Dylan wrote:
> The tricky part from here is applying the rectification and
> "navigation" parameters...

perhaps something from the MB-System code could help?

http://www.ldeo.columbia.edu/res/pi/MB-System/

it is essentially exactly what that software does (rectification of swath 
bathymetry from a ships nav stream), in another medium.
It's GPL.


Hamish



      
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