Check out these:
http://www.ldeo.columbia.edu/res/pi/MB-System/ For processing the results
http://maperl.com/Hydrography/ For Ben Smith doing his own mapping
Check out these:
http://www.ldeo.columbia.edu/res/pi/MB-System/ For processing the results
http://maperl.com/Hydrography/ For Ben Smith doing his own mapping