BeamWidthAthwartship="4.59" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.4" />\r\n            <FrequencyPar Frequency="403373" Gain="27.07" Impedance="75" Phase="0" BeamWidthAlongship="4.93" BeamWidthAthwartship="4.09" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.32" />\r\n            <FrequencyPar Frequency="404224" Gain="26.7" Impedance="75" Phase="0" BeamWidthAlongship="5.03" BeamWidthAthwartship="4.27" AngleOffsetAlongship="-0.03" AngleOffsetAthwartship="-0.23" />\r\n            <FrequencyPar Frequency="405075" Gain="27.16" Impedance="75" Phase="0" BeamWidthAlongship="5.13" BeamWidthAthwartship="4.35" AngleOffsetAlongship="-0.06" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="405926" Gain="26.76" Impedance="75" Phase="0" BeamWidthAlongship="5.33" BeamWidthAthwartship="4.05" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="406777" Gain="26.98" Impedance="75" Phase="0" BeamWidthAlongship="4.7" BeamWidthAthwartship="4.4" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.22" />\r\n            <FrequencyPar Frequency="407628" Gain="26.89" Impedance="75" Phase="0" BeamWidthAlongship="4.8" BeamWidthAthwartship="3.9" AngleOffsetAlongship="-0.02" AngleOffsetAthwartship="-0.38" />\r\n            <FrequencyPar Frequency="408478" Gain="27.05" Impedance="75" Phase="0" BeamWidthAlongship="4.73" BeamWidthAthwartship="4.63" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.39" />\r\n            <FrequencyPar Frequency="409329" Gain="27.34" Impedance="75" Phase="0" BeamWidthAlongship="5.05" BeamWidthAthwartship="4.13" AngleOffsetAlongship="-0.33" AngleOffsetAthwartship="-0.38" />\r\n            <FrequencyPar Frequency="430601" Gain="28.22" Impedance="75" Phase="0" BeamWidthAlongship="5.42" BeamWidthAthwartship="4.52" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.36" />\r\n            <FrequencyPar Frequency="431451" Gain="28.28" Impedance="75" Phase="0" BeamWidthAlongship="5.28" BeamWidthAthwartship="4.25" AngleOffsetAlongship="-0.1" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="432302" Gain="28.44" Impedance="75" Phase="0" BeamWidthAlongship="4.8" BeamWidthAthwartship="4.27" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.41" />\r\n            <FrequencyPar Frequency="433153" Gain="28.52" Impedance="75" Phase="0" BeamWidthAlongship="5.2" BeamWidthAthwartship="4.31" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="434004" Gain="28.86" Impedance="75" Phase="0" BeamWidthAlongship="5.06" BeamWidthAthwartship="3.98" AngleOffsetAlongship="-0.09" AngleOffsetAthwartship="-0.3" />\r\n            <FrequencyPar Frequency="434855" Gain="28.7" Impedance="75" Phase="0" BeamWidthAlongship="5.46" BeamWidthAthwartship="3.89" AngleOffsetAlongship="-0.06" AngleOffsetAthwartship="-0.22" />\r\n            <FrequencyPar Frequency="435706" Gain="28.66" Impedance="75" Phase="0" BeamWidthAlongship="5" BeamWidthAthwartship="4.07" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.26" />\r\n            <FrequencyPar Frequency="436557" Gain="28.47" Impedance="75" Phase="0" BeamWidthAlongship="4.79" BeamWidthAthwartship="3.96" AngleOffsetAlongship="-0.07" AngleOffsetAthwartship="-0.18" />\r\n            <FrequencyPar Frequency="437407" Gain="27.75" Impedance="75" Phase="0" BeamWidthAlongship="4.95" BeamWidthAthwartship="4.17" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="-0.41" />\r\n            <FrequencyPar Frequency="438258" Gain="27.66" Impedance="75" Phase="0" BeamWidthAlongship="5.66" BeamWidthAthwartship="4.56" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.26" />\r\n            <FrequencyPar Frequency="439109" Gain="28.15" Impedance="75" Phase="0" BeamWidthAlongship="4.95" BeamWidthAthwartship="4.54" AngleOffsetAlongship="0.03" AngleOffsetAthwartship="-0.39" />\r\n            <FrequencyPar Frequency="439960" Gain="28.48" Impedance="75" Phase="0" BeamWidthAlongship="4.88" BeamWidthAthwartship="4.19" AngleOffsetAlongship="-0.05" AngleOffsetAthwartship="-0.42" />\r\n            <FrequencyPar Frequency="440811" Gain="28.42" Impedance="75" Phase="0" BeamWidthAlongship="5.14" BeamWidthAthwartship="4.3" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.26" />\r\n            <FrequencyPar Frequency="441662" Gain="28.52" Impedance="75" Phase="0" BeamWidthAlongship="5.07" BeamWidthAthwartship="3.69" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.31" />\r\n            <FrequencyPar Frequency="442513" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="4.78" BeamWidthAthwartship="3.76" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="-0.28" />\r\n            <FrequencyPar Frequency="443363" Gain="28.13" Impedance="75" Phase="0" BeamWidthAlongship="5" BeamWidthAthwartship="3.87" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.25" />\r\n            <FrequencyPar Frequency="444214" Gain="27.78" Impedance="75" Phase="0" BeamWidthAlongship="5.05" BeamWidthAthwartship="3.98" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="-0.22" />\r\n            <FrequencyPar Frequency="445065" Gain="27.55" Impedance="75" Phase="0" BeamWidthAlongship="5.39" BeamWidthAthwartship="4.16" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.21" />\r\n            <FrequencyPar Frequency="445916" Gain="27.62" Impedance="75" Phase="0" BeamWidthAlongship="5.69" BeamWidthAthwartship="3.91" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.33" />\r\n            <FrequencyPar Frequency="446767" Gain="27.51" Impedance="75" Phase="0" BeamWidthAlongship="5.8" BeamWidthAthwartship="4.34" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.18" />\r\n            <FrequencyPar Frequency="447618" Gain="27.83" Impedance="75" Phase="0" BeamWidthAlongship="5.49" BeamWidthAthwartship="4.23" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="-0.25" />\r\n            <FrequencyPar Frequency="448468" Gain="27.54" Impedance="75" Phase="0" BeamWidthAlongship="6.05" BeamWidthAthwartship="4.42" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="-0.13" />\r\n            <FrequencyPar Frequency="449319" Gain="27.9" Impedance="75" Phase="0" BeamWidthAlongship="5.09" BeamWidthAthwartship="3.77" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.19" />\r\n            <FrequencyPar Frequency="450000" Gain="26.8" Impedance="75" Phase="0" BeamWidthAlongship="6.77" BeamWidthAthwartship="4.77" AngleOffsetAlongship="0.04" AngleOffsetAthwartship="-0.46" />\r\n          </Transducer>\r\n        </Channel>\r\n      </Channels>\r\n    </Transceiver>\r\n  </Transceivers>\r\n  <Transducers MergeOperation="AddNodeTree">\r\n    <Transducer TransducerName="ES18" TransducerMounting="DropKeel" TransducerCustomName="ES18 Serial No: 2039" TransducerSerialNumber="2039" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES70-7C" TransducerMounting="DropKeel" TransducerCustomName="ES70-7C Serial No: 105" TransducerSerialNumber="105" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES120-7C" TransducerMounting="DropKeel" TransducerCustomName="ES120-7C Serial No: 124" TransducerSerialNumber="124" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES200-7C" TransducerMounting="DropKeel" TransducerCustomName="ES200-7C Serial No: 208" TransducerSerialNumber="208" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES333-7C" TransducerMounting="DropKeel" TransducerCustomName="ES333-7C Serial No: 101" TransducerSerialNumber="101" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES38B" TransducerMounting="DropKeel" TransducerCustomName="ES38B Serial No: 30310" TransducerSerialNumber="30310" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n    <Transducer TransducerName="ES38-7" TransducerMounting="DropKeel" TransducerCustomName="ES38-7 Serial No: 200" TransducerSerialNumber="200" TransducerOrientation="Vertical" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\r\n  </Transducers>\r\n  <ConfiguredSensors MergeOperation="AddNodeTree">\r\n    <Sensor Name="GPS From GPS" Type="GPS" Port="Lan Port 2" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\r\n      <Telegram Name="GLL from GPS From GPS" SensorType="GPS" Type="GLL" SubscriptionPath="GPS From GPS@GPS.Geographical.Position" Enabled="1">\r\n        <Value Name="Latitude" Priority="2" />\r\n        <Value Name="Longitude" Priority="2" />\r\n      </Telegram>\r\n      <Telegram Name="GGA from GPS From GPS" SensorType="GPS" Type="GGA" SubscriptionPath="GPS From GPS@GPS.Global.Position" Enabled="1">\r\n        <Value Name="Latitude" Priority="1" />\r\n        <Value Name="Longitude" Priority="1" />\r\n      </Telegram>\r\n      <Telegram Name="RMC from GPS From GPS" SensorType="GPS" Type="RMC" SubscriptionPath="GPS From GPS@GPS.Specific.PositionSpeedCourse" Enabled="1">\r\n        <Value Name="Latitude" Priority="3" />\r\n        <Value Name="Longitude" Priority="3" />\r\n        <Value Name="Course" Priority="1" />\r\n        <Value Name="Speed" Priority="1" />\r\n      </Telegram>\r\n      <Telegram Name="VTG from GPS From GPS" SensorType="GPS" Type="VTG" SubscriptionPath="GPS From GPS@GPS.Ground" Enabled="1">\r\n        <Value Name="Course" Priority="2" />\r\n        <Value Name="CourseNotUsedMagnetic" Priority="1" />\r\n        <Value Name="Speed" Priority="2" />\r\n      </Telegram>\r\n      <Telegram Name="ZDA from GPS From GPS" SensorType="GPS" Type="ZDA" SubscriptionPath="GPS From GPS@GPS.TimeInfo" Enabled="1">\r\n        <Value Name="TimeInfo" Priority="1" />\r\n      </Telegram>\r\n    </Sensor>\r\n    <Sensor Name="DistanceLog From LOG" Type="DistanceLog" Port="Lan Port 3" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\r\n      <Telegram Name="VLW from DistanceLog From LOG" SensorType="DistanceLog" Type="VLW" SubscriptionPath="DistanceLog From LOG@DistanceLog.VesselDistance" Enabled="1">\r\n        <Value Name="VesselDistance" Priority="1" />\r\n      </Telegram>\r\n    </Sensor>\r\n    <Sensor Name="MotionBinary From MRU" Type="MotionBinary" Port="Lan Port 4" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\r\n      <Telegram Name="MRU from MotionBinary From MRU" SensorType="MotionBinary" Type="MRU" SubscriptionPath="MotionBinary From MRU@MotionBinary.MotionData" Enabled="1">\r\n        <Value Name="Roll" Priority="1" />\r\n        <Value Name="Pitch" Priority="1" />\r\n        <Value Name="Heading" Priority="1" />\r\n        <Value Name="Heave" Priority="1" />\r\n      </Telegram>\r\n    </Sensor>\r\n  </ConfiguredSensors>\r\n</Configuration>',
                dtype='<U91708')

  - Indexes: (4)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 714581-15 ES18', 'WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'],
                dtype='object', name='channel'))

    - pulse_length_bin
      PandasIndex

          PandasIndex(Index([0, 1, 2, 3, 4], dtype='int64', name='pulse_length_bin'))

    - cal_frequency
      PandasIndex

          PandasIndex(Index([ 34000,  34099,  34198,  34297,  34396,  34495,  34595,  34694,  34793,
                  34892,
                 ...
                 442513, 443363, 444214, 445065, 445916, 446767, 447618, 448468, 449319,
                 450000],
                dtype='int64', name='cal_frequency', length=382))

    - cal_channel_id
      PandasIndex

          PandasIndex(Index(['WBT 714583-15 ES120-7C', 'WBT 714590-15 ES70-7C',
                 'WBT 714596-15 ES38-7', 'WBT 714597-15 ES333-7C',
                 'WBT 714605-15 ES200-7C'],
                dtype='object', name='cal_channel_id'))

  - Attributes: (0)

#### Scenario 3

The example file below contains both narrowband (“CW” or “continuous wave”) “power/angle” data as well as broadband (“BB”, or “FM” or “frequency-modulated”) complex data. Therefore there are two groups under the `Sonar` group: `Beam_group1` and `Beam_group2`.

EchoData: standardized raw data from Internal Memory

- Top-level: contains metadata about the SONAR-netCDF4 file format.

      <xarray.Dataset>
      Dimensions:  ()
      Data variables:
          *empty*
      Attributes:
          conventions:                 CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
          keywords:                    EK80
          sonar_convention_authority:  ICES
          sonar_convention_name:       SONAR-netCDF4
          sonar_convention_version:    1.0
          summary:
          title:
          date_created:                2018-09-05T03:31:13Z
          processing_level:            Level 1A
          processing_level_url:        https://echopype.readthedocs.io/en/stable/pr...

  xarray.Dataset
  - Dimensions:
  - Coordinates: (0)
  - Data variables: (0)
  - Indexes: (0)
  - Attributes: (10)
    conventions :
      CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
    keywords :
      EK80
    sonar_convention_authority :
      ICES
    sonar_convention_name :
      SONAR-netCDF4
    sonar_convention_version :
      1.0
    summary :
    title :
    date_created :
      2018-09-05T03:31:13Z
    processing_level :
      Level 1A
    processing_level_url :
      https://echopype.readthedocs.io/en/stable/processing-levels.html

- Environment: contains information relevant to acoustic propagation through water.

      <xarray.Dataset>
      Dimensions:                       (time1: 1, sound_velocity_profile_depth: 2)
      Coordinates:
        * time1                         (time1) datetime64[ns] 2018-09-05T03:31:13....
        * sound_velocity_profile_depth  (sound_velocity_profile_depth) float64 1.0 ...
      Data variables:
          depth                         (time1) float64 35.0
          acidity                       (time1) float64 8.0
          salinity                      (time1) float64 30.1
          temperature                   (time1) float64 13.1
          sound_speed_indicative        (time1) float64 1.481e+03
          sound_velocity_profile        (time1, sound_velocity_profile_depth) float64 ...
          sound_velocity_source         (time1) <U10 'Calculated'
          transducer_name               (time1) <U7 'Unknown'
          transducer_sound_speed        (time1) float64 1.481e+03

  xarray.Dataset
  - Dimensions:
    - time1: 1
    - sound_velocity_profile_depth: 2
  - Coordinates: (2)
    - time1
      (time1)
      datetime64[ns]
      2018-09-05T03:31:13.384392192
      axis :
        T
      long_name :
        Timestamps for NMEA position datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to environmental variables. Note that Platform.time3 is the same as Environment.time1.

          array(['2018-09-05T03:31:13.384392192'], dtype='datetime64[ns]')

    - sound_velocity_profile_depth
      (sound_velocity_profile_depth)
      float64
      1.0 1e+03
      standard_name :
        depth
      units :
        m
      axis :
        Z
      positive :
        down
      valid_min :
        0.0

          array([   1., 1000.])

  - Data variables: (9)
    - depth
      (time1)
      float64
      35.0

          array([35.])

    - acidity
      (time1)
      float64
      8.0

          array([8.])

    - salinity
      (time1)
      float64
      30.1

          array([30.1])

    - temperature
      (time1)
      float64
      13.1

          array([13.1])

    - sound_speed_indicative
      (time1)
      float64
      1.481e+03

          array([1480.6])

    - sound_velocity_profile
      (time1, sound_velocity_profile_depth)
      float64
      1.481e+03 1.481e+03
      long_name :
        sound velocity profile
      standard_name :
        speed_of_sound_in_sea_water
      units :
        m/s
      valid_min :
        0.0
      comment :
        parsed from raw data files as (depth, sound_speed) value pairs

          array([[1480.6, 1480.6]])

    - sound_velocity_source
      (time1)
      <U10
      'Calculated'

          array(['Calculated'], dtype='<U10')

    - transducer_name
      (time1)
      <U7
      'Unknown'

          array(['Unknown'], dtype='<U7')

    - transducer_sound_speed
      (time1)
      float64
      1.481e+03

          array([1481.])

  - Indexes: (2)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192'], dtype='datetime64[ns]', name='time1', freq=None))

    - sound_velocity_profile_depth
      PandasIndex

          PandasIndex(Index([1.0, 1000.0], dtype='float64', name='sound_velocity_profile_depth'))

  - Attributes: (0)
- Platform: contains information about the platform on which the sonar is installed.

      <xarray.Dataset>
      Dimensions:                      (time1: 19, time2: 8, channel: 5)
      Coordinates:
        * channel                      (channel) <U25 'WBT 545612-15 ES200-7C_ES' ....
        * time1                        (time1) datetime64[ns] 2018-09-05T03:31:13.3...
        * time2                        (time2) datetime64[ns] 2018-09-05T03:31:13.3...
      Data variables: (12/23)
          latitude                     (time1) float64 47.62 47.62 ... 47.62 47.62
          longitude                    (time1) float64 -122.4 -122.4 ... -122.4 -122.4
          sentence_type                (time1) <U3 'GGA' 'GLL' 'RMC' ... 'GLL' 'RMC'
          pitch                        (time2) float64 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
          roll                         (time2) float64 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
          vertical_offset              (time2) float64 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
          ...                           ...
          MRU_rotation_y               float64 nan
          MRU_rotation_z               float64 nan
          position_offset_x            float64 nan
          position_offset_y            float64 nan
          position_offset_z            float64 nan
          frequency_nominal            (channel) float64 2e+05 7e+04 ... 1.2e+05
      Attributes:
          platform_name:
          platform_type:
          platform_code_ICES:

  xarray.Dataset
  - Dimensions:
    - time1: 19
    - time2: 8
    - channel: 5
  - Coordinates: (3)
    - channel
      (channel)
      <U25
      'WBT 545612-15 ES200-7C_ES' ... ...
      long_name :
        Vendor channel ID

          array(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'], dtype='<U25')

    - time1
      (time1)
      datetime64[ns]
      2018-09-05T03:31:13.384392192 .....
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA position data.

          array(['2018-09-05T03:31:13.384392192', '2018-09-05T03:31:13.384392192',
                 '2018-09-05T03:31:17.944834048', '2018-09-05T03:31:18.171913216',
                 '2018-09-05T03:31:18.451075072', '2018-09-05T03:31:18.751070208',
                 '2018-09-05T03:31:19.237182976', '2018-09-05T03:31:20.335493120',
                 '2018-09-05T03:31:21.173805056', '2018-09-05T03:31:21.332135936',
                 '2018-09-05T03:31:22.317605888', '2018-09-05T03:31:23.201410048',
                 '2018-09-05T03:31:24.213570048', '2018-09-05T03:31:24.513565184',
                 '2018-09-05T03:31:25.217525248', '2018-09-05T03:31:26.349835776',
                 '2018-09-05T03:31:27.216152064', '2018-09-05T03:31:27.374482944',
                 '2018-09-05T03:31:28.338949120'], dtype='datetime64[ns]')

    - time2
      (time2)
      datetime64[ns]
      2018-09-05T03:31:13.384392192 .....
      axis :
        T
      long_name :
        Timestamps for platform motion and orientation data
      standard_name :
        time
      comment :
        Time coordinate corresponding to platform motion and orientation data.

          array(['2018-09-05T03:31:13.384392192', '2018-09-05T03:31:19.130708992',
                 '2018-09-05T03:31:20.510795776', '2018-09-05T03:31:21.876867072',
                 '2018-09-05T03:31:23.282962944', '2018-09-05T03:31:24.648026112',
                 '2018-09-05T03:31:26.018102784', '2018-09-05T03:31:27.381187072'],
                dtype='datetime64[ns]')

  - Data variables: (23)
    - latitude
      (time1)
      float64
      47.62 47.62 47.62 ... 47.62 47.62
      long_name :
        Platform latitude
      standard_name :
        latitude
      units :
        degrees_north
      valid_range :
        (-90.0, 90.0)

          array([47.62169333, 47.62166667, 47.62166667, 47.62166667, 47.62169333,
                 47.62166667, 47.62166667, 47.62166667, 47.62169333, 47.62166667,
                 47.62166667, 47.62166667, 47.62169333, 47.62166667, 47.62166667,
                 47.62166667, 47.62169333, 47.62166667, 47.62166667])

    - longitude
      (time1)
      float64
      -122.4 -122.4 ... -122.4 -122.4
      long_name :
        Platform longitude
      standard_name :
        longitude
      units :
        degrees_east
      valid_range :
        (-180.0, 180.0)

          array([-122.39976833, -122.39983333, -122.39983333, -122.39983333,
                 -122.39976833, -122.39983333, -122.39983333, -122.39983333,
                 -122.39976833, -122.39983333, -122.39983333, -122.39983333,
                 -122.39976833, -122.39983333, -122.39983333, -122.39983333,
                 -122.39976667, -122.39983333, -122.39983333])

    - sentence_type
      (time1)
      <U3
      'GGA' 'GLL' 'RMC' ... 'GLL' 'RMC'
      long_name :
        NMEA sentence type

          array(['GGA', 'GLL', 'RMC', 'GLL', 'GGA', 'RMC', 'GLL', 'RMC', 'GGA',
                 'GLL', 'RMC', 'GLL', 'GGA', 'RMC', 'GLL', 'RMC', 'GGA', 'GLL',
                 'RMC'], dtype='<U3')

    - pitch
      (time2)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        Platform pitch
      standard_name :
        platform_pitch_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([0., 0., 0., 0., 0., 0., 0., 0.])

    - roll
      (time2)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        Platform roll
      standard_name :
        platform_roll_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([0., 0., 0., 0., 0., 0., 0., 0.])

    - vertical_offset
      (time2)
      float64
      0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0
      long_name :
        Platform vertical offset from nominal water level
      units :
        m

          array([0., 0., 0., 0., 0., 0., 0., 0.])

    - water_level
      ()
      float64
      0.0
      long_name :
        Distance from the platform coordinate system origin to the nominal water level along the z-axis
      units :
        m

          array(0.)

    - drop_keel_offset
      ()
      float64
      0.0

          array(0.)

    - drop_keel_offset_is_manual
      ()
      int64
      0

          array(0)

    - water_level_draft_is_manual
      ()
      int64
      0

          array(0)

    - transducer_offset_x
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0
      long_name :
        x-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0.])

    - transducer_offset_y
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0
      long_name :
        y-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0.])

    - transducer_offset_z
      (channel)
      float64
      0.0 0.0 0.0 0.0 0.0
      long_name :
        z-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([0., 0., 0., 0., 0.])

    - MRU_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_rotation_x
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the x-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_y
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the y-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_z
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the z-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - position_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - frequency_nominal
      (channel)
      float64
      2e+05 7e+04 3.8e+04 1.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([200000.,  70000.,  38000.,  18000., 120000.])

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'],
                dtype='object', name='channel'))

    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:17.944834048',
                         '2018-09-05 03:31:18.171913216',
                         '2018-09-05 03:31:18.451075072',
                         '2018-09-05 03:31:18.751070208',
                         '2018-09-05 03:31:19.237182976',
                         '2018-09-05 03:31:20.335493120',
                         '2018-09-05 03:31:21.173805056',
                         '2018-09-05 03:31:21.332135936',
                         '2018-09-05 03:31:22.317605888',
                         '2018-09-05 03:31:23.201410048',
                         '2018-09-05 03:31:24.213570048',
                         '2018-09-05 03:31:24.513565184',
                         '2018-09-05 03:31:25.217525248',
                         '2018-09-05 03:31:26.349835776',
                         '2018-09-05 03:31:27.216152064',
                         '2018-09-05 03:31:27.374482944',
                         '2018-09-05 03:31:28.338949120'],
                        dtype='datetime64[ns]', name='time1', freq=None))

    - time2
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:19.130708992',
                         '2018-09-05 03:31:20.510795776',
                         '2018-09-05 03:31:21.876867072',
                         '2018-09-05 03:31:23.282962944',
                         '2018-09-05 03:31:24.648026112',
                         '2018-09-05 03:31:26.018102784',
                         '2018-09-05 03:31:27.381187072'],
                        dtype='datetime64[ns]', name='time2', freq=None))

  - Attributes: (3)
    platform_name :
    platform_type :
    platform_code_ICES :

- NMEA: contains information specific to the NMEA protocol.

      <xarray.Dataset>
      Dimensions:        (time1: 55)
      Coordinates:
        * time1          (time1) datetime64[ns] 2018-09-05T03:31:13.384392192 ... 2...
      Data variables:
          NMEA_datagram  (time1) <U73 '$SDVLW,0.050,N,0.050,N' ... '$GPRMC,033128,A...
      Attributes:
          description:  All NMEA sensor datagrams

  xarray.Dataset
  - Dimensions:
    - time1: 55
  - Coordinates: (1)
    - time1
      (time1)
      datetime64[ns]
      2018-09-05T03:31:13.384392192 .....
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA sensor data.

          array(['2018-09-05T03:31:13.384392192', '2018-09-05T03:31:13.384392192',
                 '2018-09-05T03:31:13.384392192', '2018-09-05T03:31:13.384392192',
                 '2018-09-05T03:31:13.384392192', '2018-09-05T03:31:13.384392192',
                 '2018-09-05T03:31:17.711503872', '2018-09-05T03:31:17.803168768',
                 '2018-09-05T03:31:17.944834048', '2018-09-05T03:31:18.080247808',
                 '2018-09-05T03:31:18.171913216', '2018-09-05T03:31:18.257328128',
                 '2018-09-05T03:31:18.282328064', '2018-09-05T03:31:18.359411200',
                 '2018-09-05T03:31:18.451075072', '2018-09-05T03:31:18.609405952',
                 '2018-09-05T03:31:18.751070208', '2018-09-05T03:31:19.145517056',
                 '2018-09-05T03:31:19.237182976', '2018-09-05T03:31:19.322597888',
                 '2018-09-05T03:31:19.347596800', '2018-09-05T03:31:20.102162944',
                 '2018-09-05T03:31:20.193826816', '2018-09-05T03:31:20.335493120',
                 '2018-09-05T03:31:21.082140160', '2018-09-05T03:31:21.173805056',
                 '2018-09-05T03:31:21.332135936', '2018-09-05T03:31:21.417550848',
                 '2018-09-05T03:31:21.442550784', '2018-09-05T03:31:22.084276224',
                 '2018-09-05T03:31:22.175940096', '2018-09-05T03:31:22.317605888',
                 '2018-09-05T03:31:23.109745152', '2018-09-05T03:31:23.201410048',
                 '2018-09-05T03:31:23.286824960', '2018-09-05T03:31:23.311824896',
                 '2018-09-05T03:31:24.121902080', '2018-09-05T03:31:24.213570048',
                 '2018-09-05T03:31:24.371900928', '2018-09-05T03:31:24.513565184',
                 '2018-09-05T03:31:25.125859840', '2018-09-05T03:31:25.217525248',
                 '2018-09-05T03:31:25.302940160', '2018-09-05T03:31:25.327940096',
                 '2018-09-05T03:31:26.116507136', '2018-09-05T03:31:26.208172032',
                 '2018-09-05T03:31:26.349835776', '2018-09-05T03:31:27.124485120',
                 '2018-09-05T03:31:27.216152064', '2018-09-05T03:31:27.374482944',
                 '2018-09-05T03:31:27.459895808', '2018-09-05T03:31:27.484897792',
                 '2018-09-05T03:31:28.105618944', '2018-09-05T03:31:28.197286912',
                 '2018-09-05T03:31:28.338949120'], dtype='datetime64[ns]')

  - Data variables: (1)
    - NMEA_datagram
      (time1)
      <U73
      '$SDVLW,0.050,N,0.050,N' ... '$G...
      long_name :
        NMEA datagram

          array(['$SDVLW,0.050,N,0.050,N',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGGA,033115,4737.3016,N,12223.9861,W,2,10,00.9,17.9,M,-18.5,M,13.0,0276',
                 '$GPGLL,4737.30,N,12223.99,W,033115,A,D', '$GPHDT,,T',
                 '$GPVTG,344,T,332,M,00.1,N,00.2,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,-0.1,V,D',
                 '$GPRMC,033116,A,4737.30,N,12223.99,W,00.1,022,050918,012.0,E,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGLL,4737.30,N,12223.99,W,033117,A,D', '$GPHDT,,T',
                 '$GPVTG,017,T,005,M,00.1,N,00.1,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGGA,033118,4737.3016,N,12223.9861,W,2,10,00.9,17.9,M,-18.5,M,13.0,0276',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,-0.0,V,D',
                 '$GPRMC,033118,A,4737.30,N,12223.99,W,00.1,312,050918,012.0,E,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGLL,4737.30,N,12223.99,W,033119,A,D', '$GPHDT,,T',
                 '$GPVTG,315,T,303,M,00.1,N,00.2,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,-0.1,V,D',
          ...
                 '$GPGLL,4737.30,N,12223.99,W,033123,A,D', '$GPHDT,,T',
                 '$GPVTG,340,T,328,M,00.3,N,00.5,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGGA,033124,4737.3016,N,12223.9861,W,2,10,00.9,17.9,M,-18.5,M,10.0,0276',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,-0.2,V,D',
                 '$GPRMC,033124,A,4737.30,N,12223.99,W,00.1,196,050918,012.0,E,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGLL,4737.30,N,12223.99,W,033125,A,D', '$GPHDT,,T',
                 '$GPVTG,208,T,196,M,00.1,N,00.1,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,-0.0,V,D',
                 '$GPRMC,033126,A,4737.30,N,12223.99,W,00.1,087,050918,012.0,E,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPGGA,033127,4737.3016,N,12223.9860,W,2,10,00.9,17.8,M,-18.5,M,13.0,0276',
                 '$GPGLL,4737.30,N,12223.99,W,033127,A,D', '$GPHDT,,T',
                 '$GPVTG,093,T,081,M,00.1,N,00.1,K,D',
                 '$GPDTM,W84,,0000.0000,N,00000.0000,E,,W84',
                 '$GPRMB,A,9.99,R,1996,0028,0000.00,N,00000.00,E,999.9,114,00.0,V,D',
                 '$GPRMC,033128,A,4737.30,N,12223.99,W,00.1,165,050918,012.0,E,D'],
                dtype='<U73')

  - Indexes: (1)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:17.711503872',
                         '2018-09-05 03:31:17.803168768',
                         '2018-09-05 03:31:17.944834048',
                         '2018-09-05 03:31:18.080247808',
                         '2018-09-05 03:31:18.171913216',
                         '2018-09-05 03:31:18.257328128',
                         '2018-09-05 03:31:18.282328064',
                         '2018-09-05 03:31:18.359411200',
                         '2018-09-05 03:31:18.451075072',
                         '2018-09-05 03:31:18.609405952',
                         '2018-09-05 03:31:18.751070208',
                         '2018-09-05 03:31:19.145517056',
                         '2018-09-05 03:31:19.237182976',
                         '2018-09-05 03:31:19.322597888',
                         '2018-09-05 03:31:19.347596800',
                         '2018-09-05 03:31:20.102162944',
                         '2018-09-05 03:31:20.193826816',
                         '2018-09-05 03:31:20.335493120',
                         '2018-09-05 03:31:21.082140160',
                         '2018-09-05 03:31:21.173805056',
                         '2018-09-05 03:31:21.332135936',
                         '2018-09-05 03:31:21.417550848',
                         '2018-09-05 03:31:21.442550784',
                         '2018-09-05 03:31:22.084276224',
                         '2018-09-05 03:31:22.175940096',
                         '2018-09-05 03:31:22.317605888',
                         '2018-09-05 03:31:23.109745152',
                         '2018-09-05 03:31:23.201410048',
                         '2018-09-05 03:31:23.286824960',
                         '2018-09-05 03:31:23.311824896',
                         '2018-09-05 03:31:24.121902080',
                         '2018-09-05 03:31:24.213570048',
                         '2018-09-05 03:31:24.371900928',
                         '2018-09-05 03:31:24.513565184',
                         '2018-09-05 03:31:25.125859840',
                         '2018-09-05 03:31:25.217525248',
                         '2018-09-05 03:31:25.302940160',
                         '2018-09-05 03:31:25.327940096',
                         '2018-09-05 03:31:26.116507136',
                         '2018-09-05 03:31:26.208172032',
                         '2018-09-05 03:31:26.349835776',
                         '2018-09-05 03:31:27.124485120',
                         '2018-09-05 03:31:27.216152064',
                         '2018-09-05 03:31:27.374482944',
                         '2018-09-05 03:31:27.459895808',
                         '2018-09-05 03:31:27.484897792',
                         '2018-09-05 03:31:28.105618944',
                         '2018-09-05 03:31:28.197286912',
                         '2018-09-05 03:31:28.338949120'],
                        dtype='datetime64[ns]', name='time1', freq=None))

  - Attributes: (1)
    description :
      All NMEA sensor datagrams

- Provenance: contains metadata about how the SONAR-netCDF4 version of the data were obtained.

      <xarray.Dataset>
      Dimensions:           (filenames: 1)
      Coordinates:
        * filenames         (filenames) int64 0
      Data variables:
          source_filenames  (filenames) <U47 './example_raw/Summer2018--D20180905-T...
      Attributes:
          conversion_software_name:     echopype
          conversion_software_version:  0.7.2.dev50+g451d5ef6
          conversion_time:              2023-08-20T18:29:17Z

  xarray.Dataset
  - Dimensions:
    - filenames: 1
  - Coordinates: (1)
    - filenames
      (filenames)
      int64
      0
      long_name :
        Index for data and metadata source filenames

          array([0])

  - Data variables: (1)
    - source_filenames
      (filenames)
      <U47
      './example_raw/Summer2018--D2018...
      long_name :
        Source filenames

          array(['./example_raw/Summer2018--D20180905-T033113.raw'], dtype='<U47')

  - Indexes: (1)
    - filenames
      PandasIndex

          PandasIndex(Index([0], dtype='int64', name='filenames'))

  - Attributes: (3)
    conversion_software_name :
      echopype
    conversion_software_version :
      0.7.2.dev50+g451d5ef6
    conversion_time :
      2023-08-20T18:29:17Z
- Sonar: contains sonar system metadata and sonar beam groups.

      <xarray.Dataset>
      Dimensions:                    (channel: 5, beam_group: 2)
      Coordinates:
        * channel                    (channel) <U25 'WBT 545612-15 ES200-7C_ES' ......
        * beam_group                 (beam_group) <U11 'Beam_group1' 'Beam_group2'
      Data variables:
          frequency_nominal          (channel) float64 2e+05 7e+04 ... 1.8e+04 1.2e+05
          transceiver_serial_number  (channel) <U6 '545612' '549762' ... '743869'
          transducer_name            (channel) <U8 'ES70-7C' 'ES70-7C' ... 'ES120-7C'
          transducer_serial_number   (channel) <U1 '0' '0' '2' '1' '3'
          beam_group_descr           (beam_group) <U131 'contains complex backscatt...
      Attributes:
          sonar_manufacturer:      Simrad
          sonar_model:             EK80
          sonar_serial_number:
          sonar_software_name:     EK80
          sonar_software_version:  2.0.1.0
          sonar_type:              echosounder

  xarray.Dataset
  - Dimensions:
    - channel: 5
    - beam_group: 2
  - Coordinates: (2)
    - channel
      (channel)
      <U25
      'WBT 545612-15 ES200-7C_ES' ... ...
      long_name :
        Vendor channel ID

          array(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'], dtype='<U25')

    - beam_group
      (beam_group)
      <U11
      'Beam_group1' 'Beam_group2'
      long_name :
        Beam group name

          array(['Beam_group1', 'Beam_group2'], dtype='<U11')

  - Data variables: (5)
    - frequency_nominal
      (channel)
      float64
      2e+05 7e+04 3.8e+04 1.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([200000.,  70000.,  38000.,  18000., 120000.])

    - transceiver_serial_number
      (channel)
      <U6
      '545612' '549762' ... '743869'
      long_name :
        Transceiver serial number

          array(['545612', '549762', '743366', '743367', '743869'], dtype='<U6')

    - transducer_name
      (channel)
      <U8
      'ES70-7C' 'ES70-7C' ... 'ES120-7C'
      long_name :
        Transducer name

          array(['ES70-7C', 'ES70-7C', 'ES38B', 'ES18', 'ES120-7C'], dtype='<U8')

    - transducer_serial_number
      (channel)
      <U1
      '0' '0' '2' '1' '3'
      long_name :
        Transducer serial number

          array(['0', '0', '2', '1', '3'], dtype='<U1')

    - beam_group_descr
      (beam_group)
      <U131
      'contains complex backscatter da...
      long_name :
        Beam group description

          array(['contains complex backscatter data and other beam or channel-specific data.',
                 'contains backscatter power (uncalibrated) and other beam or channel-specific data, including split-beam angle data when they exist.'],
                dtype='<U131')

  - Indexes: (2)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'],
                dtype='object', name='channel'))

    - beam_group
      PandasIndex

          PandasIndex(Index(['Beam_group1', 'Beam_group2'], dtype='object', name='beam_group'))

  - Attributes: (6)
    sonar_manufacturer :
      Simrad
    sonar_model :
      EK80
    sonar_serial_number :
    sonar_software_name :
      EK80
    sonar_software_version :
      2.0.1.0
    sonar_type :
      echosounder

- Beam_group1: contains complex backscatter data and other beam or channel-specific data.

      <xarray.Dataset>
      Dimensions:                        (channel: 3, ping_time: 8,
                                          range_sample: 6754, beam: 4)
      Coordinates:
        * channel                        (channel) <U25 'WBT 545612-15 ES200-7C_ES'...
        * ping_time                      (ping_time) datetime64[ns] 2018-09-05T03:3...
        * range_sample                   (range_sample) int64 0 1 2 ... 6751 6752 6753
        * beam                           (beam) <U21 '1' '2' '3' '4'
      Data variables: (12/26)
          frequency_nominal              (channel) float64 2e+05 7e+04 1.2e+05
          beam_type                      (channel) int64 1 1 1
          beamwidth_twoway_alongship     (channel) float64 7.0 7.0 7.0
          beamwidth_twoway_athwartship   (channel) float64 7.0 7.0 7.0
          beam_direction_x               (channel) float64 nan nan nan
          beam_direction_y               (channel) float64 nan nan nan
          ...                             ...
          transmit_power                 (channel, ping_time) float64 105.0 ... 250.0
          transmit_duration_nominal      (channel, ping_time) float32 0.002048 ... ...
          slope                          (channel, ping_time) float64 0.005919 ... ...
          channel_mode                   (channel, ping_time) int8 0 0 0 0 ... 0 0 0 0
          transmit_type                  (channel, ping_time) <U3 'LFM' ... 'LFM'
          sample_time_offset             (channel, ping_time) float64 0.0 0.0 ... 0.0
      Attributes:
          beam_mode:              vertical
          conversion_equation_t:  type_3

  xarray.Dataset
  - Dimensions:
    - channel: 3
    - ping_time: 8
    - range_sample: 6754
    - beam: 4
  - Coordinates: (4)
    - channel
      (channel)
      <U25
      'WBT 545612-15 ES200-7C_ES' ... ...
      long_name :
        Vendor channel ID

          array(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743869-15 ES120-7C_ES'], dtype='<U25')

    - ping_time
      (ping_time)
      datetime64[ns]
      2018-09-05T03:31:13.384392192 .....
      long_name :
        Timestamp of each ping
      standard_name :
        time
      axis :
        T

          array(['2018-09-05T03:31:13.384392192', '2018-09-05T03:31:19.130708992',
                 '2018-09-05T03:31:20.510795776', '2018-09-05T03:31:21.876867072',
                 '2018-09-05T03:31:23.282962944', '2018-09-05T03:31:24.648026112',
                 '2018-09-05T03:31:26.018102784', '2018-09-05T03:31:27.381187072'],
                dtype='datetime64[ns]')

    - range_sample
      (range_sample)
      int64
      0 1 2 3 4 ... 6750 6751 6752 6753
      long_name :
        Along-range sample number, base 0

          array([   0,    1,    2, ..., 6751, 6752, 6753])

    - beam
      (beam)
      <U21
      '1' '2' '3' '4'
      long_name :
        Beam name

          array(['1', '2', '3', '4'], dtype='<U21')

  - Data variables: (26)
    - frequency_nominal
      (channel)
      float64
      2e+05 7e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([200000.,  70000., 120000.])

    - beam_type
      (channel)
      int64
      1 1 1
      long_name :
        type of transducer (0-single, 1-split)

          array([1, 1, 1])

    - beamwidth_twoway_alongship
      (channel)
      float64
      7.0 7.0 7.0
      long_name :
        Half power two-way beam width along alongship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_minor and beamwidth_transmit_minor), but Simrad echosounders record two-way beamwidth in the data.

          array([7., 7., 7.])

    - beamwidth_twoway_athwartship
      (channel)
      float64
      7.0 7.0 7.0
      long_name :
        Half power two-way beam width along athwartship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_major and beamwidth_transmit_major), but Simrad echosounders record two-way beamwidth in the data.

          array([7., 7., 7.])

    - beam_direction_x
      (channel)
      float64
      nan nan nan
      long_name :
        x-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - beam_direction_y
      (channel)
      float64
      nan nan nan
      long_name :
        y-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - beam_direction_z
      (channel)
      float64
      nan nan nan
      long_name :
        z-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan])

    - angle_offset_alongship
      (channel)
      float64
      0.0 0.0 0.0
      long_name :
        electrical alongship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([0., 0., 0.])

    - angle_offset_athwartship
      (channel)
      float64
      0.0 0.0 0.0
      long_name :
        electrical athwartship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([0., 0., 0.])

    - angle_sensitivity_alongship
      (channel)
      float64
      23.0 23.0 23.0
      long_name :
        alongship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([23., 23., 23.])

    - angle_sensitivity_athwartship
      (channel)
      float64
      23.0 23.0 23.0
      long_name :
        athwartship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([23., 23., 23.])

    - equivalent_beam_angle
      (channel)
      float64
      -20.7 -20.7 -20.7
      long_name :
        Equivalent beam angle
      units :
        sr
      valid_range :
        (0.0, 12.566370614359172)

          array([-20.7, -20.7, -20.7])

    - transceiver_software_version
      (channel)
      <U4
      '2.20' '2.20' '2.20'

          array(['2.20', '2.20', '2.20'], dtype='<U4')

    - beam_stabilisation
      ()
      int8
      0
      long_name :
        Beam stabilisation applied (or not)
      flag_values :
        [0, 1]
      flag_meanings :
        ['not stabilised', 'stabilised']

          array(0, dtype=int8)

    - non_quantitative_processing
      ()
      int16
      0
      long_name :
        Presence or not of non-quantitative processing applied to the backscattering data (sonar specific)
      flag_values :
        [0]
      flag_meanings :
        ['None']

          array(0, dtype=int16)

    - backscatter_r
      (channel, ping_time, range_sample, beam)
      float32
      -4.298e-06 3.867e-05 ... nan nan
      long_name :
        Raw backscatter measurements (real part)
      units :
        dB

          array([[[[-4.29763531e-06,  3.86729662e-05,  2.33894734e-05,
                     5.72816225e-06],
                   [-2.73155019e-04,  2.44547555e-04,  9.64225255e-05,
                    -3.05581023e-04],
                   [-3.00815591e-04, -2.43706745e-03, -1.58473768e-03,
                    -1.18800788e-03],
                   ...,
                   [-1.65958518e-05, -2.58945911e-05, -2.98878549e-05,
                    -2.41661473e-05],
                   [ 1.02236493e-06, -7.83117116e-07,  6.22029165e-06,
                     4.81953884e-06],
                   [-3.78071741e-06, -8.14926352e-06,  2.79801334e-05,
                    -1.02947824e-05]],

                  [[ 1.29165710e-05, -9.57875454e-06, -2.87153125e-06,
                     2.67868309e-05],
                   [-8.73619720e-05,  3.26560024e-04,  5.91778371e-05,
                     1.94749460e-04],
                   [-1.40547915e-03,  2.44475575e-03,  7.52332213e-04,
                    -1.32918579e-03],
          ...
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[ 3.46757406e-06,  7.53119821e-06,  1.18436474e-05,
                     6.57753480e-06],
                   [-3.84744984e-04, -8.72485398e-04,  7.84744276e-04,
                    -8.53412319e-04],
                   [-1.66867126e-03, -1.12699415e-03, -2.87959818e-03,
                    -1.03543920e-03],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]]]], dtype=float32)

    - backscatter_i
      (channel, ping_time, range_sample, beam)
      float32
      6.935e-06 -8.387e-06 ... nan nan
      long_name :
        Raw backscatter measurements (imaginary part)
      units :
        dB

          array([[[[ 6.93506490e-06, -8.38657888e-06, -6.21983827e-06,
                     1.65345573e-05],
                   [-7.54408611e-05,  4.96721535e-04,  2.19546768e-04,
                     1.37530660e-04],
                   [-1.16132933e-03,  1.59621343e-03,  5.95925667e-04,
                    -1.03163382e-03],
                   ...,
                   [ 8.62595243e-06, -1.03545763e-05, -2.06495770e-05,
                     3.37925665e-09],
                   [-8.11926748e-06, -4.64084633e-06, -3.42662643e-05,
                    -7.56147392e-06],
                   [-1.07718779e-05, -2.35702119e-05, -3.81993123e-05,
                    -6.62271077e-06]],

                  [[ 9.93596132e-06, -2.11832830e-05, -1.31272839e-06,
                    -2.62553681e-06],
                   [ 2.38144814e-04, -3.94274568e-04, -1.58036550e-04,
                     2.91277276e-04],
                   [ 5.92108292e-04,  1.69538625e-03,  9.85848135e-04,
                     1.73352927e-03],
          ...
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]],

                  [[-1.33935928e-05, -2.96481285e-05,  3.49774527e-05,
                    -3.16395926e-05],
                   [-8.19072535e-04, -1.14987011e-03, -2.93189165e-04,
                    -1.25668163e-03],
                   [ 1.13078149e-03,  6.18802907e-04,  1.55804970e-03,
                     7.29431107e-04],
                   ...,
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan],
                   [            nan,             nan,             nan,
                                nan]]]], dtype=float32)

    - transmit_frequency_start
      (channel, ping_time)
      float64
      1.65e+05 1.65e+05 ... 9e+04 9e+04
      long_name :
        Start frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([[165000., 165000., 165000., 165000., 165000., 165000., 165000.,
                  165000.],
                 [ 45000.,  45000.,  45000.,  45000.,  45000.,  45000.,  45000.,
                   45000.],
                 [ 90000.,  90000.,  90000.,  90000.,  90000.,  90000.,  90000.,
                   90000.]])

    - transmit_frequency_stop
      (channel, ping_time)
      float64
      2.6e+05 2.6e+05 ... 1.6e+05 1.6e+05
      long_name :
        Stop frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([[260000., 260000., 260000., 260000., 260000., 260000., 260000.,
                  260000.],
                 [ 85000.,  85000.,  85000.,  85000.,  85000.,  85000.,  85000.,
                   85000.],
                 [160000., 160000., 160000., 160000., 160000., 160000., 160000.,
                  160000.]])

    - sample_interval
      (channel, ping_time)
      float64
      8e-06 8e-06 ... 1.067e-05 1.067e-05
      long_name :
        Interval between recorded raw data samples
      units :
        s
      valid_min :
        0.0

          array([[8.00000e-06, 8.00000e-06, 8.00000e-06, 8.00000e-06, 8.00000e-06,
                  8.00000e-06, 8.00000e-06, 8.00000e-06],
                 [1.60000e-05, 1.60000e-05, 1.60000e-05, 1.60000e-05, 1.60000e-05,
                  1.60000e-05, 1.60000e-05, 1.60000e-05],
                 [1.06667e-05, 1.06667e-05, 1.06667e-05, 1.06667e-05, 1.06667e-05,
                  1.06667e-05, 1.06667e-05, 1.06667e-05]])

    - transmit_power
      (channel, ping_time)
      float64
      105.0 105.0 105.0 ... 250.0 250.0
      long_name :
        Nominal transmit power
      units :
        W
      valid_min :
        0.0

          array([[105., 105., 105., 105., 105., 105., 105., 105.],
                 [750., 750., 750., 750., 750., 750., 750., 750.],
                 [250., 250., 250., 250., 250., 250., 250., 250.]])

    - transmit_duration_nominal
      (channel, ping_time)
      float32
      0.002048 0.002048 ... 0.002048
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        s
      valid_min :
        0.0

          array([[0.002048, 0.002048, 0.002048, 0.002048, 0.002048, 0.002048,
                  0.002048, 0.002048],
                 [0.002048, 0.002048, 0.002048, 0.002048, 0.002048, 0.002048,
                  0.002048, 0.002048],
                 [0.002048, 0.002048, 0.002048, 0.002048, 0.002048, 0.002048,
                  0.002048, 0.002048]], dtype=float32)

    - slope
      (channel, ping_time)
      float64
      0.005919 0.005919 ... 0.01085
      long_name :
        Hann window slope parameter for transmit signal

          array([[0.00591856, 0.00591856, 0.00591856, 0.00591856, 0.00591856,
                  0.00591856, 0.00591856, 0.00591856],
                 [0.0217014 , 0.0217014 , 0.0217014 , 0.0217014 , 0.0217014 ,
                  0.0217014 , 0.0217014 , 0.0217014 ],
                 [0.0108507 , 0.0108507 , 0.0108507 , 0.0108507 , 0.0108507 ,
                  0.0108507 , 0.0108507 , 0.0108507 ]])

    - channel_mode
      (channel, ping_time)
      int8
      0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
      long_name :
        Transceiver mode
      flag_values :
        [0, 1]
      flag_meanings :
        ['Active', 'Unknown']

          array([[0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0]], dtype=int8)

    - transmit_type
      (channel, ping_time)
      <U3
      'LFM' 'LFM' 'LFM' ... 'LFM' 'LFM'
      long_name :
        Type of transmitted pulse
      flag_values :
        ['CW', 'LFM', 'FMD']
      flag_meanings :
        ['Continuous Wave – a pulse nominally of one frequency', 'Linear Frequency Modulation – a pulse which varies from transmit_frequency_start to transmit_frequency_stop in a linear manner over the nominal pulse duration (transmit_duration_nominal)', "Frequency Modulated 'D' - An EK80-specific FM type that is not clearly described"]

          array([['LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM'],
                 ['LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM'],
                 ['LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM', 'LFM']],
                dtype='<U3')

    - sample_time_offset
      (channel, ping_time)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
      long_name :
        Time offset that is subtracted from the timestamp of each sample
      units :
        s

          array([[0., 0., 0., 0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0., 0., 0., 0.]])

  - Indexes: (4)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743869-15 ES120-7C_ES'],
                dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:19.130708992',
                         '2018-09-05 03:31:20.510795776',
                         '2018-09-05 03:31:21.876867072',
                         '2018-09-05 03:31:23.282962944',
                         '2018-09-05 03:31:24.648026112',
                         '2018-09-05 03:31:26.018102784',
                         '2018-09-05 03:31:27.381187072'],
                        dtype='datetime64[ns]', name='ping_time', freq=None))

    - range_sample
      PandasIndex

          PandasIndex(Index([   0,    1,    2,    3,    4,    5,    6,    7,    8,    9,
                 ...
                 6744, 6745, 6746, 6747, 6748, 6749, 6750, 6751, 6752, 6753],
                dtype='int64', name='range_sample', length=6754))

    - beam
      PandasIndex

          PandasIndex(Index(['1', '2', '3', '4'], dtype='object', name='beam'))

  - Attributes: (2)
    beam_mode :
      vertical
    conversion_equation_t :
      type_3
- Beam_group2: contains backscatter power (uncalibrated) and other beam or channel-specific data, including split-beam angle data when they exist.

      <xarray.Dataset>
      Dimensions:                        (channel: 2, ping_time: 8, range_sample: 225)
      Coordinates:
        * channel                        (channel) <U22 'WBT 743366-15 ES38B_ES' 'W...
        * ping_time                      (ping_time) datetime64[ns] 2018-09-05T03:3...
        * range_sample                   (range_sample) int64 0 1 2 3 ... 222 223 224
      Data variables: (12/27)
          frequency_nominal              (channel) float64 3.8e+04 1.8e+04
          beam_type                      (channel) int64 1 1
          beamwidth_twoway_alongship     (channel) float64 7.0 11.0
          beamwidth_twoway_athwartship   (channel) float64 7.0 11.0
          beam_direction_x               (channel) float64 nan nan
          beam_direction_y               (channel) float64 nan nan
          ...                             ...
          transmit_power                 (channel, ping_time) float64 2e+03 ... 1.5...
          transmit_duration_nominal      (channel, ping_time) float32 0.001024 ... ...
          slope                          (channel, ping_time) float64 0.257 ... 0.5
          channel_mode                   (channel, ping_time) int8 0 0 0 0 ... 0 0 0 0
          transmit_type                  (channel, ping_time) <U2 'CW' 'CW' ... 'CW'
          sample_time_offset             (channel, ping_time) float64 0.0 0.0 ... 0.0
      Attributes:
          beam_mode:              vertical
          conversion_equation_t:  type_3

  xarray.Dataset
  - Dimensions:
    - channel: 2
    - ping_time: 8
    - range_sample: 225
  - Coordinates: (3)
    - channel
      (channel)
      <U22
      'WBT 743366-15 ES38B_ES' 'WBT 74...
      long_name :
        Vendor channel ID

          array(['WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES'], dtype='<U22')

    - ping_time
      (ping_time)
      datetime64[ns]
      2018-09-05T03:31:13.384392192 .....
      long_name :
        Timestamp of each ping
      standard_name :
        time
      axis :
        T

          array(['2018-09-05T03:31:13.384392192', '2018-09-05T03:31:19.130708992',
                 '2018-09-05T03:31:20.510795776', '2018-09-05T03:31:21.876867072',
                 '2018-09-05T03:31:23.282962944', '2018-09-05T03:31:24.648026112',
                 '2018-09-05T03:31:26.018102784', '2018-09-05T03:31:27.381187072'],
                dtype='datetime64[ns]')

    - range_sample
      (range_sample)
      int64
      0 1 2 3 4 5 ... 220 221 222 223 224
      long_name :
        Along-range sample number, base 0

          array([  0,   1,   2, ..., 222, 223, 224])

  - Data variables: (27)
    - frequency_nominal
      (channel)
      float64
      3.8e+04 1.8e+04
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([38000., 18000.])

    - beam_type
      (channel)
      int64
      1 1
      long_name :
        type of transducer (0-single, 1-split)

          array([1, 1])

    - beamwidth_twoway_alongship
      (channel)
      float64
      7.0 11.0
      long_name :
        Half power two-way beam width along alongship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_minor and beamwidth_transmit_minor), but Simrad echosounders record two-way beamwidth in the data.

          array([ 7., 11.])

    - beamwidth_twoway_athwartship
      (channel)
      float64
      7.0 11.0
      long_name :
        Half power two-way beam width along athwartship axis of beam
      units :
        arc_degree
      valid_range :
        (0.0, 360.0)
      comment :
        Introduced in echopype for Simrad echosounders to avoid potential confusion with convention definitions. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2. The convention defines one-way transmit or receive beamwidth (beamwidth_receive_major and beamwidth_transmit_major), but Simrad echosounders record two-way beamwidth in the data.

          array([ 7., 11.])

    - beam_direction_x
      (channel)
      float64
      nan nan
      long_name :
        x-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan])

    - beam_direction_y
      (channel)
      float64
      nan nan
      long_name :
        y-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan])

    - beam_direction_z
      (channel)
      float64
      nan nan
      long_name :
        z-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan])

    - angle_offset_alongship
      (channel)
      float64
      0.0 0.0
      long_name :
        electrical alongship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([0., 0.])

    - angle_offset_athwartship
      (channel)
      float64
      0.0 0.0
      long_name :
        electrical athwartship angle offset of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([0., 0.])

    - angle_sensitivity_alongship
      (channel)
      float64
      23.0 15.5
      long_name :
        alongship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([23. , 15.5])

    - angle_sensitivity_athwartship
      (channel)
      float64
      23.0 15.5
      long_name :
        athwartship angle sensitivity of the transducer
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([23. , 15.5])

    - equivalent_beam_angle
      (channel)
      float64
      -20.7 -17.0
      long_name :
        Equivalent beam angle
      units :
        sr
      valid_range :
        (0.0, 12.566370614359172)

          array([-20.7, -17. ])

    - transceiver_software_version
      (channel)
      <U4
      '2.20' '2.20'

          array(['2.20', '2.20'], dtype='<U4')

    - beam_stabilisation
      ()
      int8
      0
      long_name :
        Beam stabilisation applied (or not)
      flag_values :
        [0, 1]
      flag_meanings :
        ['not stabilised', 'stabilised']

          array(0, dtype=int8)

    - non_quantitative_processing
      ()
      int16
      0
      long_name :
        Presence or not of non-quantitative processing applied to the backscattering data (sonar specific)
      flag_values :
        [0]
      flag_meanings :
        ['None']

          array(0, dtype=int16)

    - transmit_frequency_start
      (channel)
      float64
      3.8e+04 1.8e+04
      long_name :
        Start frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([38000., 18000.])

    - transmit_frequency_stop
      (channel)
      float64
      3.8e+04 1.8e+04
      long_name :
        Stop frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([38000., 18000.])

    - backscatter_r
      (channel, ping_time, range_sample)
      float32
      3.034 25.55 26.82 ... nan nan nan
      long_name :
        Raw backscatter measurements (real part)
      units :
        dB

          array([[[   3.033818 ,   25.552273 ,   26.822243 , ..., -121.77604  ,
                   -112.33357  , -114.30908  ],
                  [   3.0455768,   25.528755 ,   26.798725 , ..., -108.47663  ,
                   -117.48401  , -118.98916  ],
                  [   2.904469 ,   25.552273 ,   26.834002 , ..., -113.262535 ,
                   -112.36885  , -111.05184  ],
                  ...,
                  [   3.0455768,   25.564032 ,   26.822243 , ..., -112.61579  ,
                   -110.73435  , -106.92444  ],
                  [   3.0103   ,   25.552273 ,   26.84576  , ..., -107.618225 ,
                   -117.47225  , -109.49966  ],
                  [   2.8103971,   25.564032 ,   26.810484 , ..., -126.15038  ,
                   -110.02882  , -108.45311  ]],

                 [[  -9.37191  ,   21.013304 ,   26.881037 , ...,          nan,
                            nan,          nan],
                  [  -9.407187 ,   21.036823 ,   26.869278 , ...,          nan,
                            nan,          nan],
                  [  -9.242561 ,   21.048582 ,   26.904556 , ...,          nan,
                            nan,          nan],
                  ...,
                  [  -9.37191  ,   21.036823 ,   26.928074 , ...,          nan,
                            nan,          nan],
                  [  -9.430705 ,   21.036823 ,   26.939833 , ...,          nan,
                            nan,          nan],
                  [  -9.465982 ,   21.036823 ,   26.916315 , ...,          nan,
                            nan,          nan]]], dtype=float32)

    - angle_athwartship
      (channel, ping_time, range_sample)
      float32
      0.0 0.0 -1.0 -1.0 ... nan nan nan
      long_name :
        electrical athwartship angle
      comment :
        Introduced in echopype for Simrad echosounders. The athwartship angle corresponds to the major angle in SONAR-netCDF4 vers 2.

          array([[[   0.,    0.,   -1., ..., -121., -102., -106.],
                  [   0.,    0.,   -1., ...,  -35.,  105.,  118.],
                  [   1.,    0.,   -1., ...,  -48.,   92.,   79.],
                  ...,
                  [   0.,    0.,   -1., ...,  -35.,   79.,   76.],
                  [   0.,    0.,   -1., ...,  -51.,  118.,  101.],
                  [   0.,    0.,   -1., ...,   96.,   74.,   89.]],

                 [[   0.,    0.,    0., ...,   nan,   nan,   nan],
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  ...,
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  [   0.,    0.,    0., ...,   nan,   nan,   nan]]], dtype=float32)

    - angle_alongship
      (channel, ping_time, range_sample)
      float32
      0.0 0.0 -1.0 -1.0 ... nan nan nan
      long_name :
        electrical alongship angle
      comment :
        Introduced in echopype for Simrad echosounders. The alongship angle corresponds to the minor angle in SONAR-netCDF4 vers 2.

          array([[[   0.,    0.,   -1., ...,  -97.,   60.,   98.],
                  [   0.,    0.,   -1., ...,   -1.,  -66.,   10.],
                  [   0.,    0.,   -1., ...,   16.,   65.,   -7.],
                  ...,
                  [   0.,    0.,   -1., ...,  -43.,  -40.,  -31.],
                  [   0.,    0.,   -1., ...,   11., -102.,  -42.],
                  [   0.,    0.,   -1., ...,   35.,  -31.,  -41.]],

                 [[  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  [   0.,    0.,    0., ...,   nan,   nan,   nan],
                  [   0.,    0.,    0., ...,   nan,   nan,   nan],
                  ...,
                  [   0.,    0.,    0., ...,   nan,   nan,   nan],
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan],
                  [  -1.,    0.,    0., ...,   nan,   nan,   nan]]], dtype=float32)

    - sample_interval
      (channel, ping_time)
      float64
      0.00024 0.00024 ... 0.000252
      long_name :
        Interval between recorded raw data samples
      units :
        s
      valid_min :
        0.0

          array([[0.00024 , 0.00024 , 0.00024 , 0.00024 , 0.00024 , 0.00024 ,
                  0.00024 , 0.00024 ],
                 [0.000252, 0.000252, 0.000252, 0.000252, 0.000252, 0.000252,
                  0.000252, 0.000252]])

    - transmit_power
      (channel, ping_time)
      float64
      2e+03 2e+03 ... 1.5e+03 1.5e+03
      long_name :
        Nominal transmit power
      units :
        W
      valid_min :
        0.0

          array([[2000., 2000., 2000., 2000., 2000., 2000., 2000., 2000.],
                 [1500., 1500., 1500., 1500., 1500., 1500., 1500., 1500.]])

    - transmit_duration_nominal
      (channel, ping_time)
      float32
      0.001024 0.001024 ... 0.001024
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        s
      valid_min :
        0.0

          array([[0.001024, 0.001024, 0.001024, 0.001024, 0.001024, 0.001024,
                  0.001024, 0.001024],
                 [0.001024, 0.001024, 0.001024, 0.001024, 0.001024, 0.001024,
                  0.001024, 0.001024]], dtype=float32)

    - slope
      (channel, ping_time)
      float64
      0.257 0.257 0.257 ... 0.5 0.5 0.5
      long_name :
        Hann window slope parameter for transmit signal

          array([[0.25699, 0.25699, 0.25699, 0.25699, 0.25699, 0.25699, 0.25699,
                  0.25699],
                 [0.5    , 0.5    , 0.5    , 0.5    , 0.5    , 0.5    , 0.5    ,
                  0.5    ]])

    - channel_mode
      (channel, ping_time)
      int8
      0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
      long_name :
        Transceiver mode
      flag_values :
        [0, 1]
      flag_meanings :
        ['Active', 'Unknown']

          array([[0, 0, 0, 0, 0, 0, 0, 0],
                 [0, 0, 0, 0, 0, 0, 0, 0]], dtype=int8)

    - transmit_type
      (channel, ping_time)
      <U2
      'CW' 'CW' 'CW' ... 'CW' 'CW' 'CW'
      long_name :
        Type of transmitted pulse
      flag_values :
        ['CW', 'LFM', 'FMD']
      flag_meanings :
        ['Continuous Wave – a pulse nominally of one frequency', 'Linear Frequency Modulation – a pulse which varies from transmit_frequency_start to transmit_frequency_stop in a linear manner over the nominal pulse duration (transmit_duration_nominal)', "Frequency Modulated 'D' - An EK80-specific FM type that is not clearly described"]

          array([['CW', 'CW', 'CW', 'CW', 'CW', 'CW', 'CW', 'CW'],
                 ['CW', 'CW', 'CW', 'CW', 'CW', 'CW', 'CW', 'CW']], dtype='<U2')

    - sample_time_offset
      (channel, ping_time)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0
      long_name :
        Time offset that is subtracted from the timestamp of each sample
      units :
        s

          array([[0., 0., 0., 0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0., 0., 0., 0.]])

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES'], dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2018-09-05 03:31:13.384392192',
                         '2018-09-05 03:31:19.130708992',
                         '2018-09-05 03:31:20.510795776',
                         '2018-09-05 03:31:21.876867072',
                         '2018-09-05 03:31:23.282962944',
                         '2018-09-05 03:31:24.648026112',
                         '2018-09-05 03:31:26.018102784',
                         '2018-09-05 03:31:27.381187072'],
                        dtype='datetime64[ns]', name='ping_time', freq=None))

    - range_sample
      PandasIndex

          PandasIndex(Index([  0,   1,   2,   3,   4,   5,   6,   7,   8,   9,
                 ...
                 215, 216, 217, 218, 219, 220, 221, 222, 223, 224],
                dtype='int64', name='range_sample', length=225))

  - Attributes: (2)
    beam_mode :
      vertical
    conversion_equation_t :
      type_3

- Vendor_specific: contains vendor-specific information about the sonar and the data.

      <xarray.Dataset>
      Dimensions:                      (channel: 5, pulse_length_bin: 5,
                                        cal_channel_id: 1, cal_frequency: 92,
                                        WBT_filter_n: 47, PC_filter_n: 465)
      Coordinates:
        * channel                      (channel) <U25 'WBT 545612-15 ES200-7C_ES' ....
        * pulse_length_bin             (pulse_length_bin) int64 0 1 2 3 4
        * cal_channel_id               (cal_channel_id) <U24 'WBT 549762-15 ES70-7C...
        * cal_frequency                (cal_frequency) int64 45000 45495 ... 90000
      Dimensions without coordinates: WBT_filter_n, PC_filter_n
      Data variables: (12/21)
          frequency_nominal            (channel) float64 2e+05 7e+04 ... 1.2e+05
          sa_correction                (channel, pulse_length_bin) float64 0.0 ... 0.0
          gain_correction              (channel, pulse_length_bin) float64 27.0 ......
          pulse_length                 (channel, pulse_length_bin) float64 6.4e-05 ...
          impedance_transceiver        (channel) int64 5400 5400 5400 5400 5400
          receiver_sampling_frequency  (channel) float64 1.5e+06 1.5e+06 ... 1.5e+06
          ...                           ...
          WBT_filter_r                 (channel, WBT_filter_n) float32 -4.915e-05 ....
          WBT_decimation               (channel) int64 6 6 6 6 8
          PC_filter_i                  (channel, PC_filter_n) float32 0.0001099 ......
          PC_filter_r                  (channel, PC_filter_n) float32 -1.169e-17 .....
          PC_decimation                (channel) int64 2 4 10 7 2
          config_xml                   <U34166 '<?xml version="1.0" encoding="utf-8...

  xarray.Dataset
  - Dimensions:
    - channel: 5
    - pulse_length_bin: 5
    - cal_channel_id: 1
    - cal_frequency: 92
    - WBT_filter_n: 47
    - PC_filter_n: 465
  - Coordinates: (4)
    - channel
      (channel)
      <U25
      'WBT 545612-15 ES200-7C_ES' ... ...
      long_name :
        Vendor channel ID

          array(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'], dtype='<U25')

    - pulse_length_bin
      (pulse_length_bin)
      int64
      0 1 2 3 4

          array([0, 1, 2, 3, 4])

    - cal_channel_id
      (cal_channel_id)
      <U24
      'WBT 549762-15 ES70-7C_ES'
      long_name :
        ID of channels containing broadband calibration information

          array(['WBT 549762-15 ES70-7C_ES'], dtype='<U24')

    - cal_frequency
      (cal_frequency)
      int64
      45000 45495 45991 ... 89595 90000
      long_name :
        Frequency of calibration parameter
      units :
        Hz

          array([45000, 45495, 45991, 46486, 46982, 47477, 47973, 48468, 48964, 49459,
                 49955, 50450, 50946, 51441, 51937, 52432, 52928, 53423, 53919, 54414,
                 54910, 55405, 55901, 56396, 56892, 57387, 57883, 58378, 58874, 59369,
                 59865, 60360, 60856, 61351, 61847, 62342, 62838, 63333, 63829, 64324,
                 64820, 65315, 65811, 66306, 66802, 67297, 67793, 68288, 68784, 69279,
                 69775, 70270, 70766, 71261, 71757, 72252, 72748, 73243, 73739, 74234,
                 74730, 75225, 75721, 76216, 76712, 77207, 77703, 78198, 78694, 79189,
                 79685, 80180, 80676, 81171, 81667, 82162, 82658, 83153, 83649, 84144,
                 84640, 85135, 85631, 86126, 86622, 87117, 87613, 88108, 88604, 89099,
                 89595, 90000])

  - Data variables: (21)
    - frequency_nominal
      (channel)
      float64
      2e+05 7e+04 3.8e+04 1.8e+04 1.2e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([200000.,  70000.,  38000.,  18000., 120000.])

    - sa_correction
      (channel, pulse_length_bin)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0

          array([[0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0.],
                 [0., 0., 0., 0., 0.]])

    - gain_correction
      (channel, pulse_length_bin)
      float64
      27.0 27.0 27.0 ... 27.0 27.0 27.0

          array([[27. , 27. , 27. , 27. , 27. ],
                 [27. , 27. , 27. , 27. , 27. ],
                 [23. , 25. , 25.5, 25.5, 25. ],
                 [20.3, 22.4, 22.9, 23. , 23. ],
                 [27. , 27. , 27. , 27. , 27. ]])

    - pulse_length
      (channel, pulse_length_bin)
      float64
      6.4e-05 0.000128 ... 0.001024

          array([[6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03],
                 [6.400e-05, 1.280e-04, 2.560e-04, 5.120e-04, 1.024e-03]])

    - impedance_transceiver
      (channel)
      int64
      5400 5400 5400 5400 5400
      units :
        ohm
      long_name :
        Transceiver impedance

          array([5400, 5400, 5400, 5400, 5400])

    - receiver_sampling_frequency
      (channel)
      float64
      1.5e+06 1.5e+06 ... 1.5e+06 1.5e+06
      units :
        Hz
      long_name :
        Receiver sampling frequency

          array([1500000., 1500000., 1500000., 1500000., 1500000.])

    - transceiver_type
      (channel)
      <U3
      'WBT' 'WBT' 'WBT' 'WBT' 'WBT'
      long_name :
        Transceiver type

          array(['WBT', 'WBT', 'WBT', 'WBT', 'WBT'], dtype='<U3')

    - gain
      (cal_channel_id, cal_frequency)
      float64
      36.34 36.75 22.26 ... 31.14 31.36

          array([[36.34, 36.75, 22.26, 22.96, 23.62, 24.12, 24.35, 24.38, 24.28,
                  24.1 , 23.91, 23.76, 23.7 , 23.73, 23.86, 24.05, 24.34, 24.68,
                  24.98, 25.2 , 25.34, 25.36, 25.31, 25.26, 25.24, 25.25, 25.32,
                  25.56, 25.77, 25.95, 26.18, 26.33, 26.47, 26.58, 26.66, 26.77,
                  26.93, 27.07, 27.27, 27.49, 27.66, 27.84, 27.91, 27.94, 27.95,
                  27.98, 28.02, 28.14, 28.24, 28.36, 28.42, 28.44, 28.33, 28.28,
                  28.21, 28.23, 28.26, 28.4 , 28.56, 28.73, 28.87, 28.97, 29.01,
                  28.97, 28.93, 28.91, 28.92, 29.02, 29.24, 29.52, 29.78, 29.97,
                  30.04, 29.96, 29.82, 29.6 , 29.39, 29.25, 29.18, 29.22, 29.35,
                  29.57, 29.86, 30.21, 30.52, 30.79, 30.99, 31.04, 31.04, 31.04,
                  31.14, 31.36]])

    - impedance_transducer
      (cal_channel_id, cal_frequency)
      float64
      75.0 75.0 75.0 ... 75.0 75.0 75.0

          array([[75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75., 75.,
                  75.]])

    - phase
      (cal_channel_id, cal_frequency)
      float64
      0.0 0.0 0.0 0.0 ... 0.0 0.0 0.0 0.0

          array([[0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
                  0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
                  0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
                  0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
                  0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
                  0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.]])

    - beamwidth_alongship
      (cal_channel_id, cal_frequency)
      float64
      80.83 84.25 21.28 ... 4.26 4.22

          array([[80.83, 84.25, 21.28, 16.25, 13.43, 11.39, 10.76,  9.95,  9.29,
                   9.24,  9.38,  9.47,  9.66,  9.88, 10.48, 11.25, 10.91, 10.74,
                  11.15, 10.54, 10.16,  9.36,  8.73,  8.19,  8.09,  8.22,  8.44,
                   8.72,  8.78,  8.94,  8.82,  8.11,  7.41,  7.12,  6.74,  6.51,
                   6.35,  6.48,  6.38,  6.24,  6.18,  5.91,  5.87,  5.82,  5.85,
                   5.9 ,  5.93,  6.01,  6.04,  6.04,  6.06,  6.04,  6.05,  6.01,
                   5.99,  5.9 ,  5.87,  5.79,  5.67,  5.62,  5.58,  5.56,  5.55,
                   5.58,  5.56,  5.55,  5.56,  5.55,  5.49,  5.37,  5.3 ,  5.18,
                   5.08,  5.01,  4.88,  4.86,  4.86,  4.87,  4.88,  4.88,  4.88,
                   4.85,  4.84,  4.75,  4.72,  4.69,  4.58,  4.49,  4.38,  4.34,
                   4.26,  4.22]])

    - beamwidth_athwartship
      (cal_channel_id, cal_frequency)
      float64
      3.0 3.35 11.8 ... 5.08 5.06 5.06

          array([[ 3.  ,  3.35, 11.8 , 11.67, 11.58, 11.2 , 10.74, 10.61, 10.48,
                  10.16,  9.99,  9.98,  9.89,  9.87,  9.62,  9.49,  9.72,  9.66,
                   9.35,  9.39,  9.07,  8.91,  8.78,  8.65,  8.41,  8.26,  8.22,
                   7.59,  7.52,  7.54,  7.26,  7.37,  7.3 ,  7.  ,  7.02,  7.  ,
                   6.89,  6.9 ,  6.85,  6.83,  6.71,  6.51,  6.45,  6.37,  6.36,
                   6.3 ,  6.38,  6.27,  6.26,  6.25,  6.23,  6.27,  6.58,  6.54,
                   6.64,  6.43,  6.48,  6.34,  6.31,  6.24,  6.19,  6.13,  6.04,
                   6.02,  5.99,  5.99,  6.  ,  6.  ,  5.95,  5.87,  5.83,  5.76,
                   5.69,  5.63,  5.53,  5.5 ,  5.46,  5.45,  5.43,  5.41,  5.39,
                   5.37,  5.34,  5.31,  5.38,  5.34,  5.21,  5.24,  5.09,  5.08,
                   5.06,  5.06]])

    - angle_offset_alongship
      (cal_channel_id, cal_frequency)
      float64
      93.01 95.4 2.33 ... -0.31 -0.32

          array([[ 9.301e+01,  9.540e+01,  2.330e+00,  8.600e-01,  3.800e-01,
                   8.000e-02, -3.000e-02, -1.100e-01, -1.700e-01, -1.900e-01,
                  -2.200e-01, -2.700e-01, -2.900e-01, -3.000e-01, -2.900e-01,
                  -2.400e-01, -2.600e-01, -2.400e-01, -1.800e-01, -1.900e-01,
                  -1.500e-01, -1.400e-01, -1.100e-01, -1.200e-01, -8.000e-02,
                  -8.000e-02, -1.200e-01, -1.900e-01, -2.400e-01, -3.100e-01,
                  -5.000e-01, -5.200e-01, -3.400e-01, -2.200e-01, -2.000e-01,
                  -2.000e-01, -2.800e-01, -3.400e-01, -3.600e-01, -3.900e-01,
                  -4.000e-01, -3.700e-01, -3.700e-01, -3.700e-01, -3.200e-01,
                  -2.900e-01, -2.600e-01, -2.200e-01, -2.000e-01, -1.800e-01,
                  -1.600e-01, -1.500e-01, -1.200e-01, -1.300e-01, -1.700e-01,
                  -1.600e-01, -2.000e-01, -2.000e-01, -2.000e-01, -2.000e-01,
                  -2.000e-01, -1.900e-01, -1.800e-01, -1.800e-01, -1.800e-01,
                  -1.800e-01, -2.000e-01, -2.000e-01, -2.000e-01, -2.200e-01,
                  -2.300e-01, -2.400e-01, -2.600e-01, -2.600e-01, -2.600e-01,
                  -2.700e-01, -2.600e-01, -2.500e-01, -2.400e-01, -2.400e-01,
                  -2.400e-01, -2.400e-01, -2.400e-01, -2.300e-01, -2.100e-01,
                  -2.300e-01, -2.500e-01, -2.700e-01, -2.800e-01, -3.000e-01,
                  -3.100e-01, -3.200e-01]])

    - angle_offset_athwartship
      (cal_channel_id, cal_frequency)
      float64
      0.16 0.08 -0.13 ... -0.09 -0.09

          array([[ 0.16,  0.08, -0.13, -0.28, -0.31, -0.31, -0.31, -0.33, -0.31,
                  -0.28, -0.24, -0.19, -0.12, -0.05,  0.03,  0.1 ,  0.16,  0.2 ,
                   0.22,  0.22,  0.18,  0.15,  0.11,  0.05,  0.03,  0.03,  0.05,
                   0.  ,  0.  , -0.08, -0.18, -0.22, -0.19, -0.16, -0.16, -0.16,
                  -0.2 , -0.2 , -0.21, -0.23, -0.22, -0.21, -0.22, -0.21, -0.19,
                  -0.18, -0.16, -0.15, -0.13, -0.12, -0.12, -0.11, -0.06, -0.07,
                  -0.06, -0.07, -0.04, -0.04, -0.01, -0.02, -0.02, -0.02, -0.04,
                  -0.05, -0.06, -0.07, -0.08, -0.09, -0.09, -0.07, -0.08, -0.07,
                  -0.07, -0.06, -0.05, -0.06, -0.06, -0.07, -0.08, -0.08, -0.09,
                  -0.1 , -0.1 , -0.11, -0.09, -0.09, -0.08, -0.09, -0.09, -0.08,
                  -0.09, -0.09]])

    - WBT_filter_i
      (channel, WBT_filter_n)
      float32
      -3.353e-05 0.0003925 ... -4.763e-05
      long_name :
        Wideband transceiver filter coefficients (imaginary part)

          array([[-3.35293626e-05,  3.92522372e-04,  1.17080880e-03,
                  -4.53350163e-04, -7.36659719e-03, -1.40465414e-02,
                  -7.57146720e-03,  1.27855893e-02,  2.45556198e-02,
                   1.14510451e-02,  3.01952445e-04,  3.23232301e-02,
                   8.29078555e-02,  5.66029474e-02, -8.77120942e-02,
                  -2.34657735e-01, -2.11077943e-01,  1.66662263e-19,
                   2.11077943e-01,  2.34657735e-01,  8.77120942e-02,
                  -5.66029474e-02, -8.29078555e-02, -3.23232301e-02,
                  -3.01952445e-04, -1.14510451e-02, -2.45556198e-02,
                  -1.27855893e-02,  7.57146720e-03,  1.40465414e-02,
                   7.36659719e-03,  4.53350163e-04, -1.17080880e-03,
                  -3.92522372e-04,  3.35293626e-05,             nan,
                              nan,             nan,             nan,
                              nan,             nan,             nan,
                              nan,             nan,             nan,
                              nan,             nan],
                 [-2.85615097e-04, -6.87905529e-04, -5.58031606e-04,
                   1.23925391e-03,  5.22049982e-03,  9.59624071e-03,
                   9.33606457e-03, -2.36455584e-03, -2.98570897e-02,
                  -7.00585544e-02, -1.10393107e-01, -1.32478803e-01,
          ...
                   1.93656068e-02,  1.55117726e-02,  1.19733466e-02,
                   8.88137147e-03,  6.30566804e-03,  4.26115468e-03,
                   2.71854317e-03,  1.61740114e-03,  8.79614206e-04,
                   4.21589793e-04,  1.80988136e-04],
                 [ 4.76297064e-05, -5.40964211e-05, -4.10727371e-04,
                  -1.02067145e-03, -1.27043144e-03,  1.70111988e-18,
                   3.73417418e-03,  9.43437871e-03,  1.45023726e-02,
                   1.52568715e-02,  9.65384673e-03,  1.18787652e-17,
                  -6.97279768e-03, -4.10006335e-03,  9.83652472e-03,
                   2.59029567e-02,  2.74842009e-02,  2.69464242e-17,
                  -5.72344773e-02, -1.25278756e-01, -1.71758190e-01,
                  -1.67370021e-01, -1.03544265e-01,  0.00000000e+00,
                   1.03544265e-01,  1.67370021e-01,  1.71758190e-01,
                   1.25278756e-01,  5.72344773e-02, -2.69464242e-17,
                  -2.74842009e-02, -2.59029567e-02, -9.83652472e-03,
                   4.10006335e-03,  6.97279768e-03, -1.18787652e-17,
                  -9.65384673e-03, -1.52568715e-02, -1.45023726e-02,
                  -9.43437871e-03, -3.73417418e-03, -1.70111988e-18,
                   1.27043144e-03,  1.02067145e-03,  4.10727371e-04,
                   5.40964211e-05, -4.76297064e-05]], dtype=float32)

    - WBT_filter_r
      (channel, WBT_filter_n)
      float32
      -4.915e-05 4.373e-05 ... 8.25e-05
      long_name :
        Wideband transceiver filter coefficients (real part)

          array([[-4.91527753e-05,  4.37336785e-05, -1.16833090e-03,
                  -4.31086076e-03, -4.78144595e-03,  4.56647575e-03,
                   1.97268240e-02,  2.21477672e-02,  3.89170600e-03,
                  -1.03080897e-02,  5.76407369e-03,  2.34866794e-02,
                  -2.22126152e-02, -1.27129823e-01, -1.72142208e-01,
                  -4.98755611e-02,  1.70930028e-01,  2.82841593e-01,
                   1.70930028e-01, -4.98755611e-02, -1.72142208e-01,
                  -1.27129823e-01, -2.22126152e-02,  2.34866794e-02,
                   5.76407369e-03, -1.03080897e-02,  3.89170600e-03,
                   2.21477672e-02,  1.97268240e-02,  4.56647575e-03,
                  -4.78144595e-03, -4.31086076e-03, -1.16833090e-03,
                   4.37336785e-05, -4.91527753e-05,             nan,
                              nan,             nan,             nan,
                              nan,             nan,             nan,
                              nan,             nan,             nan,
                              nan,             nan],
                 [ 3.60356586e-04,  1.63646252e-03,  4.41727508e-03,
                   8.39221105e-03,  1.17254350e-02,  1.15998620e-02,
                   6.48873439e-03, -8.23425420e-04, -1.87844888e-03,
                   1.48914047e-02,  5.77121191e-02,  1.24405876e-01,
          ...
                   1.29837319e-02,  8.78328830e-03,  5.63422916e-03,
                   3.38791404e-03,  1.87500881e-03,  9.24408610e-04,
                   3.78196331e-04,  1.01758254e-04, -1.10541396e-05,
                  -3.71809219e-05, -2.98325904e-05],
                 [ 8.24970703e-05, -3.12325828e-05,  1.76048578e-19,
                   5.89284929e-04,  2.20045191e-03,  4.63023270e-03,
                   6.46777917e-03,  5.44694113e-03, -4.44007102e-18,
                  -8.80855881e-03, -1.67209525e-02, -1.84668209e-02,
                  -1.20772393e-02, -2.36717286e-03, -1.80694027e-18,
                  -1.49550792e-02, -4.76040319e-02, -8.37822407e-02,
                  -9.91330221e-02, -7.23297223e-02, -2.76208229e-17,
                   9.66311321e-02,  1.79343924e-01,  2.11858138e-01,
                   1.79343924e-01,  9.66311321e-02, -2.76208229e-17,
                  -7.23297223e-02, -9.91330221e-02, -8.37822407e-02,
                  -4.76040319e-02, -1.49550792e-02, -1.80694027e-18,
                  -2.36717286e-03, -1.20772393e-02, -1.84668209e-02,
                  -1.67209525e-02, -8.80855881e-03, -4.44007102e-18,
                   5.44694113e-03,  6.46777917e-03,  4.63023270e-03,
                   2.20045191e-03,  5.89284929e-04,  1.76048578e-19,
                  -3.12325828e-05,  8.24970703e-05]], dtype=float32)

    - WBT_decimation
      (channel)
      int64
      6 6 6 6 8
      long_name :
        Wideband transceiver decimation factor

          array([6, 6, 6, 6, 8])

    - PC_filter_i
      (channel, PC_filter_n)
      float32
      0.0001099 2.957e-05 ... nan nan
      long_name :
        Pulse compression filter coefficients (imaginary part)

          array([[ 1.09931534e-04,  2.95721529e-05,  9.56366421e-05, ...,
                              nan,             nan,             nan],
                 [ 4.75533598e-05,  1.24662688e-06,  3.05077974e-05, ...,
                  -3.05077974e-05, -1.24662688e-06, -4.75533598e-05],
                 [-3.01245509e-05, -1.89193179e-05,  8.04313459e-06, ...,
                              nan,             nan,             nan],
                 [-3.31941410e-05, -2.78497955e-05, -2.78580974e-05, ...,
                              nan,             nan,             nan],
                 [ 1.79804134e-04, -3.83844395e-04, -1.33723871e-17, ...,
                              nan,             nan,             nan]], dtype=float32)

    - PC_filter_r
      (channel, PC_filter_n)
      float32
      -1.169e-17 4.07e-05 ... nan nan
      long_name :
        Pulse compression filter coefficients (real part)

          array([[-1.16881679e-17,  4.07025764e-05, -2.94339319e-04, ...,
                              nan,             nan,             nan],
                 [ 2.23352454e-05, -3.19028572e-06,  9.87091880e-06, ...,
                   9.87091880e-06, -3.19028572e-06,  2.23352454e-05],
                 [-4.39978385e-06,  1.99380884e-05,  3.92538204e-05, ...,
                              nan,             nan,             nan],
                 [ 1.40246357e-07,  1.36935605e-05,  3.61072998e-05, ...,
                              nan,             nan,             nan],
                 [ 1.03553510e-04,  2.21356211e-04, -4.87152662e-04, ...,
                              nan,             nan,             nan]], dtype=float32)

    - PC_decimation
      (channel)
      int64
      2 4 10 7 2
      long_name :
        Pulse compression decimation factor

          array([ 2,  4, 10,  7,  2])

    - config_xml
      ()
      <U34166
      '<?xml version="1.0" encoding="u...

          array('<?xml version="1.0" encoding="utf-8" ?>\n<Configuration>\n    <Header Copyright="Copyright(c) Kongsberg Maritime AS, Norway" ApplicationName="EK80" Version="2.0.1.0" FileFormatVersion="1.23" TimeBias="0" />\n    <ActivePingMode Mode="Direct" />\n    <Transceivers MergeOperation="AddNodeTree">\n        <Transceiver TransceiverName="WBT 743367" IPAddress="" MarketSegment="Scientific" SerialNumber="743367" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000" EthernetAddress="0090720b57c7" Version="[0] Ethernet: 00:90:72:0B:57:C7&#x0D;&#x0A;[1] Parts-list: WBT 371790/F&#x0D;&#x0A;[2] Product: WBT&#x0D;&#x0A;IP Address: 157.237.15.2&#x0D;&#x0A;Subnet mask: 255.255.0.0&#x0D;&#x0A;Default gateway: 157.237.15.1&#x0D;&#x0A;Serial number: 743367&#x0D;&#x0A;Embedded software: Rev. 2.20&#x0D;&#x0A;FPGA TX firmware: Rev. 5&#x0D;&#x0A;FPGA RX firmware: Rev. 7&#x0D;&#x0A;CH1: 512W CH2: 493W CH3: 492W CH4: 499W&#x0D;&#x0A;TRD1: Unable to detect transducer&#x0D;&#x0A;TRD2: Unable to detect transducer&#x0D;&#x0A;TRD3: Unable to detect transducer&#x0D;&#x0A;TRD4: Unable to detect transducer&#x0D;&#x0A;" TransceiverSoftwareVersion="2.20" TransceiverNumber="1" TransceiverType="WBT">\n            <Channels>\n                <Channel ChannelID="WBT 743367-15 ES18_ES" LogicalChannelID="WBT 743367-15 ES18" ChannelIdShort="ES18 Serial No: 1" MaxTxPowerTransceiver="2000" HWChannelConfiguration="15" PulseDuration="6.4e-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192">\n                    <Transducer TransducerName="ES18" SerialNumber="1" Frequency="18000" FrequencyMinimum="18000" FrequencyMaximum="18000" MaxTxPowerTransducer="1600" Gain="20.3;22.4;22.9;23;23" SaCorrection="0;0;0;0;0" EquivalentBeamAngle="-17" DirectivityDropAt2XBeamWidth="0" AngleSensitivityAlongship="15.5" AngleSensitivityAthwartship="15.5" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" BeamWidthAlongship="11" BeamWidthAthwartship="11" BeamType="1" />\n                </Channel>\n            </Channels>\n        </Transceiver>\n        <Transceiver TransceiverName="WBT 743366" IPAddress="" MarketSegment="Scientific" SerialNumber="743366" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000" EthernetAddress="0090720b57c6" Version="[0] Ethernet: 00:90:72:0B:57:C6&#x0D;&#x0A;[1] Parts-list: WBT 371790/F&#x0D;&#x0A;[2] Product: WBT&#x0D;&#x0A;IP Address: 157.237.15.1&#x0D;&#x0A;Subnet mask: 255.255.0.0&#x0D;&#x0A;Default gateway: 157.237.15.1&#x0D;&#x0A;Serial number: 743366&#x0D;&#x0A;Embedded software: Rev. 2.20&#x0D;&#x0A;FPGA TX firmware: Rev. 5&#x0D;&#x0A;FPGA RX firmware: Rev. 7&#x0D;&#x0A;CH1: 503W CH2: 499W CH3: 484W CH4: 481W&#x0D;&#x0A;TRD1: Unable to detect transducer&#x0D;&#x0A;TRD2: Unable to detect transducer&#x0D;&#x0A;TRD3: Unable to detect transducer&#x0D;&#x0A;TRD4: Unable to detect transducer&#x0D;&#x0A;" TransceiverSoftwareVersion="2.20" TransceiverNumber="2" TransceiverType="WBT">\n            <Channels>\n                <Channel ChannelID="WBT 743366-15 ES38B_ES" LogicalChannelID="WBT 743366-15 ES38B" ChannelIdShort="ES38B Serial No: 2" MaxTxPowerTransceiver="2000" HWChannelConfiguration="15" PulseDuration="6.4e-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192">\n                    <Transducer TransducerName="ES38B" SerialNumber="2" Frequency="38000" FrequencyMinimum="38000" FrequencyMaximum="38000" MaxTxPowerTransducer="2000" Gain="23;25;25.5;25.5;25" SaCorrection="0;0;0;0;0" EquivalentBeamAngle="-20.7" DirectivityDropAt2XBeamWidth="0" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" BeamWidthAlongship="7" BeamWidthAthwartship="7" BeamType="1" />\n                </Channel>\n            </Channels>\n        </Transceiver>\n        <Transceiver TransceiverName="WBT 549762" IPAddress="" MarketSegment="Scientific" SerialNumber="549762" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000" EthernetAddress="009072086382" Version="[0] Ethernet: 00:90:72:08:63:82&#x0D;&#x0A;[1] Parts-list: WBT 371790/D&#x0D;&#x0A;[2] Product: WBT&#x0D;&#x0A;IP Address: 157.237.15.100&#x0D;&#x0A;Subnet mask: 255.255.0.0&#x0D;&#x0A;Default gateway: 157.237.15.1&#x0D;&#x0A;Serial number: 549762&#x0D;&#x0A;Embedded software: Rev. 2.20&#x0D;&#x0A;FPGA TX firmware: Rev. 4&#x0D;&#x0A;FPGA RX firmware: Rev. 7&#x0D;&#x0A;CH1: 520W CH2: 508W CH3: 499W CH4: 504W&#x0D;&#x0A;TRD1: Unable to detect transducer&#x0D;&#x0A;TRD2: Unable to detect transducer&#x0D;&#x0A;TRD3: Unable to detect transducer&#x0D;&#x0A;TRD4: Unable to detect transducer&#x0D;&#x0A;" TransceiverSoftwareVersion="2.20" TransceiverNumber="3" TransceiverType="WBT">\n            <Channels>\n                <Channel ChannelID="WBT 549762-15 ES70-7C_ES" LogicalChannelID="WBT 549762-15 ES70-7C" ChannelIdShort="ES70-7C Serial No: 0" MaxTxPowerTransceiver="2000" HWChannelConfiguration="15" PulseDuration="6.4e-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192">\n                    <Transducer TransducerName="ES70-7C" SerialNumber="0" Frequency="70000" FrequencyMinimum="45000" FrequencyMaximum="95000" MaxTxPowerTransducer="750" Gain="27;27;27;27;27" SaCorrection="0;0;0;0;0" EquivalentBeamAngle="-20.7" DirectivityDropAt2XBeamWidth="0" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" BeamWidthAlongship="7" BeamWidthAthwartship="7" BeamType="1">\n                        <FrequencyPar Frequency="45000" Gain="36.34" Impedance="75" Phase="0" BeamWidthAlongship="80.83" BeamWidthAthwartship="3" AngleOffsetAlongship="93.01" AngleOffsetAthwartship="0.16" />\n                        <FrequencyPar Frequency="45495" Gain="36.75" Impedance="75" Phase="0" BeamWidthAlongship="84.25" BeamWidthAthwartship="3.35" AngleOffsetAlongship="95.4" AngleOffsetAthwartship="0.08" />\n                        <FrequencyPar Frequency="45991" Gain="22.26" Impedance="75" Phase="0" BeamWidthAlongship="21.28" BeamWidthAthwartship="11.8" AngleOffsetAlongship="2.33" AngleOffsetAthwartship="-0.13" />\n                        <FrequencyPar Frequency="46486" Gain="22.96" Impedance="75" Phase="0" BeamWidthAlongship="16.25" BeamWidthAthwartship="11.67" AngleOffsetAlongship="0.86" AngleOffsetAthwartship="-0.28" />\n                        <FrequencyPar Frequency="46982" Gain="23.62" Impedance="75" Phase="0" BeamWidthAlongship="13.43" BeamWidthAthwartship="11.58" AngleOffsetAlongship="0.38" AngleOffsetAthwartship="-0.31" />\n                        <FrequencyPar Frequency="47477" Gain="24.12" Impedance="75" Phase="0" BeamWidthAlongship="11.39" BeamWidthAthwartship="11.2" AngleOffsetAlongship="0.08" AngleOffsetAthwartship="-0.31" />\n                        <FrequencyPar Frequency="47973" Gain="24.35" Impedance="75" Phase="0" BeamWidthAlongship="10.76" BeamWidthAthwartship="10.74" AngleOffsetAlongship="-0.03" AngleOffsetAthwartship="-0.31" />\n                        <FrequencyPar Frequency="48468" Gain="24.38" Impedance="75" Phase="0" BeamWidthAlongship="9.95" BeamWidthAthwartship="10.61" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="-0.33" />\n                        <FrequencyPar Frequency="48964" Gain="24.28" Impedance="75" Phase="0" BeamWidthAlongship="9.29" BeamWidthAthwartship="10.48" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.31" />\n                        <FrequencyPar Frequency="49459" Gain="24.1" Impedance="75" Phase="0" BeamWidthAlongship="9.24" BeamWidthAthwartship="10.16" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.28" />\n                        <FrequencyPar Frequency="49955" Gain="23.91" Impedance="75" Phase="0" BeamWidthAlongship="9.38" BeamWidthAthwartship="9.99" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.24" />\n                        <FrequencyPar Frequency="50450" Gain="23.76" Impedance="75" Phase="0" BeamWidthAlongship="9.47" BeamWidthAthwartship="9.98" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.19" />\n                        <FrequencyPar Frequency="50946" Gain="23.7" Impedance="75" Phase="0" BeamWidthAlongship="9.66" BeamWidthAthwartship="9.89" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="-0.12" />\n                        <FrequencyPar Frequency="51441" Gain="23.73" Impedance="75" Phase="0" BeamWidthAlongship="9.88" BeamWidthAthwartship="9.87" AngleOffsetAlongship="-0.3" AngleOffsetAthwartship="-0.05" />\n                        <FrequencyPar Frequency="51937" Gain="23.86" Impedance="75" Phase="0" BeamWidthAlongship="10.48" BeamWidthAthwartship="9.62" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="0.03" />\n                        <FrequencyPar Frequency="52432" Gain="24.05" Impedance="75" Phase="0" BeamWidthAlongship="11.25" BeamWidthAthwartship="9.49" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="0.1" />\n                        <FrequencyPar Frequency="52928" Gain="24.34" Impedance="75" Phase="0" BeamWidthAlongship="10.91" BeamWidthAthwartship="9.72" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="0.16" />\n                        <FrequencyPar Frequency="53423" Gain="24.68" Impedance="75" Phase="0" BeamWidthAlongship="10.74" BeamWidthAthwartship="9.66" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="0.2" />\n                        <FrequencyPar Frequency="53919" Gain="24.98" Impedance="75" Phase="0" BeamWidthAlongship="11.15" BeamWidthAthwartship="9.35" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="0.22" />\n                        <FrequencyPar Frequency="54414" Gain="25.2" Impedance="75" Phase="0" BeamWidthAlongship="10.54" BeamWidthAthwartship="9.39" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="0.22" />\n                        <FrequencyPar Frequency="54910" Gain="25.34" Impedance="75" Phase="0" BeamWidthAlongship="10.16" BeamWidthAthwartship="9.07" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="0.18" />\n                        <FrequencyPar Frequency="55405" Gain="25.36" Impedance="75" Phase="0" BeamWidthAlongship="9.36" BeamWidthAthwartship="8.91" AngleOffsetAlongship="-0.14" AngleOffsetAthwartship="0.15" />\n                        <FrequencyPar Frequency="55901" Gain="25.31" Impedance="75" Phase="0" BeamWidthAlongship="8.73" BeamWidthAthwartship="8.78" AngleOffsetAlongship="-0.11" AngleOffsetAthwartship="0.11" />\n                        <FrequencyPar Frequency="56396" Gain="25.26" Impedance="75" Phase="0" BeamWidthAlongship="8.19" BeamWidthAthwartship="8.65" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.05" />\n                        <FrequencyPar Frequency="56892" Gain="25.24" Impedance="75" Phase="0" BeamWidthAlongship="8.09" BeamWidthAthwartship="8.41" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="0.03" />\n                        <FrequencyPar Frequency="57387" Gain="25.25" Impedance="75" Phase="0" BeamWidthAlongship="8.22" BeamWidthAthwartship="8.26" AngleOffsetAlongship="-0.08" AngleOffsetAthwartship="0.03" />\n                        <FrequencyPar Frequency="57883" Gain="25.32" Impedance="75" Phase="0" BeamWidthAlongship="8.44" BeamWidthAthwartship="8.22" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="0.05" />\n                        <FrequencyPar Frequency="58378" Gain="25.56" Impedance="75" Phase="0" BeamWidthAlongship="8.72" BeamWidthAthwartship="7.59" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="0" />\n                        <FrequencyPar Frequency="58874" Gain="25.77" Impedance="75" Phase="0" BeamWidthAlongship="8.78" BeamWidthAthwartship="7.52" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="0" />\n                        <FrequencyPar Frequency="59369" Gain="25.95" Impedance="75" Phase="0" BeamWidthAlongship="8.94" BeamWidthAthwartship="7.54" AngleOffsetAlongship="-0.31" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="59865" Gain="26.18" Impedance="75" Phase="0" BeamWidthAlongship="8.82" BeamWidthAthwartship="7.26" AngleOffsetAlongship="-0.5" AngleOffsetAthwartship="-0.18" />\n                        <FrequencyPar Frequency="60360" Gain="26.33" Impedance="75" Phase="0" BeamWidthAlongship="8.11" BeamWidthAthwartship="7.37" AngleOffsetAlongship="-0.52" AngleOffsetAthwartship="-0.22" />\n                        <FrequencyPar Frequency="60856" Gain="26.47" Impedance="75" Phase="0" BeamWidthAlongship="7.41" BeamWidthAthwartship="7.3" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="-0.19" />\n                        <FrequencyPar Frequency="61351" Gain="26.58" Impedance="75" Phase="0" BeamWidthAlongship="7.12" BeamWidthAthwartship="7" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.16" />\n                        <FrequencyPar Frequency="61847" Gain="26.66" Impedance="75" Phase="0" BeamWidthAlongship="6.74" BeamWidthAthwartship="7.02" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.16" />\n                        <FrequencyPar Frequency="62342" Gain="26.77" Impedance="75" Phase="0" BeamWidthAlongship="6.51" BeamWidthAthwartship="7" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.16" />\n                        <FrequencyPar Frequency="62838" Gain="26.93" Impedance="75" Phase="0" BeamWidthAlongship="6.35" BeamWidthAthwartship="6.89" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.2" />\n                        <FrequencyPar Frequency="63333" Gain="27.07" Impedance="75" Phase="0" BeamWidthAlongship="6.48" BeamWidthAthwartship="6.9" AngleOffsetAlongship="-0.34" AngleOffsetAthwartship="-0.2" />\n                        <FrequencyPar Frequency="63829" Gain="27.27" Impedance="75" Phase="0" BeamWidthAlongship="6.38" BeamWidthAthwartship="6.85" AngleOffsetAlongship="-0.36" AngleOffsetAthwartship="-0.21" />\n                        <FrequencyPar Frequency="64324" Gain="27.49" Impedance="75" Phase="0" BeamWidthAlongship="6.24" BeamWidthAthwartship="6.83" AngleOffsetAlongship="-0.39" AngleOffsetAthwartship="-0.23" />\n                        <FrequencyPar Frequency="64820" Gain="27.66" Impedance="75" Phase="0" BeamWidthAlongship="6.18" BeamWidthAthwartship="6.71" AngleOffsetAlongship="-0.4" AngleOffsetAthwartship="-0.22" />\n                        <FrequencyPar Frequency="65315" Gain="27.84" Impedance="75" Phase="0" BeamWidthAlongship="5.91" BeamWidthAthwartship="6.51" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="-0.21" />\n                        <FrequencyPar Frequency="65811" Gain="27.91" Impedance="75" Phase="0" BeamWidthAlongship="5.87" BeamWidthAthwartship="6.45" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="-0.22" />\n                        <FrequencyPar Frequency="66306" Gain="27.94" Impedance="75" Phase="0" BeamWidthAlongship="5.82" BeamWidthAthwartship="6.37" AngleOffsetAlongship="-0.37" AngleOffsetAthwartship="-0.21" />\n                        <FrequencyPar Frequency="66802" Gain="27.95" Impedance="75" Phase="0" BeamWidthAlongship="5.85" BeamWidthAthwartship="6.36" AngleOffsetAlongship="-0.32" AngleOffsetAthwartship="-0.19" />\n                        <FrequencyPar Frequency="67297" Gain="27.98" Impedance="75" Phase="0" BeamWidthAlongship="5.9" BeamWidthAthwartship="6.3" AngleOffsetAlongship="-0.29" AngleOffsetAthwartship="-0.18" />\n                        <FrequencyPar Frequency="67793" Gain="28.02" Impedance="75" Phase="0" BeamWidthAlongship="5.93" BeamWidthAthwartship="6.38" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.16" />\n                        <FrequencyPar Frequency="68288" Gain="28.14" Impedance="75" Phase="0" BeamWidthAlongship="6.01" BeamWidthAthwartship="6.27" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.15" />\n                        <FrequencyPar Frequency="68784" Gain="28.24" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="6.26" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.13" />\n                        <FrequencyPar Frequency="69279" Gain="28.36" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="6.25" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.12" />\n                        <FrequencyPar Frequency="69775" Gain="28.42" Impedance="75" Phase="0" BeamWidthAlongship="6.06" BeamWidthAthwartship="6.23" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.12" />\n                        <FrequencyPar Frequency="70270" Gain="28.44" Impedance="75" Phase="0" BeamWidthAlongship="6.04" BeamWidthAthwartship="6.27" AngleOffsetAlongship="-0.15" AngleOffsetAthwartship="-0.11" />\n                        <FrequencyPar Frequency="70766" Gain="28.33" Impedance="75" Phase="0" BeamWidthAlongship="6.05" BeamWidthAthwartship="6.58" AngleOffsetAlongship="-0.12" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="71261" Gain="28.28" Impedance="75" Phase="0" BeamWidthAlongship="6.01" BeamWidthAthwartship="6.54" AngleOffsetAlongship="-0.13" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="71757" Gain="28.21" Impedance="75" Phase="0" BeamWidthAlongship="5.99" BeamWidthAthwartship="6.64" AngleOffsetAlongship="-0.17" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="72252" Gain="28.23" Impedance="75" Phase="0" BeamWidthAlongship="5.9" BeamWidthAthwartship="6.43" AngleOffsetAlongship="-0.16" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="72748" Gain="28.26" Impedance="75" Phase="0" BeamWidthAlongship="5.87" BeamWidthAthwartship="6.48" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.04" />\n                        <FrequencyPar Frequency="73243" Gain="28.4" Impedance="75" Phase="0" BeamWidthAlongship="5.79" BeamWidthAthwartship="6.34" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.04" />\n                        <FrequencyPar Frequency="73739" Gain="28.56" Impedance="75" Phase="0" BeamWidthAlongship="5.67" BeamWidthAthwartship="6.31" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.01" />\n                        <FrequencyPar Frequency="74234" Gain="28.73" Impedance="75" Phase="0" BeamWidthAlongship="5.62" BeamWidthAthwartship="6.24" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.02" />\n                        <FrequencyPar Frequency="74730" Gain="28.87" Impedance="75" Phase="0" BeamWidthAlongship="5.58" BeamWidthAthwartship="6.19" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.02" />\n                        <FrequencyPar Frequency="75225" Gain="28.97" Impedance="75" Phase="0" BeamWidthAlongship="5.56" BeamWidthAthwartship="6.13" AngleOffsetAlongship="-0.19" AngleOffsetAthwartship="-0.02" />\n                        <FrequencyPar Frequency="75721" Gain="29.01" Impedance="75" Phase="0" BeamWidthAlongship="5.55" BeamWidthAthwartship="6.04" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.04" />\n                        <FrequencyPar Frequency="76216" Gain="28.97" Impedance="75" Phase="0" BeamWidthAlongship="5.58" BeamWidthAthwartship="6.02" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.05" />\n                        <FrequencyPar Frequency="76712" Gain="28.93" Impedance="75" Phase="0" BeamWidthAlongship="5.56" BeamWidthAthwartship="5.99" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="77207" Gain="28.91" Impedance="75" Phase="0" BeamWidthAlongship="5.55" BeamWidthAthwartship="5.99" AngleOffsetAlongship="-0.18" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="77703" Gain="28.92" Impedance="75" Phase="0" BeamWidthAlongship="5.56" BeamWidthAthwartship="6" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="78198" Gain="29.02" Impedance="75" Phase="0" BeamWidthAlongship="5.55" BeamWidthAthwartship="6" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="78694" Gain="29.24" Impedance="75" Phase="0" BeamWidthAlongship="5.49" BeamWidthAthwartship="5.95" AngleOffsetAlongship="-0.2" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="79189" Gain="29.52" Impedance="75" Phase="0" BeamWidthAlongship="5.37" BeamWidthAthwartship="5.87" AngleOffsetAlongship="-0.22" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="79685" Gain="29.78" Impedance="75" Phase="0" BeamWidthAlongship="5.3" BeamWidthAthwartship="5.83" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="80180" Gain="29.97" Impedance="75" Phase="0" BeamWidthAlongship="5.18" BeamWidthAthwartship="5.76" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="80676" Gain="30.04" Impedance="75" Phase="0" BeamWidthAlongship="5.08" BeamWidthAthwartship="5.69" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="81171" Gain="29.96" Impedance="75" Phase="0" BeamWidthAlongship="5.01" BeamWidthAthwartship="5.63" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="81667" Gain="29.82" Impedance="75" Phase="0" BeamWidthAlongship="4.88" BeamWidthAthwartship="5.53" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.05" />\n                        <FrequencyPar Frequency="82162" Gain="29.6" Impedance="75" Phase="0" BeamWidthAlongship="4.86" BeamWidthAthwartship="5.5" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="82658" Gain="29.39" Impedance="75" Phase="0" BeamWidthAlongship="4.86" BeamWidthAthwartship="5.46" AngleOffsetAlongship="-0.26" AngleOffsetAthwartship="-0.06" />\n                        <FrequencyPar Frequency="83153" Gain="29.25" Impedance="75" Phase="0" BeamWidthAlongship="4.87" BeamWidthAthwartship="5.45" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.07" />\n                        <FrequencyPar Frequency="83649" Gain="29.18" Impedance="75" Phase="0" BeamWidthAlongship="4.88" BeamWidthAthwartship="5.43" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="84144" Gain="29.22" Impedance="75" Phase="0" BeamWidthAlongship="4.88" BeamWidthAthwartship="5.41" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="84640" Gain="29.35" Impedance="75" Phase="0" BeamWidthAlongship="4.88" BeamWidthAthwartship="5.39" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="85135" Gain="29.57" Impedance="75" Phase="0" BeamWidthAlongship="4.85" BeamWidthAthwartship="5.37" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.1" />\n                        <FrequencyPar Frequency="85631" Gain="29.86" Impedance="75" Phase="0" BeamWidthAlongship="4.84" BeamWidthAthwartship="5.34" AngleOffsetAlongship="-0.24" AngleOffsetAthwartship="-0.1" />\n                        <FrequencyPar Frequency="86126" Gain="30.21" Impedance="75" Phase="0" BeamWidthAlongship="4.75" BeamWidthAthwartship="5.31" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.11" />\n                        <FrequencyPar Frequency="86622" Gain="30.52" Impedance="75" Phase="0" BeamWidthAlongship="4.72" BeamWidthAthwartship="5.38" AngleOffsetAlongship="-0.21" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="87117" Gain="30.79" Impedance="75" Phase="0" BeamWidthAlongship="4.69" BeamWidthAthwartship="5.34" AngleOffsetAlongship="-0.23" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="87613" Gain="30.99" Impedance="75" Phase="0" BeamWidthAlongship="4.58" BeamWidthAthwartship="5.21" AngleOffsetAlongship="-0.25" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="88108" Gain="31.04" Impedance="75" Phase="0" BeamWidthAlongship="4.49" BeamWidthAthwartship="5.24" AngleOffsetAlongship="-0.27" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="88604" Gain="31.04" Impedance="75" Phase="0" BeamWidthAlongship="4.38" BeamWidthAthwartship="5.09" AngleOffsetAlongship="-0.28" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="89099" Gain="31.04" Impedance="75" Phase="0" BeamWidthAlongship="4.34" BeamWidthAthwartship="5.08" AngleOffsetAlongship="-0.3" AngleOffsetAthwartship="-0.08" />\n                        <FrequencyPar Frequency="89595" Gain="31.14" Impedance="75" Phase="0" BeamWidthAlongship="4.26" BeamWidthAthwartship="5.06" AngleOffsetAlongship="-0.31" AngleOffsetAthwartship="-0.09" />\n                        <FrequencyPar Frequency="90000" Gain="31.36" Impedance="75" Phase="0" BeamWidthAlongship="4.22" BeamWidthAthwartship="5.06" AngleOffsetAlongship="-0.32" AngleOffsetAthwartship="-0.09" />\n                    </Transducer>\n                </Channel>\n            </Channels>\n        </Transceiver>\n        <Transceiver TransceiverName="WBT 743869" IPAddress="" MarketSegment="Scientific" SerialNumber="743869" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000" EthernetAddress="0090720b59bd" Version="[0] Ethernet: 00:90:72:0B:59:BD&#x0D;&#x0A;[1] Parts-list: WBT 371790/F&#x0D;&#x0A;[2] Product: WBT&#x0D;&#x0A;IP Address: 157.237.15.3&#x0D;&#x0A;Subnet mask: 255.255.0.0&#x0D;&#x0A;Default gateway: 157.237.15.1&#x0D;&#x0A;Serial number: 743869&#x0D;&#x0A;Embedded software: Rev. 2.20&#x0D;&#x0A;FPGA TX firmware: Rev. 5&#x0D;&#x0A;FPGA RX firmware: Rev. 7&#x0D;&#x0A;CH1: 502W CH2: 492W CH3: 489W CH4: 502W&#x0D;&#x0A;TRD1: Unable to detect transducer&#x0D;&#x0A;TRD2: Unable to detect transducer&#x0D;&#x0A;TRD3: Unable to detect transducer&#x0D;&#x0A;TRD4: Unable to detect transducer&#x0D;&#x0A;" TransceiverSoftwareVersion="2.20" TransceiverNumber="4" TransceiverType="WBT">\n            <Channels>\n                <Channel ChannelID="WBT 743869-15 ES120-7C_ES" LogicalChannelID="WBT 743869-15 ES120-7C" ChannelIdShort="ES120-7C Serial No: 3" MaxTxPowerTransceiver="2000" HWChannelConfiguration="15" PulseDuration="6.4e-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192">\n                    <Transducer TransducerName="ES120-7C" SerialNumber="3" Frequency="120000" FrequencyMinimum="90000" FrequencyMaximum="170000" MaxTxPowerTransducer="250" Gain="27;27;27;27;27" SaCorrection="0;0;0;0;0" EquivalentBeamAngle="-20.7" DirectivityDropAt2XBeamWidth="0" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" BeamWidthAlongship="7" BeamWidthAthwartship="7" BeamType="1" />\n                </Channel>\n            </Channels>\n        </Transceiver>\n        <Transceiver TransceiverName="WBT 545612" IPAddress="" MarketSegment="Scientific" SerialNumber="545612" Impedance="5400" Multiplexing="0" RxSampleFrequency="1500000" EthernetAddress="00907208534c" Version="[0] Ethernet: 00:90:72:08:53:4C&#x0D;&#x0A;[1] Parts-list: WBT 371790/D&#x0D;&#x0A;[2] Product: WBT&#x0D;&#x0A;IP Address: 157.237.15.0&#x0D;&#x0A;Subnet mask: 255.255.0.0&#x0D;&#x0A;Default gateway: 157.237.15.1&#x0D;&#x0A;Serial number: 545612&#x0D;&#x0A;Embedded software: Rev. 2.20&#x0D;&#x0A;FPGA TX firmware: Rev. 4&#x0D;&#x0A;FPGA RX firmware: Rev. 7&#x0D;&#x0A;CH1: 515W CH2: 499W CH3: 491W CH4: 499W&#x0D;&#x0A;TRD1: Unable to detect transducer&#x0D;&#x0A;TRD2: Unable to detect transducer&#x0D;&#x0A;TRD3: Unable to detect transducer&#x0D;&#x0A;TRD4: Unable to detect transducer&#x0D;&#x0A;" TransceiverSoftwareVersion="2.20" TransceiverNumber="5" TransceiverType="WBT">\n            <Channels>\n                <Channel ChannelID="WBT 545612-15 ES200-7C_ES" LogicalChannelID="WBT 545612-15 ES200-7C" ChannelIdShort="ES200-7C Serial No: 0" MaxTxPowerTransceiver="2000" HWChannelConfiguration="15" PulseDuration="6.4e-05;0.000128;0.000256;0.000512;0.001024" PulseDurationFM="0.000512;0.001024;0.002048;0.004096;0.008192">\n                    <Transducer TransducerName="ES200-7C" SerialNumber="0" Frequency="200000" FrequencyMinimum="160000" FrequencyMaximum="260000" MaxTxPowerTransducer="150" Gain="27;27;27;27;27" SaCorrection="0;0;0;0;0" EquivalentBeamAngle="-20.7" DirectivityDropAt2XBeamWidth="0" AngleSensitivityAlongship="23" AngleSensitivityAthwartship="23" AngleOffsetAlongship="0" AngleOffsetAthwartship="0" BeamWidthAlongship="7" BeamWidthAthwartship="7" BeamType="1" />\n                </Channel>\n            </Channels>\n        </Transceiver>\n    </Transceivers>\n    <Transducers MergeOperation="AddNodeTree">\n        <Transducer TransducerName="ES18" TransducerSerialNumber="1" TransducerCustomName="ES18 Serial No: 1" TransducerMounting="DropKeel" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\n        <Transducer TransducerName="ES38B" TransducerSerialNumber="2" TransducerCustomName="ES38B Serial No: 2" TransducerMounting="DropKeel" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\n        <Transducer TransducerName="ES70-7C" TransducerSerialNumber="0" TransducerCustomName="ES70-7C Serial No: 0" TransducerMounting="DropKeel" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\n        <Transducer TransducerName="ES120-7C" TransducerSerialNumber="3" TransducerCustomName="ES120-7C Serial No: 3" TransducerMounting="DropKeel" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\n        <Transducer TransducerName="ES200-7C" TransducerSerialNumber="0" TransducerCustomName="ES200-7C Serial No: 0" TransducerMounting="DropKeel" TransducerOffsetX="0" TransducerOffsetY="0" TransducerOffsetZ="0" TransducerAlphaX="0" TransducerAlphaY="0" TransducerAlphaZ="0" />\n    </Transducers>\n    <ConfiguredSensors MergeOperation="AddNodeTree">\n        <Sensor Name="GPS From GPS" Type="GPS" Port="Lan Port 1" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\n            <Telegram Name="GLL from GPS From GPS" SensorType="GPS" Type="GLL" SubscriptionPath="GPS From GPS@GPS.Geographical.Position" Enabled="1">\n                <Value Name="Latitude" Priority="1" />\n                <Value Name="Longitude" Priority="1" />\n            </Telegram>\n            <Telegram Name="GGA from GPS From GPS" SensorType="GPS" Type="GGA" SubscriptionPath="GPS From GPS@GPS.Global.Position" Enabled="1">\n                <Value Name="Latitude" Priority="2" />\n                <Value Name="Longitude" Priority="2" />\n            </Telegram>\n            <Telegram Name="RMC from GPS From GPS" SensorType="GPS" Type="RMC" SubscriptionPath="GPS From GPS@GPS.Specific.PositionSpeedCourse" Enabled="1">\n                <Value Name="Latitude" Priority="3" />\n                <Value Name="Longitude" Priority="3" />\n                <Value Name="Course" Priority="1" />\n                <Value Name="Speed" Priority="1" />\n            </Telegram>\n            <Telegram Name="VTG from GPS From GPS" SensorType="GPS" Type="VTG" SubscriptionPath="GPS From GPS@GPS.Ground" Enabled="1">\n                <Value Name="Course" Priority="2" />\n                <Value Name="CourseNotUsedMagnetic" Priority="1" />\n                <Value Name="Speed" Priority="2" />\n            </Telegram>\n            <Telegram Name="ZDA from GPS From GPS" SensorType="GPS" Type="ZDA" SubscriptionPath="GPS From GPS@GPS.TimeInfo" Enabled="1">\n                <Value Name="TimeInfo" Priority="1" />\n            </Telegram>\n        </Sensor>\n        <Sensor Name="Gyro From GPS" Type="Gyro" Port="Lan Port 1" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\n            <Telegram Name="HDT from Gyro From GPS" SensorType="Gyro" Type="HDT" SubscriptionPath="Gyro From GPS@Gyro.HeadingTrue" Enabled="1">\n                <Value Name="Heading" Priority="1" />\n            </Telegram>\n            <Telegram Name="HDM from Gyro From GPS" SensorType="Gyro" Type="HDM" SubscriptionPath="Gyro From GPS@Gyro.HeadingMagnetic" Enabled="1">\n                <Value Name="Heading" Priority="2" />\n            </Telegram>\n            <Telegram Name="HDG from Gyro From GPS" SensorType="Gyro" Type="HDG" SubscriptionPath="Gyro From GPS@Gyro.HeadingMagneticDeviation" Enabled="1">\n                <Value Name="Heading" Priority="3" />\n            </Telegram>\n        </Sensor>\n        <Sensor Name="SpeedLog From GPS" Type="SpeedLog" Port="Lan Port 1" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="20">\n            <Telegram Name="VTG from SpeedLog From GPS" SensorType="SpeedLog" Type="VTG" SubscriptionPath="SpeedLog From GPS@SpeedLog.Ground" Enabled="1">\n                <Value Name="Course" Priority="4" />\n                <Value Name="CourseMagnetic" Priority="1" />\n                <Value Name="Speed" Priority="3" />\n            </Telegram>\n            <Telegram Name="VBW from SpeedLog From GPS" SensorType="SpeedLog" Type="VBW" SubscriptionPath="SpeedLog From GPS@SpeedLog.Dual" Enabled="1">\n                <Value Name="Speed" Priority="4" />\n            </Telegram>\n            <Telegram Name="VHW from SpeedLog From GPS" SensorType="SpeedLog" Type="VHW" SubscriptionPath="SpeedLog From GPS@SpeedLog.Water" Enabled="1">\n                <Value Name="CourseMagnetic" Priority="6" />\n                <Value Name="CourseTrue" Priority="2" />\n                <Value Name="Speed" Priority="5" />\n            </Telegram>\n        </Sensor>\n        <Sensor Name="DistanceLog" Type="DistanceLog" Port="Lan Port 1" TalkerID="" X="0" Y="0" Z="0" AngleX="0" AngleY="0" AngleZ="0" Unique="0" Timeout="0">\n            <Telegram Name="VLW from DistanceLog" SensorType="DistanceLog" Type="VLW" SubscriptionPath="DistanceLog@DistanceLog.VesselDistance" Enabled="1">\n                <Value Name="VesselDistance" Priority="1" />\n            </Telegram>\n        </Sensor>\n    </ConfiguredSensors>\n</Configuration>',
                dtype='<U34166')

  - Indexes: (4)
    - channel
      PandasIndex

          PandasIndex(Index(['WBT 545612-15 ES200-7C_ES', 'WBT 549762-15 ES70-7C_ES',
                 'WBT 743366-15 ES38B_ES', 'WBT 743367-15 ES18_ES',
                 'WBT 743869-15 ES120-7C_ES'],
                dtype='object', name='channel'))

    - pulse_length_bin
      PandasIndex

          PandasIndex(Index([0, 1, 2, 3, 4], dtype='int64', name='pulse_length_bin'))

    - cal_channel_id
      PandasIndex

          PandasIndex(Index(['WBT 549762-15 ES70-7C_ES'], dtype='object', name='cal_channel_id'))

    - cal_frequency
      PandasIndex

          PandasIndex(Index([45000, 45495, 45991, 46486, 46982, 47477, 47973, 48468, 48964, 49459,
                 49955, 50450, 50946, 51441, 51937, 52432, 52928, 53423, 53919, 54414,
                 54910, 55405, 55901, 56396, 56892, 57387, 57883, 58378, 58874, 59369,
                 59865, 60360, 60856, 61351, 61847, 62342, 62838, 63333, 63829, 64324,
                 64820, 65315, 65811, 66306, 66802, 67297, 67793, 68288, 68784, 69279,
                 69775, 70270, 70766, 71261, 71757, 72252, 72748, 73243, 73739, 74234,
                 74730, 75225, 75721, 76216, 76712, 77207, 77703, 78198, 78694, 79189,
                 79685, 80180, 80676, 81171, 81667, 82162, 82658, 83153, 83649, 84144,
                 84640, 85135, 85631, 86126, 86622, 87117, 87613, 88108, 88604, 89099,
                 89595, 90000],
                dtype='int64', name='cal_frequency'))

  - Attributes: (0)

### ASL Environmental Sciences AZFP data

Similar to EK60, AZFP echosounder transmits narrowband signals (gated sine waves) and therefore the `Sonar` group contains only a single subgroup `Beam_group1`.

EchoData: standardized raw data from Internal Memory

- Top-level: contains metadata about the SONAR-netCDF4 file format.

      <xarray.Dataset>
      Dimensions:  ()
      Data variables:
          *empty*
      Attributes:
          conventions:                 CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
          keywords:                    AZFP
          sonar_convention_authority:  ICES
          sonar_convention_name:       SONAR-netCDF4
          sonar_convention_version:    1.0
          summary:
          title:
          date_created:                2017-08-21T17:05:37Z

  xarray.Dataset
  - Dimensions:
  - Coordinates: (0)
  - Data variables: (0)
  - Indexes: (0)
  - Attributes: (8)
    conventions :
      CF-1.7, SONAR-netCDF4-1.0, ACDD-1.3
    keywords :
      AZFP
    sonar_convention_authority :
      ICES
    sonar_convention_name :
      SONAR-netCDF4
    sonar_convention_version :
      1.0
    summary :
    title :
    date_created :
      2017-08-21T17:05:37Z

- Environment: contains information relevant to acoustic propagation through water.

      <xarray.Dataset>
      Dimensions:      (time1: 240)
      Coordinates:
        * time1        (time1) datetime64[ns] 2017-08-21T17:05:37 ... 2017-08-21T17...
      Data variables:
          temperature  (time1) float64 7.311 7.311 7.311 7.311 ... 7.293 7.293 7.293

  xarray.Dataset
  - Dimensions:
    - time1: 240
  - Coordinates: (1)
    - time1
      (time1)
      datetime64[ns]
      2017-08-21T17:05:37 ... 2017-08-...
      axis :
        T
      long_name :
        Timestamp of each ping
      standard_name :
        time
      comment :
        Time coordinate corresponding to environmental variables.

          array(['2017-08-21T17:05:37.000000000', '2017-08-21T17:05:40.000000000',
                 '2017-08-21T17:05:43.000000000', ..., '2017-08-21T17:53:28.000000000',
                 '2017-08-21T17:53:31.000000000', '2017-08-21T17:53:34.000000000'],
                dtype='datetime64[ns]')

  - Data variables: (1)
    - temperature
      (time1)
      float64
      7.311 7.311 7.311 ... 7.293 7.293
      long_name :
        Water temperature
      standard_name :
        sea_water_temperature
      units :
        deg_C

          array([7.31148261, 7.31148261, 7.31148261, 7.31148261, 7.31148261,
                 7.31148261, 7.31148261, 7.31148261, 7.31148261, 7.31148261,
                 7.30984634, 7.30984634, 7.30984634, 7.30984634, 7.30984634,
                 7.30984634, 7.30984634, 7.30984634, 7.30984634, 7.30984634,
                 7.30821005, 7.30821005, 7.30821005, 7.30821005, 7.30821005,
                 7.30821005, 7.30821005, 7.30821005, 7.30821005, 7.30821005,
                 7.31148261, 7.31148261, 7.31148261, 7.31148261, 7.31148261,
                 7.31148261, 7.31148261, 7.31148261, 7.31148261, 7.31148261,
                 7.30821005, 7.30821005, 7.30821005, 7.30821005, 7.30821005,
                 7.30821005, 7.30821005, 7.30821005, 7.30821005, 7.30821005,
                 7.30657374, 7.30657374, 7.30657374, 7.30657374, 7.30657374,
                 7.30657374, 7.30657374, 7.30657374, 7.30657374, 7.30657374,
                 7.30330108, 7.30330108, 7.30330108, 7.30330108, 7.30330108,
                 7.30330108, 7.30330108, 7.30330108, 7.30330108, 7.30330108,
                 7.30330108, 7.30330108, 7.30330108, 7.30330108, 7.30330108,
                 7.30330108, 7.30330108, 7.30330108, 7.30330108, 7.30330108,
                 7.30493742, 7.30493742, 7.30493742, 7.30493742, 7.30493742,
                 7.30493742, 7.30493742, 7.30493742, 7.30493742, 7.30493742,
                 7.30166472, 7.30166472, 7.30166472, 7.30166472, 7.30166472,
                 7.30166472, 7.30166472, 7.30166472, 7.30166472, 7.30166472,
          ...
                 7.30166472, 7.30166472, 7.30166472, 7.30166472, 7.30166472,
                 7.30166472, 7.30166472, 7.30166472, 7.30166472, 7.30166472,
                 7.29839195, 7.29839195, 7.29839195, 7.29839195, 7.29839195,
                 7.29839195, 7.29839195, 7.29839195, 7.29839195, 7.29839195,
                 7.29675553, 7.29675553, 7.29675553, 7.29675553, 7.29675553,
                 7.29675553, 7.29675553, 7.29675553, 7.29675553, 7.29675553,
                 7.29675553, 7.29675553, 7.29675553, 7.29675553, 7.29675553,
                 7.29675553, 7.29675553, 7.29675553, 7.29675553, 7.29675553,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 , 7.2951191 ,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266,
                 7.29348266, 7.29348266, 7.29348266, 7.29348266, 7.29348266])

  - Indexes: (1)
    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-08-21 17:05:37', '2017-08-21 17:05:40',
                         '2017-08-21 17:05:43', '2017-08-21 17:05:46',
                         '2017-08-21 17:05:49', '2017-08-21 17:05:52',
                         '2017-08-21 17:05:55', '2017-08-21 17:05:58',
                         '2017-08-21 17:06:01', '2017-08-21 17:06:04',
                         ...
                         '2017-08-21 17:53:07', '2017-08-21 17:53:10',
                         '2017-08-21 17:53:13', '2017-08-21 17:53:16',
                         '2017-08-21 17:53:19', '2017-08-21 17:53:22',
                         '2017-08-21 17:53:25', '2017-08-21 17:53:28',
                         '2017-08-21 17:53:31', '2017-08-21 17:53:34'],
                        dtype='datetime64[ns]', name='time1', length=240, freq=None))

  - Attributes: (0)
- Platform: contains information about the platform on which the sonar is installed.

      <xarray.Dataset>
      Dimensions:              (time1: 1, time2: 240, channel: 4)
      Coordinates:
        * channel              (channel) <U11 '55075-38-1' ... '55075-455-4'
        * time1                (time1) datetime64[ns] 2017-08-21T17:05:37
        * time2                (time2) datetime64[ns] 2017-08-21T17:05:37 ... 2017-...
      Data variables: (12/21)
          latitude             (time1) float64 nan
          longitude            (time1) float64 nan
          pitch                (time2) float64 nan nan nan nan nan ... nan nan nan nan
          roll                 (time2) float64 nan nan nan nan nan ... nan nan nan nan
          vertical_offset      (time2) float64 nan nan nan nan nan ... nan nan nan nan
          water_level          float64 nan
          ...                   ...
          MRU_rotation_y       float64 nan
          MRU_rotation_z       float64 nan
          position_offset_x    float64 nan
          position_offset_y    float64 nan
          position_offset_z    float64 nan
          frequency_nominal    (channel) float64 3.8e+04 1.25e+05 2e+05 4.55e+05
      Attributes:
          platform_name:
          platform_type:
          platform_code_ICES:

  xarray.Dataset
  - Dimensions:
    - time1: 1
    - time2: 240
    - channel: 4
  - Coordinates: (3)
    - channel
      (channel)
      <U11
      '55075-38-1' ... '55075-455-4'
      long_name :
        Vendor channel ID

          array(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='<U11')

    - time1
      (time1)
      datetime64[ns]
      2017-08-21T17:05:37
      axis :
        T
      long_name :
        Timestamps for NMEA datagrams
      standard_name :
        time
      comment :
        Time coordinate corresponding to NMEA position data.

          array(['2017-08-21T17:05:37.000000000'], dtype='datetime64[ns]')

    - time2
      (time2)
      datetime64[ns]
      2017-08-21T17:05:37 ... 2017-08-...
      axis :
        T
      long_name :
        Timestamps for platform motion and orientation data
      standard_name :
        time
      comment :
        Time coordinate corresponding to platform motion and orientation data.

          array(['2017-08-21T17:05:37.000000000', '2017-08-21T17:05:40.000000000',
                 '2017-08-21T17:05:43.000000000', ..., '2017-08-21T17:53:28.000000000',
                 '2017-08-21T17:53:31.000000000', '2017-08-21T17:53:34.000000000'],
                dtype='datetime64[ns]')

  - Data variables: (21)
    - latitude
      (time1)
      float64
      nan
      long_name :
        Platform latitude
      standard_name :
        latitude
      units :
        degrees_north
      valid_range :
        (-90.0, 90.0)

          array([nan])

    - longitude
      (time1)
      float64
      nan
      long_name :
        Platform longitude
      standard_name :
        longitude
      units :
        degrees_east
      valid_range :
        (-180.0, 180.0)

          array([nan])

    - pitch
      (time2)
      float64
      nan nan nan nan ... nan nan nan nan
      long_name :
        Platform pitch
      standard_name :
        platform_pitch_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan])

    - roll
      (time2)
      float64
      nan nan nan nan ... nan nan nan nan
      long_name :
        Platform roll
      standard_name :
        platform_roll_angle
      units :
        arc_degree
      valid_range :
        (-90.0, 90.0)

          array([nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan])

    - vertical_offset
      (time2)
      float64
      nan nan nan nan ... nan nan nan nan
      long_name :
        Platform vertical offset from nominal water level
      units :
        m

          array([nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan,
                 nan, nan, nan, nan, nan, nan])

    - water_level
      ()
      float64
      nan
      long_name :
        Distance from the platform coordinate system origin to the nominal water level along the z-axis
      units :
        m

          array(nan)

    - tilt_x
      (time2)
      float64
      45.08 45.08 45.08 ... 45.05 45.05
      long_name :
        Tilt X
      units :
        arc_degree

          array([45.07707439, 45.07707439, 45.07707439, 45.07707439, 45.07707439,
                 45.07707439, 45.07707439, 45.07707439, 45.07707439, 45.07707439,
                 45.02843838, 45.02843838, 45.02843838, 45.02843838, 45.02843838,
                 45.02843838, 45.02843838, 45.02843838, 45.02843838, 45.02843838,
                 45.07660063, 45.07660063, 45.07660063, 45.07660063, 45.07660063,
                 45.07660063, 45.07660063, 45.07660063, 45.07660063, 45.07660063,
                 45.07451307, 45.07451307, 45.07451307, 45.07451307, 45.07451307,
                 45.07451307, 45.07451307, 45.07451307, 45.07451307, 45.07451307,
                 45.06689824, 45.06689824, 45.06689824, 45.06689824, 45.06689824,
                 45.06689824, 45.06689824, 45.06689824, 45.06689824, 45.06689824,
                 44.98652178, 44.98652178, 44.98652178, 44.98652178, 44.98652178,
                 44.98652178, 44.98652178, 44.98652178, 44.98652178, 44.98652178,
                 45.06921508, 45.06921508, 45.06921508, 45.06921508, 45.06921508,
                 45.06921508, 45.06921508, 45.06921508, 45.06921508, 45.06921508,
                 45.07308642, 45.07308642, 45.07308642, 45.07308642, 45.07308642,
                 45.07308642, 45.07308642, 45.07308642, 45.07308642, 45.07308642,
                 45.07686659, 45.07686659, 45.07686659, 45.07686659, 45.07686659,
                 45.07686659, 45.07686659, 45.07686659, 45.07686659, 45.07686659,
                 44.68246411, 44.68246411, 44.68246411, 44.68246411, 44.68246411,
                 44.68246411, 44.68246411, 44.68246411, 44.68246411, 44.68246411,
          ...
                 45.054444  , 45.054444  , 45.054444  , 45.054444  , 45.054444  ,
                 45.054444  , 45.054444  , 45.054444  , 45.054444  , 45.054444  ,
                 44.93225498, 44.93225498, 44.93225498, 44.93225498, 44.93225498,
                 44.93225498, 44.93225498, 44.93225498, 44.93225498, 44.93225498,
                 45.07682939, 45.07682939, 45.07682939, 45.07682939, 45.07682939,
                 45.07682939, 45.07682939, 45.07682939, 45.07682939, 45.07682939,
                 45.0699373 , 45.0699373 , 45.0699373 , 45.0699373 , 45.0699373 ,
                 45.0699373 , 45.0699373 , 45.0699373 , 45.0699373 , 45.0699373 ,
                 45.07473529, 45.07473529, 45.07473529, 45.07473529, 45.07473529,
                 45.07473529, 45.07473529, 45.07473529, 45.07473529, 45.07473529,
                 44.93672542, 44.93672542, 44.93672542, 44.93672542, 44.93672542,
                 44.93672542, 44.93672542, 44.93672542, 44.93672542, 44.93672542,
                 45.01094464, 45.01094464, 45.01094464, 45.01094464, 45.01094464,
                 45.01094464, 45.01094464, 45.01094464, 45.01094464, 45.01094464,
                 45.0712401 , 45.0712401 , 45.0712401 , 45.0712401 , 45.0712401 ,
                 45.0712401 , 45.0712401 , 45.0712401 , 45.0712401 , 45.0712401 ,
                 45.00490767, 45.00490767, 45.00490767, 45.00490767, 45.00490767,
                 45.00490767, 45.00490767, 45.00490767, 45.00490767, 45.00490767,
                 45.04870538, 45.04870538, 45.04870538, 45.04870538, 45.04870538,
                 45.04870538, 45.04870538, 45.04870538, 45.04870538, 45.04870538])

    - tilt_y
      (time2)
      float64
      -46.11 -46.11 ... -46.12 -46.12
      long_name :
        Tilt Y
      units :
        arc_degree

          array([-46.10616273, -46.10616273, -46.10616273, -46.10616273,
                 -46.10616273, -46.10616273, -46.10616273, -46.10616273,
                 -46.10616273, -46.10616273, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11081213, -46.11081213, -46.11081213, -46.11081213,
                 -46.11081213, -46.11081213, -46.11081213, -46.11081213,
                 -46.11081213, -46.11081213, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11081213, -46.11081213,
                 -46.11081213, -46.11081213, -46.11081213, -46.11081213,
                 -46.11081213, -46.11081213, -46.11081213, -46.11081213,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
          ...
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11452599, -46.11452599,
                 -46.11452599, -46.11452599, -46.11452599, -46.11452599,
                 -46.11452599, -46.11452599, -46.11452599, -46.11452599,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.11266969, -46.11266969, -46.11266969, -46.11266969,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.11452599, -46.11452599,
                 -46.11452599, -46.11452599, -46.11452599, -46.11452599,
                 -46.11452599, -46.11452599, -46.11452599, -46.11452599,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.10988288, -46.10988288,
                 -46.10988288, -46.10988288, -46.11730808, -46.11730808,
                 -46.11730808, -46.11730808, -46.11730808, -46.11730808,
                 -46.11730808, -46.11730808, -46.11730808, -46.11730808])

    - transducer_offset_x
      (channel)
      float64
      nan nan nan nan
      long_name :
        x-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([nan, nan, nan, nan])

    - transducer_offset_y
      (channel)
      float64
      nan nan nan nan
      long_name :
        y-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([nan, nan, nan, nan])

    - transducer_offset_z
      (channel)
      float64
      nan nan nan nan
      long_name :
        z-axis distance from the platform coordinate system origin to the sonar transducer
      units :
        m

          array([nan, nan, nan, nan])

    - MRU_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the motion reference unit sensor origin
      units :
        m

          array(nan)

    - MRU_rotation_x
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the x-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_y
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the y-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - MRU_rotation_z
      ()
      float64
      nan
      long_name :
        Extrinsic rotation about the z-axis from the platform to MRU coordinate systems
      units :
        arc_degree
      valid_range :
        (–180.0, 180.0)

          array(nan)

    - position_offset_x
      ()
      float64
      nan
      long_name :
        Distance along the x-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_y
      ()
      float64
      nan
      long_name :
        Distance along the y-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - position_offset_z
      ()
      float64
      nan
      long_name :
        Distance along the z-axis from the platform coordinate system origin to the latitude/longitude sensor origin
      units :
        m

          array(nan)

    - frequency_nominal
      (channel)
      float64
      3.8e+04 1.25e+05 2e+05 4.55e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 38000., 125000., 200000., 455000.])

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='object', name='channel'))

    - time1
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-08-21 17:05:37'], dtype='datetime64[ns]', name='time1', freq=None))

    - time2
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-08-21 17:05:37', '2017-08-21 17:05:40',
                         '2017-08-21 17:05:43', '2017-08-21 17:05:46',
                         '2017-08-21 17:05:49', '2017-08-21 17:05:52',
                         '2017-08-21 17:05:55', '2017-08-21 17:05:58',
                         '2017-08-21 17:06:01', '2017-08-21 17:06:04',
                         ...
                         '2017-08-21 17:53:07', '2017-08-21 17:53:10',
                         '2017-08-21 17:53:13', '2017-08-21 17:53:16',
                         '2017-08-21 17:53:19', '2017-08-21 17:53:22',
                         '2017-08-21 17:53:25', '2017-08-21 17:53:28',
                         '2017-08-21 17:53:31', '2017-08-21 17:53:34'],
                        dtype='datetime64[ns]', name='time2', length=240, freq=None))

  - Attributes: (3)
    platform_name :
    platform_type :
    platform_code_ICES :
- Provenance: contains metadata about how the SONAR-netCDF4 version of the data were obtained.

      <xarray.Dataset>
      Dimensions:                (filenames: 1)
      Coordinates:
        * filenames              (filenames) int64 0
      Data variables:
          source_filenames       (filenames) <U26 './example_raw/17082117.01A'
          meta_source_filenames  (filenames) <U26 './example_raw/17041823.XML'
      Attributes:
          conversion_software_name:     echopype
          conversion_software_version:  0.7.2.dev50+g451d5ef6
          conversion_time:              2023-08-20T18:29:17Z

  xarray.Dataset
  - Dimensions:
    - filenames: 1
  - Coordinates: (1)
    - filenames
      (filenames)
      int64
      0
      long_name :
        Index for data and metadata source filenames

          array([0])

  - Data variables: (2)
    - source_filenames
      (filenames)
      <U26
      './example_raw/17082117.01A'
      long_name :
        Source filenames

          array(['./example_raw/17082117.01A'], dtype='<U26')

    - meta_source_filenames
      (filenames)
      <U26
      './example_raw/17041823.XML'
      long_name :
        Metadata source filenames

          array(['./example_raw/17041823.XML'], dtype='<U26')

  - Indexes: (1)
    - filenames
      PandasIndex

          PandasIndex(Index([0], dtype='int64', name='filenames'))

  - Attributes: (3)
    conversion_software_name :
      echopype
    conversion_software_version :
      0.7.2.dev50+g451d5ef6
    conversion_time :
      2023-08-20T18:29:17Z
- Sonar: contains sonar system metadata and sonar beam groups.

      <xarray.Dataset>
      Dimensions:           (beam_group: 1)
      Coordinates:
        * beam_group        (beam_group) <U11 'Beam_group1'
      Data variables:
          beam_group_descr  (beam_group) <U82 'contains backscatter power (uncalibr...
      Attributes:
          sonar_manufacturer:      ASL Environmental Sciences
          sonar_model:             AZFP
          sonar_serial_number:     55075
          sonar_software_name:     AZFP
          sonar_software_version:  1.4
          sonar_type:              echosounder

  xarray.Dataset
  - Dimensions:
    - beam_group: 1
  - Coordinates: (1)
    - beam_group
      (beam_group)
      <U11
      'Beam_group1'
      long_name :
        Beam group name

          array(['Beam_group1'], dtype='<U11')

  - Data variables: (1)
    - beam_group_descr
      (beam_group)
      <U82
      'contains backscatter power (unc...
      long_name :
        Beam group description

          array(['contains backscatter power (uncalibrated) and other beam or channel-specific data.'],
                dtype='<U82')

  - Indexes: (1)
    - beam_group
      PandasIndex

          PandasIndex(Index(['Beam_group1'], dtype='object', name='beam_group'))

  - Attributes: (6)
    sonar_manufacturer :
      ASL Environmental Sciences
    sonar_model :
      AZFP
    sonar_serial_number :
      55075
    sonar_software_name :
      AZFP
    sonar_software_version :
      1.4
    sonar_type :
      echosounder

- Beam_group1: contains backscatter power (uncalibrated) and other beam or channel-specific data.

      <xarray.Dataset>
      Dimensions:                      (channel: 4, ping_time: 240, range_sample: 2650)
      Coordinates:
        * channel                      (channel) <U11 '55075-38-1' ... '55075-455-4'
        * ping_time                    (ping_time) datetime64[ns] 2017-08-21T17:05:...
        * range_sample                 (range_sample) int64 0 1 2 3 ... 2647 2648 2649
      Data variables: (12/16)
          frequency_nominal            (channel) float64 3.8e+04 1.25e+05 ... 4.55e+05
          beam_type                    (channel) int64 0 0 0 0
          beam_direction_x             (channel) float64 nan nan nan nan
          beam_direction_y             (channel) float64 nan nan nan nan
          beam_direction_z             (channel) float64 nan nan nan nan
          backscatter_r                (channel, ping_time, range_sample) float32 2...
          ...                           ...
          transmit_frequency_start     (channel) float64 3.8e+04 1.25e+05 ... 4.55e+05
          transmit_frequency_stop      (channel) float64 3.8e+04 1.25e+05 ... 4.55e+05
          transmit_type                <U2 'CW'
          beam_stabilisation           int8 0
          non_quantitative_processing  int16 0
          sample_time_offset           float64 0.0
      Attributes:
          beam_mode:
          conversion_equation_t:  type_4

  xarray.Dataset
  - Dimensions:
    - channel: 4
    - ping_time: 240
    - range_sample: 2650
  - Coordinates: (3)
    - channel
      (channel)
      <U11
      '55075-38-1' ... '55075-455-4'
      long_name :
        Vendor channel ID

          array(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='<U11')

    - ping_time
      (ping_time)
      datetime64[ns]
      2017-08-21T17:05:37 ... 2017-08-...
      long_name :
        Timestamp of each ping
      standard_name :
        time
      axis :
        T

          array(['2017-08-21T17:05:37.000000000', '2017-08-21T17:05:40.000000000',
                 '2017-08-21T17:05:43.000000000', ..., '2017-08-21T17:53:28.000000000',
                 '2017-08-21T17:53:31.000000000', '2017-08-21T17:53:34.000000000'],
                dtype='datetime64[ns]')

    - range_sample
      (range_sample)
      int64
      0 1 2 3 4 ... 2646 2647 2648 2649
      long_name :
        Along-range sample number, base 0

          array([   0,    1,    2, ..., 2647, 2648, 2649])

  - Data variables: (16)
    - frequency_nominal
      (channel)
      float64
      3.8e+04 1.25e+05 2e+05 4.55e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 38000., 125000., 200000., 455000.])

    - beam_type
      (channel)
      int64
      0 0 0 0
      long_name :
        Beam type
      flag_values :
        [0, 1]
      flag_meanings :
        ['Single beam', 'Split aperture beam']

          array([0, 0, 0, 0])

    - beam_direction_x
      (channel)
      float64
      nan nan nan nan
      long_name :
        x-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan])

    - beam_direction_y
      (channel)
      float64
      nan nan nan nan
      long_name :
        y-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan])

    - beam_direction_z
      (channel)
      float64
      nan nan nan nan
      long_name :
        z-component of the vector that gives the pointing direction of the beam, in sonar beam coordinate system
      units :
        1
      valid_range :
        (-1.0, 1.0)

          array([nan, nan, nan, nan])

    - backscatter_r
      (channel, ping_time, range_sample)
      float32
      2.073e+04 2.918e+04 ... 2.257e+04
      long_name :
        Raw backscatter measurements (real part)
      units :
        count

          array([[[20726., 29175., 35569., ..., 40247., 40332., 40491.],
                  [20805., 29155., 35535., ..., 35769., 35551., 35725.],
                  [20775., 29132., 35689., ..., 39724., 39616., 39811.],
                  ...,
                  [20743., 29165., 35562., ..., 31635., 31158., 31225.],
                  [20705., 29111., 35500., ..., 31327., 31673., 31747.],
                  [20811., 29113., 35508., ..., 30233., 30526., 31026.]],

                 [[28976., 44707., 53869., ..., 29772., 29528., 29050.],
                  [29175., 45128., 54464., ..., 35178., 34999., 34651.],
                  [28928., 44883., 53966., ..., 30983., 31199., 31405.],
                  ...,
                  [29155., 45040., 53991., ..., 30977., 31101., 31305.],
                  [28999., 44939., 54047., ..., 33446., 32967., 32770.],
                  [29173., 45107., 54471., ..., 31224., 31124., 30802.]],

                 [[30083., 45235., 54019., ..., 29760., 29774., 29515.],
                  [30379., 45380., 54660., ..., 33034., 33193., 33505.],
                  [30059., 44951., 54416., ..., 38256., 38277., 38393.],
                  ...,
                  [29980., 45064., 54024., ..., 24713., 24111., 23999.],
                  [30007., 45269., 54219., ..., 29543., 31238., 32936.],
                  [30224., 45385., 54297., ..., 30583., 30739., 30936.]],

                 [[29969., 45567., 55131., ..., 23819., 24563., 25180.],
                  [29848., 45801., 55433., ..., 22809., 22389., 22056.],
                  [30114., 45091., 54562., ..., 25323., 25479., 25787.],
                  ...,
                  [30291., 45203., 54672., ..., 21455., 21708., 22155.],
                  [29639., 45428., 55270., ..., 17369., 19309., 21532.],
                  [30323., 45207., 54643., ..., 22015., 22281., 22567.]]],
                dtype=float32)

    - equivalent_beam_angle
      (channel)
      float64
      0.02213 0.01071 0.01071 0.0082
      long_name :
        Equivalent beam angle
      units :
        sr
      valid_range :
        (0.0, 12.566370614359172)

          array([0.02213, 0.01071, 0.01071, 0.0082 ])

    - gain_correction
      (channel)
      float64
      118.0 34.0 48.0 44.0
      long_name :
        Gain correction
      units :
        dB

          array([118.,  34.,  48.,  44.])

    - sample_interval
      (channel, ping_time)
      float64
      1.563e-05 1.563e-05 ... 1.563e-05
      long_name :
        Interval between recorded raw data samples
      units :
        s
      valid_min :
        0.0

          array([[1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
          ...
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05,
                  1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05, 1.5625e-05]])

    - transmit_duration_nominal
      (channel, ping_time)
      float64
      0.001 0.001 0.001 ... 0.001 0.001
      long_name :
        Nominal bandwidth of transmitted pulse
      units :
        s
      valid_min :
        0.0

          array([[0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
          ...
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001,
                  0.001, 0.001, 0.001, 0.001, 0.001, 0.001]])

    - transmit_frequency_start
      (channel)
      float64
      3.8e+04 1.25e+05 2e+05 4.55e+05
      long_name :
        Start frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([ 38000., 125000., 200000., 455000.])

    - transmit_frequency_stop
      (channel)
      float64
      3.8e+04 1.25e+05 2e+05 4.55e+05
      long_name :
        Stop frequency in transmitted pulse
      units :
        Hz
      standard_name :
        sound_frequency
      valid_min :
        0.0

          array([ 38000., 125000., 200000., 455000.])

    - transmit_type
      ()
      <U2
      'CW'
      long_name :
        Type of transmitted pulse
      flag_values :
        ['CW']
      flag_meanings :
        ['Continuous Wave – a pulse nominally of one frequency']

          array('CW', dtype='<U2')

    - beam_stabilisation
      ()
      int8
      0
      long_name :
        Beam stabilisation applied (or not)
      flag_values :
        [0, 1]
      flag_meanings :
        ['not stabilised', 'stabilised']

          array(0, dtype=int8)

    - non_quantitative_processing
      ()
      int16
      0
      long_name :
        Presence or not of non-quantitative processing applied to the backscattering data (sonar specific)
      flag_values :
        [0]
      flag_meanings :
        ['None']

          array(0, dtype=int16)

    - sample_time_offset
      ()
      float64
      0.0
      long_name :
        Time offset that is subtracted from the timestamp of each sample
      units :
        s

          array(0.)

  - Indexes: (3)
    - channel
      PandasIndex

          PandasIndex(Index(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-08-21 17:05:37', '2017-08-21 17:05:40',
                         '2017-08-21 17:05:43', '2017-08-21 17:05:46',
                         '2017-08-21 17:05:49', '2017-08-21 17:05:52',
                         '2017-08-21 17:05:55', '2017-08-21 17:05:58',
                         '2017-08-21 17:06:01', '2017-08-21 17:06:04',
                         ...
                         '2017-08-21 17:53:07', '2017-08-21 17:53:10',
                         '2017-08-21 17:53:13', '2017-08-21 17:53:16',
                         '2017-08-21 17:53:19', '2017-08-21 17:53:22',
                         '2017-08-21 17:53:25', '2017-08-21 17:53:28',
                         '2017-08-21 17:53:31', '2017-08-21 17:53:34'],
                        dtype='datetime64[ns]', name='ping_time', length=240, freq=None))

    - range_sample
      PandasIndex

          PandasIndex(Index([   0,    1,    2,    3,    4,    5,    6,    7,    8,    9,
                 ...
                 2640, 2641, 2642, 2643, 2644, 2645, 2646, 2647, 2648, 2649],
                dtype='int64', name='range_sample', length=2650))

  - Attributes: (2)
    beam_mode :
    conversion_equation_t :
      type_4

- Vendor_specific: contains vendor-specific information about the sonar and the data.

      <xarray.Dataset>
      Dimensions:                                         (channel: 4,
                                                           ping_time: 240,
                                                           ancillary_len: 5, ad_len: 2)
      Coordinates:
        * channel                                         (channel) <U11 '55075-38-...
        * ping_time                                       (ping_time) datetime64[ns] ...
        * ancillary_len                                   (ancillary_len) int64 0 ....
        * ad_len                                          (ad_len) int64 0 1
      Data variables: (12/60)
          frequency_nominal                               (channel) float64 3.8e+04...
          digitization_rate                               (channel) int64 64000 ......
          lockout_index                                   (channel) int64 0 0 0 0
          number_of_bins_per_channel                      (channel) int64 2650 ... ...
          number_of_samples_per_average_bin               (channel) int64 1 1 1 1
          board_number                                    (channel) int64 0 1 2 3
          ...                                              ...
          tilt_X_c                                        float64 2.035e-07
          tilt_X_d                                        float64 -3.176e-12
          tilt_Y_a                                        float64 -46.97
          tilt_Y_b                                        float64 -0.0005821
          tilt_Y_c                                        float64 1.973e-07
          tilt_Y_d                                        float64 -3.134e-12

  xarray.Dataset
  - Dimensions:
    - channel: 4
    - ping_time: 240
    - ancillary_len: 5
    - ad_len: 2
  - Coordinates: (4)
    - channel
      (channel)
      <U11
      '55075-38-1' ... '55075-455-4'
      long_name :
        Vendor channel ID

          array(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='<U11')

    - ping_time
      (ping_time)
      datetime64[ns]
      2017-08-21T17:05:37 ... 2017-08-...
      axis :
        T
      long_name :
        Timestamp of each ping
      standard_name :
        time

          array(['2017-08-21T17:05:37.000000000', '2017-08-21T17:05:40.000000000',
                 '2017-08-21T17:05:43.000000000', ..., '2017-08-21T17:53:28.000000000',
                 '2017-08-21T17:53:31.000000000', '2017-08-21T17:53:34.000000000'],
                dtype='datetime64[ns]')

    - ancillary_len
      (ancillary_len)
      int64
      0 1 2 3 4

          array([0, 1, 2, 3, 4])

    - ad_len
      (ad_len)
      int64
      0 1

          array([0, 1])

  - Data variables: (60)
    - frequency_nominal
      (channel)
      float64
      3.8e+04 1.25e+05 2e+05 4.55e+05
      units :
        Hz
      long_name :
        Transducer frequency
      valid_min :
        0.0
      standard_name :
        sound_frequency

          array([ 38000., 125000., 200000., 455000.])

    - digitization_rate
      (channel)
      int64
      64000 64000 64000 64000
      long_name :
        Number of samples per second in kHz that is processed by the A/D converter when digitizing the returned acoustic signal

          array([64000, 64000, 64000, 64000])

    - lockout_index
      (channel)
      int64
      0 0 0 0
      long_name :
        The distance, rounded to the nearest Bin Size after the pulse is transmitted that over which AZFP will ignore echoes

          array([0, 0, 0, 0])

    - number_of_bins_per_channel
      (channel)
      int64
      2650 2650 2650 2650
      long_name :
        Number of bins per channel

          array([2650, 2650, 2650, 2650])

    - number_of_samples_per_average_bin
      (channel)
      int64
      1 1 1 1
      long_name :
        Range samples per bin for each channel

          array([1, 1, 1, 1])

    - board_number
      (channel)
      int64
      0 1 2 3
      long_name :
        The board the data came from channel 1-4

          array([0, 1, 2, 3])

    - data_type
      (channel)
      int64
      0 0 0 0
      long_name :
        Datatype for each channel 1=Avg unpacked_data (5bytes), 0=raw (2bytes)

          array([0, 0, 0, 0])

    - ping_status
      (ping_time)
      int64
      0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0

          array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])

    - number_of_acquired_pings
      (ping_time)
      int64
      1 2 3 4 5 6 7 ... 55 56 57 58 59 60
      long_name :
        Pings acquired in the burst

          array([ 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17,
                 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34,
                 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51,
                 52, 53, 54, 55, 56, 57, 58, 59, 60,  1,  2,  3,  4,  5,  6,  7,  8,
                  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25,
                 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42,
                 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59,
                 60,  1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16,
                 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33,
                 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50,
                 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,  1,  2,  3,  4,  5,  6,  7,
                  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
                 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41,
                 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58,
                 59, 60])

    - first_ping
      (ping_time)
      int64
      60080 60081 60082 ... 60318 60319

          array([60080, 60081, 60082, 60083, 60084, 60085, 60086, 60087, 60088,
                 60089, 60090, 60091, 60092, 60093, 60094, 60095, 60096, 60097,
                 60098, 60099, 60100, 60101, 60102, 60103, 60104, 60105, 60106,
                 60107, 60108, 60109, 60110, 60111, 60112, 60113, 60114, 60115,
                 60116, 60117, 60118, 60119, 60120, 60121, 60122, 60123, 60124,
                 60125, 60126, 60127, 60128, 60129, 60130, 60131, 60132, 60133,
                 60134, 60135, 60136, 60137, 60138, 60139, 60140, 60141, 60142,
                 60143, 60144, 60145, 60146, 60147, 60148, 60149, 60150, 60151,
                 60152, 60153, 60154, 60155, 60156, 60157, 60158, 60159, 60160,
                 60161, 60162, 60163, 60164, 60165, 60166, 60167, 60168, 60169,
                 60170, 60171, 60172, 60173, 60174, 60175, 60176, 60177, 60178,
                 60179, 60180, 60181, 60182, 60183, 60184, 60185, 60186, 60187,
                 60188, 60189, 60190, 60191, 60192, 60193, 60194, 60195, 60196,
                 60197, 60198, 60199, 60200, 60201, 60202, 60203, 60204, 60205,
                 60206, 60207, 60208, 60209, 60210, 60211, 60212, 60213, 60214,
                 60215, 60216, 60217, 60218, 60219, 60220, 60221, 60222, 60223,
                 60224, 60225, 60226, 60227, 60228, 60229, 60230, 60231, 60232,
                 60233, 60234, 60235, 60236, 60237, 60238, 60239, 60240, 60241,
                 60242, 60243, 60244, 60245, 60246, 60247, 60248, 60249, 60250,
                 60251, 60252, 60253, 60254, 60255, 60256, 60257, 60258, 60259,
                 60260, 60261, 60262, 60263, 60264, 60265, 60266, 60267, 60268,
                 60269, 60270, 60271, 60272, 60273, 60274, 60275, 60276, 60277,
                 60278, 60279, 60280, 60281, 60282, 60283, 60284, 60285, 60286,
                 60287, 60288, 60289, 60290, 60291, 60292, 60293, 60294, 60295,
                 60296, 60297, 60298, 60299, 60300, 60301, 60302, 60303, 60304,
                 60305, 60306, 60307, 60308, 60309, 60310, 60311, 60312, 60313,
                 60314, 60315, 60316, 60317, 60318, 60319])

    - last_ping
      (ping_time)
      int64
      60080 60081 60082 ... 60318 60319

          array([60080, 60081, 60082, 60083, 60084, 60085, 60086, 60087, 60088,
                 60089, 60090, 60091, 60092, 60093, 60094, 60095, 60096, 60097,
                 60098, 60099, 60100, 60101, 60102, 60103, 60104, 60105, 60106,
                 60107, 60108, 60109, 60110, 60111, 60112, 60113, 60114, 60115,
                 60116, 60117, 60118, 60119, 60120, 60121, 60122, 60123, 60124,
                 60125, 60126, 60127, 60128, 60129, 60130, 60131, 60132, 60133,
                 60134, 60135, 60136, 60137, 60138, 60139, 60140, 60141, 60142,
                 60143, 60144, 60145, 60146, 60147, 60148, 60149, 60150, 60151,
                 60152, 60153, 60154, 60155, 60156, 60157, 60158, 60159, 60160,
                 60161, 60162, 60163, 60164, 60165, 60166, 60167, 60168, 60169,
                 60170, 60171, 60172, 60173, 60174, 60175, 60176, 60177, 60178,
                 60179, 60180, 60181, 60182, 60183, 60184, 60185, 60186, 60187,
                 60188, 60189, 60190, 60191, 60192, 60193, 60194, 60195, 60196,
                 60197, 60198, 60199, 60200, 60201, 60202, 60203, 60204, 60205,
                 60206, 60207, 60208, 60209, 60210, 60211, 60212, 60213, 60214,
                 60215, 60216, 60217, 60218, 60219, 60220, 60221, 60222, 60223,
                 60224, 60225, 60226, 60227, 60228, 60229, 60230, 60231, 60232,
                 60233, 60234, 60235, 60236, 60237, 60238, 60239, 60240, 60241,
                 60242, 60243, 60244, 60245, 60246, 60247, 60248, 60249, 60250,
                 60251, 60252, 60253, 60254, 60255, 60256, 60257, 60258, 60259,
                 60260, 60261, 60262, 60263, 60264, 60265, 60266, 60267, 60268,
                 60269, 60270, 60271, 60272, 60273, 60274, 60275, 60276, 60277,
                 60278, 60279, 60280, 60281, 60282, 60283, 60284, 60285, 60286,
                 60287, 60288, 60289, 60290, 60291, 60292, 60293, 60294, 60295,
                 60296, 60297, 60298, 60299, 60300, 60301, 60302, 60303, 60304,
                 60305, 60306, 60307, 60308, 60309, 60310, 60311, 60312, 60313,
                 60314, 60315, 60316, 60317, 60318, 60319])

    - data_error
      (ping_time)
      int64
      0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0
      long_name :
        Error number if an error occurred

          array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])

    - sensors_flag
      (ping_time)
      int64
      0 0 0 0 0 0 0 0 ... 0 0 0 0 0 0 0 0

          array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1,
                 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
                 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
                 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0])

    - ancillary
      (ping_time, ancillary_len)
      int64
      40709 4269 39766 ... 45128 29258
      long_name :
        Tilt-X, Y, Battery, Pressure, Temperature

          array([[40709,  4269, 39766, 45205, 29247],
                 [40709,  4269, 39766, 45205, 29247],
                 [40709,  4269, 39766, 45205, 29247],
                 ...,
                 [40277,  4257, 39759, 45128, 29258],
                 [40277,  4257, 39759, 45128, 29258],
                 [40277,  4257, 39759, 45128, 29258]])

    - ad_channels
      (ping_time, ad_len)
      int64
      56811 32065 56811 ... 56667 32072
      long_name :
        AD channel 6 and 7

          array([[56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56811, 32065],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
                 [56678, 32070],
          ...
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32069],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072],
                 [56667, 32072]])

    - battery_main
      (ping_time)
      float64
      9.837 9.837 9.837 ... 9.836 9.836

          array([9.83741954, 9.83741954, 9.83741954, 9.83741954, 9.83741954,
                 9.83741954, 9.83741954, 9.83741954, 9.83741954, 9.83741954,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83618263, 9.83618263, 9.83618263, 9.83618263, 9.83618263,
                 9.83618263, 9.83618263, 9.83618263, 9.83618263, 9.83618263,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
                 9.83618263, 9.83618263, 9.83618263, 9.83618263, 9.83618263,
                 9.83618263, 9.83618263, 9.83618263, 9.83618263, 9.83618263,
                 9.83717216, 9.83717216, 9.83717216, 9.83717216, 9.83717216,
                 9.83717216, 9.83717216, 9.83717216, 9.83717216, 9.83717216,
                 9.83643001, 9.83643001, 9.83643001, 9.83643001, 9.83643001,
                 9.83643001, 9.83643001, 9.83643001, 9.83643001, 9.83643001,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
                 9.83593524, 9.83593524, 9.83593524, 9.83593524, 9.83593524,
          ...
                 9.83445095, 9.83445095, 9.83445095, 9.83445095, 9.83445095,
                 9.83445095, 9.83445095, 9.83445095, 9.83445095, 9.83445095,
                 9.83494571, 9.83494571, 9.83494571, 9.83494571, 9.83494571,
                 9.83494571, 9.83494571, 9.83494571, 9.83494571, 9.83494571,
                 9.83544048, 9.83544048, 9.83544048, 9.83544048, 9.83544048,
                 9.83544048, 9.83544048, 9.83544048, 9.83544048, 9.83544048,
                 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 ,
                 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 ,
                 9.83692478, 9.83692478, 9.83692478, 9.83692478, 9.83692478,
                 9.83692478, 9.83692478, 9.83692478, 9.83692478, 9.83692478,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83667739, 9.83667739, 9.83667739, 9.83667739, 9.83667739,
                 9.83667739, 9.83667739, 9.83667739, 9.83667739, 9.83667739,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 ,
                 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 , 9.8351931 ,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786,
                 9.83568786, 9.83568786, 9.83568786, 9.83568786, 9.83568786])

    - battery_tx
      (ping_time)
      float64
      14.05 14.05 14.05 ... 14.02 14.02

          array([14.05405727, 14.05405727, 14.05405727, 14.05405727, 14.05405727,
                 14.05405727, 14.05405727, 14.05405727, 14.05405727, 14.05405727,
                 14.02115538, 14.02115538, 14.02115538, 14.02115538, 14.02115538,
                 14.02115538, 14.02115538, 14.02115538, 14.02115538, 14.02115538,
                 14.01991846, 14.01991846, 14.01991846, 14.01991846, 14.01991846,
                 14.01991846, 14.01991846, 14.01991846, 14.01991846, 14.01991846,
                 14.01917632, 14.01917632, 14.01917632, 14.01917632, 14.01917632,
                 14.01917632, 14.01917632, 14.01917632, 14.01917632, 14.01917632,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417,
                 14.01769202, 14.01769202, 14.01769202, 14.01769202, 14.01769202,
                 14.01769202, 14.01769202, 14.01769202, 14.01769202, 14.01769202,
                 14.05380989, 14.05380989, 14.05380989, 14.05380989, 14.05380989,
                 14.05380989, 14.05380989, 14.05380989, 14.05380989, 14.05380989,
                 14.02115538, 14.02115538, 14.02115538, 14.02115538, 14.02115538,
                 14.02115538, 14.02115538, 14.02115538, 14.02115538, 14.02115538,
                 14.01967108, 14.01967108, 14.01967108, 14.01967108, 14.01967108,
                 14.01967108, 14.01967108, 14.01967108, 14.01967108, 14.01967108,
                 14.01917632, 14.01917632, 14.01917632, 14.01917632, 14.01917632,
                 14.01917632, 14.01917632, 14.01917632, 14.01917632, 14.01917632,
          ...
                 14.02016585, 14.02016585, 14.02016585, 14.02016585, 14.02016585,
                 14.02016585, 14.02016585, 14.02016585, 14.02016585, 14.02016585,
                 14.01892893, 14.01892893, 14.01892893, 14.01892893, 14.01892893,
                 14.01892893, 14.01892893, 14.01892893, 14.01892893, 14.01892893,
                 14.01892893, 14.01892893, 14.01892893, 14.01892893, 14.01892893,
                 14.01892893, 14.01892893, 14.01892893, 14.01892893, 14.01892893,
                 14.01868155, 14.01868155, 14.01868155, 14.01868155, 14.01868155,
                 14.01868155, 14.01868155, 14.01868155, 14.01868155, 14.01868155,
                 14.05455204, 14.05455204, 14.05455204, 14.05455204, 14.05455204,
                 14.05455204, 14.05455204, 14.05455204, 14.05455204, 14.05455204,
                 14.02214491, 14.02214491, 14.02214491, 14.02214491, 14.02214491,
                 14.02214491, 14.02214491, 14.02214491, 14.02214491, 14.02214491,
                 14.02066061, 14.02066061, 14.02066061, 14.02066061, 14.02066061,
                 14.02066061, 14.02066061, 14.02066061, 14.02066061, 14.02066061,
                 14.01967108, 14.01967108, 14.01967108, 14.01967108, 14.01967108,
                 14.01967108, 14.01967108, 14.01967108, 14.01967108, 14.01967108,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417,
                 14.01843417, 14.01843417, 14.01843417, 14.01843417, 14.01843417])

    - profile_number
      (ping_time)
      int64
      11925 11925 11925 ... 11928 11928

          array([11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925, 11925,
                 11925, 11925, 11925, 11925, 11925, 11925, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926, 11926,
                 11926, 11926, 11926, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927, 11927,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928, 11928,
                 11928, 11928, 11928, 11928, 11928, 11928])

    - temperature_counts
      (ping_time)
      int64
      29247 29247 29247 ... 29258 29258
      long_name :
        Raw counts for temperature

          array([29247, 29247, 29247, 29247, 29247, 29247, 29247, 29247, 29247,
                 29247, 29248, 29248, 29248, 29248, 29248, 29248, 29248, 29248,
                 29248, 29248, 29249, 29249, 29249, 29249, 29249, 29249, 29249,
                 29249, 29249, 29249, 29247, 29247, 29247, 29247, 29247, 29247,
                 29247, 29247, 29247, 29247, 29249, 29249, 29249, 29249, 29249,
                 29249, 29249, 29249, 29249, 29249, 29250, 29250, 29250, 29250,
                 29250, 29250, 29250, 29250, 29250, 29250, 29252, 29252, 29252,
                 29252, 29252, 29252, 29252, 29252, 29252, 29252, 29252, 29252,
                 29252, 29252, 29252, 29252, 29252, 29252, 29252, 29252, 29251,
                 29251, 29251, 29251, 29251, 29251, 29251, 29251, 29251, 29251,
                 29253, 29253, 29253, 29253, 29253, 29253, 29253, 29253, 29253,
                 29253, 29254, 29254, 29254, 29254, 29254, 29254, 29254, 29254,
                 29254, 29254, 29253, 29253, 29253, 29253, 29253, 29253, 29253,
                 29253, 29253, 29253, 29255, 29255, 29255, 29255, 29255, 29255,
                 29255, 29255, 29255, 29255, 29255, 29255, 29255, 29255, 29255,
                 29255, 29255, 29255, 29255, 29255, 29253, 29253, 29253, 29253,
                 29253, 29253, 29253, 29253, 29253, 29253, 29255, 29255, 29255,
                 29255, 29255, 29255, 29255, 29255, 29255, 29255, 29256, 29256,
                 29256, 29256, 29256, 29256, 29256, 29256, 29256, 29256, 29256,
                 29256, 29256, 29256, 29256, 29256, 29256, 29256, 29256, 29256,
                 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257,
                 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257,
                 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257, 29257,
                 29257, 29257, 29257, 29258, 29258, 29258, 29258, 29258, 29258,
                 29258, 29258, 29258, 29258, 29258, 29258, 29258, 29258, 29258,
                 29258, 29258, 29258, 29258, 29258, 29258, 29258, 29258, 29258,
                 29258, 29258, 29258, 29258, 29258, 29258])

    - tilt_x_count
      (ping_time)
      int64
      40709 40709 40709 ... 40277 40277
      long_name :
        Raw counts for Tilt-X

          array([40709, 40709, 40709, 40709, 40709, 40709, 40709, 40709, 40709,
                 40709, 40155, 40155, 40155, 40155, 40155, 40155, 40155, 40155,
                 40155, 40155, 40735, 40735, 40735, 40735, 40735, 40735, 40735,
                 40735, 40735, 40735, 40549, 40549, 40549, 40549, 40549, 40549,
                 40549, 40549, 40549, 40549, 40910, 40910, 40910, 40910, 40910,
                 40910, 40910, 40910, 40910, 40910, 39966, 39966, 39966, 39966,
                 39966, 39966, 39966, 39966, 39966, 39966, 40882, 40882, 40882,
                 40882, 40882, 40882, 40882, 40882, 40882, 40882, 40824, 40824,
                 40824, 40824, 40824, 40824, 40824, 40824, 40824, 40824, 40623,
                 40623, 40623, 40623, 40623, 40623, 40623, 40623, 40623, 40623,
                 39189, 39189, 39189, 39189, 39189, 39189, 39189, 39189, 39189,
                 39189, 40063, 40063, 40063, 40063, 40063, 40063, 40063, 40063,
                 40063, 40063, 39820, 39820, 39820, 39820, 39820, 39820, 39820,
                 39820, 39820, 39820, 40285, 40285, 40285, 40285, 40285, 40285,
                 40285, 40285, 40285, 40285, 39761, 39761, 39761, 39761, 39761,
                 39761, 39761, 39761, 39761, 39761, 41024, 41024, 41024, 41024,
                 41024, 41024, 41024, 41024, 41024, 41024, 39778, 39778, 39778,
                 39778, 39778, 39778, 39778, 39778, 39778, 39778, 40621, 40621,
                 40621, 40621, 40621, 40621, 40621, 40621, 40621, 40621, 40472,
                 40472, 40472, 40472, 40472, 40472, 40472, 40472, 40472, 40472,
                 40554, 40554, 40554, 40554, 40554, 40554, 40554, 40554, 40554,
                 40554, 39792, 39792, 39792, 39792, 39792, 39792, 39792, 39792,
                 39792, 39792, 40069, 40069, 40069, 40069, 40069, 40069, 40069,
                 40069, 40069, 40069, 40854, 40854, 40854, 40854, 40854, 40854,
                 40854, 40854, 40854, 40854, 40042, 40042, 40042, 40042, 40042,
                 40042, 40042, 40042, 40042, 40042, 40277, 40277, 40277, 40277,
                 40277, 40277, 40277, 40277, 40277, 40277])

    - tilt_y_count
      (ping_time)
      int64
      4269 4269 4269 ... 4257 4257 4257
      long_name :
        Raw counts for Tilt-Y

          array([4269, 4269, 4269, 4269, 4269, 4269, 4269, 4269, 4269, 4269, 4262,
                 4262, 4262, 4262, 4262, 4262, 4262, 4262, 4262, 4262, 4264, 4264,
                 4264, 4264, 4264, 4264, 4264, 4264, 4264, 4264, 4265, 4265, 4265,
                 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4262, 4262, 4262, 4262,
                 4262, 4262, 4262, 4262, 4262, 4262, 4264, 4264, 4264, 4264, 4264,
                 4264, 4264, 4264, 4264, 4264, 4265, 4265, 4265, 4265, 4265, 4265,
                 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265,
                 4265, 4265, 4265, 4262, 4262, 4262, 4262, 4262, 4262, 4262, 4262,
                 4262, 4262, 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4261,
                 4261, 4263, 4263, 4263, 4263, 4263, 4263, 4263, 4263, 4263, 4263,
                 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4261, 4266,
                 4266, 4266, 4266, 4266, 4266, 4266, 4266, 4266, 4266, 4263, 4263,
                 4263, 4263, 4263, 4263, 4263, 4263, 4263, 4263, 4266, 4266, 4266,
                 4266, 4266, 4266, 4266, 4266, 4266, 4266, 4261, 4261, 4261, 4261,
                 4261, 4261, 4261, 4261, 4261, 4261, 4262, 4262, 4262, 4262, 4262,
                 4262, 4262, 4262, 4262, 4262, 4260, 4260, 4260, 4260, 4260, 4260,
                 4260, 4260, 4260, 4260, 4265, 4265, 4265, 4265, 4265, 4265, 4265,
                 4265, 4265, 4265, 4262, 4262, 4262, 4262, 4262, 4262, 4262, 4262,
                 4262, 4262, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265,
                 4265, 4260, 4260, 4260, 4260, 4260, 4260, 4260, 4260, 4260, 4260,
                 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4265, 4257,
                 4257, 4257, 4257, 4257, 4257, 4257, 4257, 4257, 4257])

    - profile_flag
      ()
      int64
      64770

          array(64770)

    - burst_interval
      ()
      int64
      900
      long_name :
        Time in seconds between bursts or between pings if the burst interval has been set equal to the ping period

          array(900)

    - ping_per_profile
      ()
      int64
      60
      long_name :
        Number of pings in a profile if ping averaging has been selected

          array(60)

    - average_pings_flag
      ()
      int64
      0
      long_name :
        Flag indicating whether the pings average in time

          array(0)

    - spare_channel
      ()
      int64
      165
      long_name :
        Spare channel

          array(165)

    - ping_period
      ()
      int64
      3
      long_name :
        Time between pings in a profile set

          array(3)

    - phase
      ()
      int64
      0
      long_name :
        Phase number used to acquire the profile

          array(0)

    - number_of_channels
      ()
      int64
      4
      long_name :
        Number of channels (1, 2, 3, or 4)

          array(4)

    - XML_transmit_duration_nominal
      (channel)
      float64
      0.001 0.001 0.001 0.001
      long_name :
        (From XML file) Nominal bandwidth of transmitted pulse

          array([0.001, 0.001, 0.001, 0.001])

    - XML_gain_correction
      (channel)
      float64
      1.0 1.0 1.0 1.0
      long_name :
        (From XML file) Gain correction

          array([1., 1., 1., 1.])

    - XML_digitization_rate
      (channel)
      float64
      6.4e+04 6.4e+04 6.4e+04 6.4e+04
      long_name :
        (From XML file) Number of samples per second in kHz that is processed by the A/D converter when digitizing the returned acoustic signal

          array([64000., 64000., 64000., 64000.])

    - XML_lockout_index
      (channel)
      float64
      0.0 0.0 0.0 0.0
      long_name :
        (From XML file) The distance, rounded to the nearest Bin Size after the pulse is transmitted that over which AZFP will ignore echoes

          array([0., 0., 0., 0.])

    - DS
      (channel)
      float64
      0.0234 0.0229 0.0229 0.0233

          array([0.0234, 0.0229, 0.0229, 0.0233])

    - EL
      (channel)
      float64
      142.8 137.5 142.9 152.6
      long_name :
        Sound pressure at the transducer
      units :
        dB

          array([142.80000305, 137.5       , 142.8999939 , 152.6000061 ])

    - TVR
      (channel)
      float64
      170.9 166.7 168.8 171.7
      long_name :
        Transmit voltage response of the transducer
      units :
        dB re 1uPa/V at 1m

          array([170.8999939 , 166.69999695, 168.80000305, 171.69999695])

    - VTX
      (channel)
      float64
      53.0 144.6 126.6 104.3
      long_name :
        Amplified voltage sent to the transducer

          array([ 53.        , 144.6000061 , 126.59999847, 104.30000305])

    - Sv_offset
      (channel)
      float64
      0.7 0.3 0.3 0.3

          array([0.7, 0.3, 0.3, 0.3])

    - number_of_samples_digitized_per_pings
      (channel)
      float64
      2.65e+03 2.65e+03 2.65e+03 2.65e+03

          array([2650., 2650., 2650., 2650.])

    - number_of_digitized_samples_averaged_per_pings
      (channel)
      float64
      1.0 1.0 1.0 1.0

          array([1., 1., 1., 1.])

    - XML_sensors_flag
      ()
      int64
      0

          array(0)

    - XML_burst_interval
      ()
      int64
      900
      long_name :
        Time in seconds between bursts or between pings if the burst interval has been set equal to the ping period

          array(900)

    - XML_sonar_serial_number
      ()
      int64
      55075

          array(55075)

    - number_of_frequency
      ()
      int64
      4

          array(4)

    - number_of_pings_per_burst
      ()
      int64
      60

          array(60)

    - average_burst_pings_flag
      ()
      int64
      0

          array(0)

    - temperature_ka
      ()
      float64
      525.0
      long_name :
        Thermistor bridge coefficient a

          array(525.)

    - temperature_kb
      ()
      float64
      3e+03
      long_name :
        Thermistor bridge coefficient b

          array(3000.)

    - temperature_kc
      ()
      float64
      1.874
      long_name :
        Thermistor bridge coefficient c

          array(1.874)

    - temperature_A
      ()
      float64
      0.001466
      long_name :
        Thermistor calibration coefficient A

          array(0.001466)

    - temperature_B
      ()
      float64
      0.0002388
      long_name :
        Thermistor calibration coefficient B

          array(0.00023881)

    - temperature_C
      ()
      float64
      1.003e-07
      long_name :
        Thermistor calibration coefficient C

          array(1.00335e-07)

    - tilt_X_a
      ()
      float64
      -45.77
      long_name :
        Calibration coefficient a for Tilt-X

          array(-45.77467916)

    - tilt_X_b
      ()
      float64
      -0.000787
      long_name :
        Calibration coefficient b for Tilt-X

          array(-0.00078699)

    - tilt_X_c
      ()
      float64
      2.035e-07
      long_name :
        Calibration coefficient c for Tilt-X

          array(2.03459e-07)

    - tilt_X_d
      ()
      float64
      -3.176e-12
      long_name :
        Calibration coefficient d for Tilt-X

          array(-3.17633e-12)

    - tilt_Y_a
      ()
      float64
      -46.97
      long_name :
        Calibration coefficient a for Tilt-Y

          array(-46.97204234)

    - tilt_Y_b
      ()
      float64
      -0.0005821
      long_name :
        Calibration coefficient b for Tilt-Y

          array(-0.00058213)

    - tilt_Y_c
      ()
      float64
      1.973e-07
      long_name :
        Calibration coefficient c for Tilt-Y

          array(1.97255e-07)

    - tilt_Y_d
      ()
      float64
      -3.134e-12
      long_name :
        Calibration coefficient d for Tilt-Y

          array(-3.13443e-12)

  - Indexes: (4)
    - channel
      PandasIndex

          PandasIndex(Index(['55075-38-1', '55075-125-2', '55075-200-3', '55075-455-4'], dtype='object', name='channel'))

    - ping_time
      PandasIndex

          PandasIndex(DatetimeIndex(['2017-08-21 17:05:37', '2017-08-21 17:05:40',
                         '2017-08-21 17:05:43', '2017-08-21 17:05:46',
                         '2017-08-21 17:05:49', '2017-08-21 17:05:52',
                         '2017-08-21 17:05:55', '2017-08-21 17:05:58',
                         '2017-08-21 17:06:01', '2017-08-21 17:06:04',
                         ...
                         '2017-08-21 17:53:07', '2017-08-21 17:53:10',
                         '2017-08-21 17:53:13', '2017-08-21 17:53:16',
                         '2017-08-21 17:53:19', '2017-08-21 17:53:22',
                         '2017-08-21 17:53:25', '2017-08-21 17:53:28',
                         '2017-08-21 17:53:31', '2017-08-21 17:53:34'],
                        dtype='datetime64[ns]', name='ping_time', length=240, freq=None))

    - ancillary_len
      PandasIndex

          PandasIndex(Index([0, 1, 2, 3, 4], dtype='int64', name='ancillary_len'))

    - ad_len
      PandasIndex

          PandasIndex(Index([0, 1], dtype='int64', name='ad_len'))

  - Attributes: (0)

## Data from different echosounders

### Power/Angle data

For echosounder setups using single-beam transducers, only the echo power (or intensity) data are available and these data are stored in the data variable `backscatter_r` (the `r` in the suffix refers to the real part of the signal). This is the case for data from:

- the AZFP echosounder

- the EK60 echosounder paired with single-beam transducers

- the EK80 echosounder paired with single-beam transducers and configured to transmit narrowband signals and store data in power/angle format.

For echosounder setups using split-beam transducers, the echo power data are similarly stored in the variable `backscatter_r`, but with the additional split-beam angle data stored in data variables `angle_alongship` and `angle_athwartship`. This is the case for data from:

- the EK60 echosounder paired with split-beam transducers

- the EK80 echosounder paired with split-beam transducers and configured to transmit narrowband signals and store data in power/angle format.

All the above data variables (`backscatter_r`, `angle_alongship`, `angle_athwartship`) use the gridded representation with dimensions `(channel, range_sample, ping_time)` and are stored in the `Sonar/Beam_group1` group.

### Complex data

A deviation from the above is the case when the raw complex samples are recorded by EK80 echosounders paired with split-beam transducers. In this case, both `backscatter_r` and `backscatter_i` variables exist and contain the real and imaginary part of the echo waveform data, respectively. These variables are with dimension `(channel, range_sample, ping_time, beam)`, and the length of the `beam` dimension can be 3 or 4 depending on the specific transducer used. The `angle_alongship` and `angle_athwartship` variables are not present in such files and can be computed and added to the calibrate Sv dataset using `echopype.consolidate.add_splitbeam_angle`.

It is possible for power/angle data and complex data to coexist in files collected by EK80 echosounders, since each frequency channel can be configured separately. In this case, the complex data are stored in the `Sonar/Beam_group1` group and the power/angle data are stored in the `Sonar/Beam_group2` group. This is scenario 3 in the above example EK80 data section.