Several useful sonar device types are discussed in [this guide](https://bluerobotics.com/learn/a-smooth-operators-guide-to-underwater-sonars-and-acoustic-devices/), and it would be useful to get some examples of them for comparison. There are also some relevant descriptions in the [ArduSub "additional devices"](https://docs.bluerobotics.com/ardusub-zola/hardware/additional/) documentation.