From 9b07a206cabae09478f1d9334b32cd503360bd73 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Wed, 15 Jul 2026 16:26:55 +1200
Subject: [PATCH 01/15] Support speed and NMEA heading from Simrad .raw files

- Add speed over ground to the EchoData object (obtained from NMEA RMC and VTG messages),
- Add heading data to the EchoData object for EK60 files and EK80 files (if heading is not available from MRU datagrams). Obtained from NMEA HDT messages,
- Add tests for the new code. The test for EK80 heading from HDT uses a .raw file that needs to be added to the test assets (will be attached to this PR).

Note: an existing comment in `convert/set_groups_base.py` for a function this PR modifies says "move this to be part of parser as it is not a 'set' operation". This has not been done as it would get muddy the changes in this PR.
---
 echopype/convert/set_groups_base.py         | 107 ++++++++++++++++----
 echopype/convert/set_groups_ek60.py         |  33 +++++-
 echopype/convert/set_groups_ek80.py         |  61 ++++++++---
 echopype/echodata/convention/1.0.yml        |  11 ++
 echopype/tests/convert/test_convert_ek60.py |  30 ++++++
 echopype/tests/convert/test_convert_ek80.py |  29 ++++++
 6 files changed, 235 insertions(+), 36 deletions(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index 7e0cc9708..607100a9e 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -11,7 +11,10 @@
 from ..utils.prov import echopype_prov_attrs, source_files_vars
 
 NMEA_SENTENCE_DEFAULT = ["GGA", "GLL", "RMC"]
+NMEA_SENTENCE_SPEED = ['RMC', 'VTG']
+NMEA_SENTENCE_HEADING = ['HDT']
 
+KNOTS_TO_M_PER_S = 0.51444444444
 
 class SetGroupsBase(abc.ABC):
     """Base class for saving groups to netcdf or zarr from echosounder data files."""
@@ -177,10 +180,10 @@ def set_vendor(self) -> xr.Dataset:
         raise NotImplementedError
 
     # TODO: move this to be part of parser as it is not a "set" operation
-    def _extract_NMEA_latlon(self):
-        """Get the lat and lon values from the raw nmea data"""
+    def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[list, list, list]:
+        """Parse out the selected NMEA messages."""
         messages = [string[3:6] for string in self.parser_obj.nmea["nmea_string"]]
-        idx_loc = np.argwhere(np.isin(messages, NMEA_SENTENCE_DEFAULT)).squeeze()
+        idx_loc = np.argwhere(np.isin(messages, nmea_sentence_types)).squeeze()
         if idx_loc.size == 1:  # in case of only 1 matching message
             idx_loc = np.expand_dims(idx_loc, axis=0)
         nmea_msg = []
@@ -194,6 +197,35 @@ def _extract_NMEA_latlon(self):
                 pynmea2.ParseError,
             ):
                 nmea_msg.append(None)
+
+        msg_type = (
+            [x.sentence_type if hasattr(x, "sentence_type") else np.nan for x in nmea_msg]
+            if nmea_msg
+            else [np.nan]
+        )
+
+        if nmea_msg:
+            time, _, _ = xr.coding.times.encode_cf_datetime(
+                np.array(self.parser_obj.nmea["timestamp"])[idx_loc],
+                **{
+                    "units": DEFAULT_TIME_ENCODING["units"],
+                    "calendar": DEFAULT_TIME_ENCODING["calendar"],
+                },
+            )
+            time = xr.coding.times.decode_cf_datetime(
+                time,
+                units=DEFAULT_TIME_ENCODING["units"],
+                calendar=DEFAULT_TIME_ENCODING["calendar"],
+            )
+        else:
+            time = [np.nan]
+
+        return nmea_msg, time,msg_type
+
+    # TODO: move this to be part of parser as it is not a "set" operation
+    def _extract_NMEA_latlon(self):
+        """Get the lat and lon values from the raw nmea data"""
+        nmea_msg, time, msg_type = self._extract_selected_NMEA(NMEA_SENTENCE_DEFAULT)
         if nmea_msg:
             lat, lon = [], []
             for x in nmea_msg:
@@ -208,6 +240,7 @@ def _extract_NMEA_latlon(self):
                 try:
                     lon.append(x.longitude if hasattr(x, "longitude") else np.nan)
                 except ValueError as ve:
+                    print(x)
                     lon.append(np.nan)
                     warnings.warn(
                         f"At least one longitude entry is problematic and "
@@ -215,28 +248,58 @@ def _extract_NMEA_latlon(self):
                     )
         else:
             lat, lon = [np.nan], [np.nan]
-        msg_type = (
-            [x.sentence_type if hasattr(x, "sentence_type") else np.nan for x in nmea_msg]
-            if nmea_msg
-            else [np.nan]
-        )
+
+        return time, msg_type, lat, lon
+
+    # TODO: move this to be part of parser as it is not a "set" operation
+    def _extract_NMEA_speed(self):
+        """Get the speed over ground values from the raw nmea data"""
+        nmea_msg, time, msg_type = self._extract_selected_NMEA(NMEA_SENTENCE_SPEED)
         if nmea_msg:
-            time1, _, _ = xr.coding.times.encode_cf_datetime(
-                np.array(self.parser_obj.nmea["timestamp"])[idx_loc],
-                **{
-                    "units": DEFAULT_TIME_ENCODING["units"],
-                    "calendar": DEFAULT_TIME_ENCODING["calendar"],
-                },
-            )
-            time1 = xr.coding.times.decode_cf_datetime(
-                time1,
-                units=DEFAULT_TIME_ENCODING["units"],
-                calendar=DEFAULT_TIME_ENCODING["calendar"],
-            )
+            sog = []
+            for x in nmea_msg:
+                try:
+                    # pynmea2 has different names for speed over ground, depending on the NMEA
+                    # message that it comes from
+                    if x.sentence_type == 'VTG':
+                        # VTG speed is returned as a Decimal, so fix that
+                        sog.append(
+                            float(x.spd_over_grnd_kts)*KNOTS_TO_M_PER_S 
+                            if hasattr(x, "spd_over_grnd_kts") and 
+                                x.spd_over_grnd_kts is not None else np.nan
+                        )
+                    else:  # only RMC so far
+                        sog.append(
+                            x.spd_over_grnd*KNOTS_TO_M_PER_S
+                            if hasattr(x, "spd_over_grnd") and
+                                x.spd_over_grnd is not None else np.nan
+                            )
+                except ValueError:
+                    sog.append(np.nan)
+        else:
+            sog = [np.nan]
+
+        return time, msg_type, sog
+
+    # TODO: move this to be part of parser as it is not a "set" operation
+    def _extract_NMEA_heading(self):
+        """Get heading values from the raw nmea data"""
+        nmea_msg, time, msg_type = self._extract_selected_NMEA(NMEA_SENTENCE_HEADING)
+        if nmea_msg:
+            heading = []
+            for x in nmea_msg:
+                try:
+                    # HDG speed is returned as a Decimal, so fix that
+                    heading.append(
+                        float(x.heading)if hasattr(x, "heading") and
+                            x.heading is not None else np.nan
+                        )
+                except ValueError:
+                    heading.append(np.nan)
         else:
-            time1 = [np.nan]
+            heading = [np.nan]
 
-        return time1, msg_type, lat, lon
+        return time, msg_type, heading
 
     def _beam_groups_vars(self):
         """Stage beam_group coordinate and beam_group_descr variables sharing
diff --git a/echopype/convert/set_groups_ek60.py b/echopype/convert/set_groups_ek60.py
index 80ada7cb5..684d25a6f 100644
--- a/echopype/convert/set_groups_ek60.py
+++ b/echopype/convert/set_groups_ek60.py
@@ -180,6 +180,8 @@ def set_platform(self) -> xr.Dataset:
         # Collect variables
         # Read lat/long from NMEA datagram
         time1, msg_type, lat, lon = self._extract_NMEA_latlon()
+        time3, msg_type_sog, sog = self._extract_NMEA_speed()
+        time4, msg_type_heading, heading = self._extract_NMEA_heading()
 
         # NMEA dataset: variables filled with np.nan if they do not exist
         platform_dict = {"platform_name": "", "platform_type": "", "platform_code_ICES": ""}
@@ -188,8 +190,10 @@ def set_platform(self) -> xr.Dataset:
         # are identical across channels
         ch = list(self.sorted_channel.keys())[0]
 
-        # Handle potential nan timestamp for time1 and time2
+        # Handle potential nan timestamp
         time1 = self._nan_timestamp_handler(time1)
+        time3 = self._nan_timestamp_handler(time3)
+        time4 = self._nan_timestamp_handler(time4)
 
         ds = xr.Dataset(
             {
@@ -243,6 +247,17 @@ def set_platform(self) -> xr.Dataset:
                         "position_offset_z",
                     ]
                 },
+                "heading": (
+                    ['time4'],
+                    np.array(heading),
+                    self._varattrs["platform_var_default"]["heading"],
+                ),
+                "speed_over_ground": (
+                    ["time3"],
+                    np.array(sog),
+                    self._varattrs["platform_var_default"]["speed_over_ground"],
+                ),
+
             },
             coords={
                 "time1": (
@@ -264,6 +279,22 @@ def set_platform(self) -> xr.Dataset:
                         "orientation data.",
                     },
                 ),
+                "time3": (
+                    ["time3"],
+                    time3,
+                    {
+                        **self._varattrs["platform_coord_default"]["time1"],
+                        "comment": "Time coordinate corresponding to NMEA speed data.",
+                    },
+                ),
+                "time4": (
+                    ["time4"],
+                    time4,
+                    {
+                        **self._varattrs["platform_coord_default"]["time1"],
+                        "comment": "Time coordinate corresponding to NMEA heading data.",
+                    },
+                ),
             },
         )
 
diff --git a/echopype/convert/set_groups_ek80.py b/echopype/convert/set_groups_ek80.py
index a23117636..e4a6e5be0 100644
--- a/echopype/convert/set_groups_ek80.py
+++ b/echopype/convert/set_groups_ek80.py
@@ -329,11 +329,15 @@ def set_platform(self) -> xr.Dataset:
         time2 = np.array(time2) if time2 is not None else [np.nan]
         time3 = self.parser_obj.mru1.get("timestamp", None)
         time3 = np.array(time3) if time3 is not None else [np.nan]
+        time4, msg_type_sog, sog_nmea = self._extract_NMEA_speed()
+        time5, msg_type_heading, heading_nmea = self._extract_NMEA_heading()
 
-        # Handle potential nan timestamp for time1, time2, and time3
+        # Handle potential nan timestamps
         time1 = self._nan_timestamp_handler(time1)
         time2 = self._nan_timestamp_handler(time2)
         time3 = self._nan_timestamp_handler(time3)
+        time4 = self._nan_timestamp_handler(time4)
+        time5 = self._nan_timestamp_handler(time5)
 
         # Set MRU1 lat lon attributes
         latitude_mru1_attrs = self._varattrs["platform_var_default"]["latitude"].copy()
@@ -351,6 +355,26 @@ def set_platform(self) -> xr.Dataset:
             }
         ),
 
+        # If there is no heading data from an MRU but there is from the NMEA data, use that instead
+        if "heading" in self.parser_obj.mru0:
+            hdg_data = (
+                ["time2"],
+                np.array(self.parser_obj.mru0.get("heading", [np.nan])),
+                self._varattrs["platform_var_default"]["heading"],
+            )
+        elif len(heading_nmea) > 0:
+            hdg_data = (
+                ["time5"],
+                heading_nmea,
+                self._varattrs["platform_var_default"]["heading"],
+            )
+        else:
+            hdg_data = (
+                ["time2"],
+                [np.nan],
+                self._varattrs["platform_var_default"]["heading"],
+            )
+
         # Assemble variables into a dataset: variables filled with nan if do not exist
         platform_dict = {"platform_name": "", "platform_type": "", "platform_code_ICES": ""}
         ds = xr.Dataset(
@@ -455,18 +479,8 @@ def set_platform(self) -> xr.Dataset:
                         "valid_min": 0.0,
                         "standard_name": "sound_frequency",
                     },
-                ),
-                "heading": (
-                    ["time2"],
-                    np.array(self.parser_obj.mru0.get("heading", [np.nan])),
-                    {
-                        "long_name": "Platform heading (true)",
-                        "standard_name": "platform_orientation",
-                        "units": "degrees_north",
-                        "valid_min": 0.0,
-                        "valid_max": 360.0,
-                    },
-                ),
+                ),  
+                "heading": hdg_data,
                 "latitude_mru1": (
                     ["time3"],
                     np.array(self.parser_obj.mru1.get("latitude", [np.nan])),
@@ -477,6 +491,11 @@ def set_platform(self) -> xr.Dataset:
                     np.array(self.parser_obj.mru1.get("longitude", [np.nan])),
                     longitude_mru1_attrs,
                 ),
+                "speed_over_ground": (
+                    ["time4"],
+                    np.array(sog_nmea),
+                    self._varattrs["platform_var_default"]["speed_over_ground"],
+                ),
             },
             coords={
                 "channel": (
@@ -515,6 +534,22 @@ def set_platform(self) -> xr.Dataset:
                         "orientation data from the Kongsberg Maritime Binary Datagram.",
                     },
                 ),
+                "time4": (
+                    ["time4"],
+                    time4,
+                    {
+                        **self._varattrs["platform_coord_default"]["time1"],
+                        "comment": "Time coordinate corresponding to NMEA speed data.",
+                    },
+                ),
+                "time5": (
+                    ["time5"],
+                    time5,
+                    {
+                        **self._varattrs["platform_coord_default"]["time1"],
+                        "comment": "Time coordinate corresponding to NMEA heading data.",
+                    },
+                ),
             },
         )
         ds = ds.assign_attrs(platform_dict)
diff --git a/echopype/echodata/convention/1.0.yml b/echopype/echodata/convention/1.0.yml
index 66068300b..ea7785105 100644
--- a/echopype/echodata/convention/1.0.yml
+++ b/echopype/echodata/convention/1.0.yml
@@ -156,5 +156,16 @@ variable_and_varattributes:
     water_level:
       long_name: Distance from the platform coordinate system origin to the nominal water level along the z-axis
       units: m
+    speed_over_ground:
+      long_name: Speed over ground of the platform
+      standard_name: platform_speed_wrt_ground
+      units: m/s
+      valid_min: 0.0
+    heading:
+      long_name: Platform heading (true)
+      standard_name: platform_orientation
+      units: degrees_north
+      valid_min: 0.0
+      valid_max: 360.0
     sentence_type:
       long_name: NMEA sentence type
diff --git a/echopype/tests/convert/test_convert_ek60.py b/echopype/tests/convert/test_convert_ek60.py
index c8fb563f0..1666bce4f 100644
--- a/echopype/tests/convert/test_convert_ek60.py
+++ b/echopype/tests/convert/test_convert_ek60.py
@@ -264,3 +264,33 @@ def test_converting_ek60_raw_with_missing_channel_power(ek60_missing_channel_pow
     # Check that all empty power channels do not exist in the EchoData Beam group
     for _, empty_power_channel_name in empty_power_chs.items():
         assert empty_power_channel_name not in ed["Sonar/Beam_group1"]["channel"]
+
+
+@pytest.mark.unit
+def test_parse_speed_over_ground(ek60_path):
+    """Make sure we parse speed over ground from a RAW file."""
+
+    # This raw file has speed in NMEA VTG and RMC messages
+    echodata = open_raw(
+        raw_file=ek60_path/'NBP_B050N-D20180118-T090228.raw',
+        sonar_model='EK60'
+    )
+
+    # Check that there are data that are not NaN
+    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time3': 584})
+    # this .raw file has nan's in the speed over ground data 
+    # assert (not np.any(np.isnan(echodata["Platform"]['speed_over_ground'])))
+
+
+@pytest.mark.unit
+def test_parse_NMEA_heading(ek60_path):
+    """Make sure we parse NMEA heading from a RAW file when MRU heading is not present."""
+
+    echodata = open_raw(
+        raw_file=ek60_path/'NBP_B050N-D20180118-T090228.raw',
+        sonar_model='EK60'
+    )
+
+    # Check that there are non-NaN data
+    assert (echodata["Platform"]['heading'].sizes == {'time4': 584})
+    assert (not np.any(np.isnan(echodata["Platform"]['heading'])))
diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index 02d427a40..2046ba069 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -516,6 +516,35 @@ def test_parse_mru0_mru1(ek80_path):
         assert not np.any(np.isnan(echodata["Platform"][mru_var_name]))
 
 
+@pytest.mark.unit
+def test_parse_speed_over_ground(ek80_path):
+    """Make sure we parse speed over ground from a RAW file."""
+
+    # This raw file has speed in NMEA VTG and RMC messages
+    echodata = open_raw(
+        raw_file=ek80_path/'vessel_speed'/'khr2405-D20241001-T024415.raw',
+        sonar_model='EK80'
+    )
+
+    # Check that there are data that are not NaN
+    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time4': 440})
+    assert (not np.any(np.isnan(echodata["Platform"]['speed_over_ground'])))
+
+
+@pytest.mark.unit
+def test_parse_NMEA_heading(ek80_path):
+    """Make sure we parse NMEA heading from a RAW file when MRU heading is not present."""
+
+    echodata = open_raw(
+        raw_file=ek80_path/'heading'/'D20260613-T230914.raw',
+        sonar_model='ES80'
+    )
+
+    # Check that there are non-NaN data
+    assert (echodata["Platform"]['heading'].sizes == {'time5': 911})
+    assert (not np.any(np.isnan(echodata["Platform"]['heading'])))
+
+
 @pytest.mark.unit
 def test_parse_missing_sound_velocity_profile(ek80_missing_sound_path):
     """

From 2428db7ecea0cfc4c53496c6be3a085d737eeedf Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Wed, 15 Jul 2026 16:42:14 +1200
Subject: [PATCH 02/15] remove a missed debug print

---
 echopype/convert/set_groups_base.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index 607100a9e..e5583c78a 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -240,7 +240,6 @@ def _extract_NMEA_latlon(self):
                 try:
                     lon.append(x.longitude if hasattr(x, "longitude") else np.nan)
                 except ValueError as ve:
-                    print(x)
                     lon.append(np.nan)
                     warnings.warn(
                         f"At least one longitude entry is problematic and "

From 50c263cb2b328a7e0569696d43b13f9fc4bf2b49 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 15 Jul 2026 04:42:51 +0000
Subject: [PATCH 03/15] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 echopype/convert/set_groups_base.py | 30 +++++++++++++++--------------
 echopype/convert/set_groups_ek60.py |  3 +--
 echopype/convert/set_groups_ek80.py |  2 +-
 3 files changed, 18 insertions(+), 17 deletions(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index e5583c78a..afc714e56 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -11,11 +11,12 @@
 from ..utils.prov import echopype_prov_attrs, source_files_vars
 
 NMEA_SENTENCE_DEFAULT = ["GGA", "GLL", "RMC"]
-NMEA_SENTENCE_SPEED = ['RMC', 'VTG']
-NMEA_SENTENCE_HEADING = ['HDT']
+NMEA_SENTENCE_SPEED = ["RMC", "VTG"]
+NMEA_SENTENCE_HEADING = ["HDT"]
 
 KNOTS_TO_M_PER_S = 0.51444444444
 
+
 class SetGroupsBase(abc.ABC):
     """Base class for saving groups to netcdf or zarr from echosounder data files."""
 
@@ -220,7 +221,7 @@ def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[list, list,
         else:
             time = [np.nan]
 
-        return nmea_msg, time,msg_type
+        return nmea_msg, time, msg_type
 
     # TODO: move this to be part of parser as it is not a "set" operation
     def _extract_NMEA_latlon(self):
@@ -260,19 +261,19 @@ def _extract_NMEA_speed(self):
                 try:
                     # pynmea2 has different names for speed over ground, depending on the NMEA
                     # message that it comes from
-                    if x.sentence_type == 'VTG':
+                    if x.sentence_type == "VTG":
                         # VTG speed is returned as a Decimal, so fix that
                         sog.append(
-                            float(x.spd_over_grnd_kts)*KNOTS_TO_M_PER_S 
-                            if hasattr(x, "spd_over_grnd_kts") and 
-                                x.spd_over_grnd_kts is not None else np.nan
+                            float(x.spd_over_grnd_kts) * KNOTS_TO_M_PER_S
+                            if hasattr(x, "spd_over_grnd_kts") and x.spd_over_grnd_kts is not None
+                            else np.nan
                         )
                     else:  # only RMC so far
                         sog.append(
-                            x.spd_over_grnd*KNOTS_TO_M_PER_S
-                            if hasattr(x, "spd_over_grnd") and
-                                x.spd_over_grnd is not None else np.nan
-                            )
+                            x.spd_over_grnd * KNOTS_TO_M_PER_S
+                            if hasattr(x, "spd_over_grnd") and x.spd_over_grnd is not None
+                            else np.nan
+                        )
                 except ValueError:
                     sog.append(np.nan)
         else:
@@ -290,9 +291,10 @@ def _extract_NMEA_heading(self):
                 try:
                     # HDG speed is returned as a Decimal, so fix that
                     heading.append(
-                        float(x.heading)if hasattr(x, "heading") and
-                            x.heading is not None else np.nan
-                        )
+                        float(x.heading)
+                        if hasattr(x, "heading") and x.heading is not None
+                        else np.nan
+                    )
                 except ValueError:
                     heading.append(np.nan)
         else:
diff --git a/echopype/convert/set_groups_ek60.py b/echopype/convert/set_groups_ek60.py
index 684d25a6f..87922eaa0 100644
--- a/echopype/convert/set_groups_ek60.py
+++ b/echopype/convert/set_groups_ek60.py
@@ -248,7 +248,7 @@ def set_platform(self) -> xr.Dataset:
                     ]
                 },
                 "heading": (
-                    ['time4'],
+                    ["time4"],
                     np.array(heading),
                     self._varattrs["platform_var_default"]["heading"],
                 ),
@@ -257,7 +257,6 @@ def set_platform(self) -> xr.Dataset:
                     np.array(sog),
                     self._varattrs["platform_var_default"]["speed_over_ground"],
                 ),
-
             },
             coords={
                 "time1": (
diff --git a/echopype/convert/set_groups_ek80.py b/echopype/convert/set_groups_ek80.py
index e4a6e5be0..6a6b9fadb 100644
--- a/echopype/convert/set_groups_ek80.py
+++ b/echopype/convert/set_groups_ek80.py
@@ -479,7 +479,7 @@ def set_platform(self) -> xr.Dataset:
                         "valid_min": 0.0,
                         "standard_name": "sound_frequency",
                     },
-                ),  
+                ),
                 "heading": hdg_data,
                 "latitude_mru1": (
                     ["time3"],

From d9100c15052023c3637337e9c52ebd2a086b9022 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Wed, 15 Jul 2026 16:53:17 +1200
Subject: [PATCH 04/15] fix a test that failed

---
 echopype/tests/convert/test_convert_ek80.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index 2046ba069..a8fd49192 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -500,7 +500,7 @@ def test_parse_mru0_mru1(ek80_path):
     # Check dimensions
     assert (
         echodata["Platform"].sizes
-        == {'channel': 1, 'time1': 1, 'time2': 43, 'time3': 43}
+        == {'channel': 1, 'time1': 1, 'time2': 43, 'time3': 43, 'time4': 1, 'time5': 1}
     )
 
     # Check no NaN values in MRU data

From c1d018b72e12a5ec0829901cf973e227527a9eba Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Thu, 16 Jul 2026 14:59:45 +1200
Subject: [PATCH 05/15] Resolve some of the test failures

- Resolved duplicated timestamps when extracting from NMEA
- Upped number on time dimensions for heading and sog as they interfered with other time dimension names
- Add support for time dimension names beyond `time9`
- Modified some tests to adjust to changed time dimension names

Notes:
- The change to convert/set_groups_base.py where reordering of dimensions is removed is tentative. I'm not sure if the reordering of dimensions is necessary or just nice to have.
- Some tests hard-coded the time dimension names which makes them a bit fragile. This also suggests that users may have done the same in their code and adding new time dimensions of `time10` and `time11` may cause problems
- My local testing fails on the tests that get data via minio so there may be real test failures in there...
---
 echopype/convert/set_groups_base.py           | 15 +++++++---
 echopype/convert/set_groups_ek60.py           | 28 +++++++++----------
 echopype/convert/set_groups_ek80.py           | 28 +++++++++----------
 echopype/echodata/echodata.py                 |  2 +-
 echopype/tests/convert/test_convert_ek60.py   |  4 +--
 echopype/tests/convert/test_convert_ek80.py   |  6 ++--
 echopype/tests/echodata/test_echodata.py      | 12 ++++----
 .../tests/echodata/test_echodata_combine.py   | 13 +++++++--
 8 files changed, 62 insertions(+), 46 deletions(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index afc714e56..bc1c7354e 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -1,6 +1,7 @@
 import abc
 import warnings
 from typing import List, Set
+from collections.abc import Iterable
 
 import numpy as np
 import pynmea2
@@ -181,7 +182,7 @@ def set_vendor(self) -> xr.Dataset:
         raise NotImplementedError
 
     # TODO: move this to be part of parser as it is not a "set" operation
-    def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[list, list, list]:
+    def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[Iterable, Iterable, Iterable]:
         """Parse out the selected NMEA messages."""
         messages = [string[3:6] for string in self.parser_obj.nmea["nmea_string"]]
         idx_loc = np.argwhere(np.isin(messages, nmea_sentence_types)).squeeze()
@@ -221,6 +222,14 @@ def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[list, list,
         else:
             time = [np.nan]
 
+        # There can be duplicate timestamps both due to a problem in earlier Simrad raw
+        # files and if multiple NMEA sentences are used with the same
+        # timestamp. Remove them here.
+        if nmea_msg:
+            time, indices = np.unique(time, return_index=True, sorted=False)
+            nmea_msg = list(np.array(nmea_msg)[indices])
+            msg_type = list(np.array(msg_type)[indices])
+
         return nmea_msg, time, msg_type
 
     # TODO: move this to be part of parser as it is not a "set" operation
@@ -526,9 +535,7 @@ def _add_index_data_to_platform_ds(
             }
         )
 
-        return platform_ds.transpose(
-            "channel", "time1", "time2", "time3", "time4", missing_dims="ignore"
-        )
+        return platform_ds.transpose(missing_dims="ignore")
 
     def _add_seafloor_detection_data_to_vendor_ds(
         self,
diff --git a/echopype/convert/set_groups_ek60.py b/echopype/convert/set_groups_ek60.py
index 87922eaa0..012f0ea3c 100644
--- a/echopype/convert/set_groups_ek60.py
+++ b/echopype/convert/set_groups_ek60.py
@@ -180,8 +180,8 @@ def set_platform(self) -> xr.Dataset:
         # Collect variables
         # Read lat/long from NMEA datagram
         time1, msg_type, lat, lon = self._extract_NMEA_latlon()
-        time3, msg_type_sog, sog = self._extract_NMEA_speed()
-        time4, msg_type_heading, heading = self._extract_NMEA_heading()
+        time10, msg_type_heading, heading = self._extract_NMEA_heading()
+        time11, msg_type_sog, sog = self._extract_NMEA_speed()
 
         # NMEA dataset: variables filled with np.nan if they do not exist
         platform_dict = {"platform_name": "", "platform_type": "", "platform_code_ICES": ""}
@@ -192,8 +192,8 @@ def set_platform(self) -> xr.Dataset:
 
         # Handle potential nan timestamp
         time1 = self._nan_timestamp_handler(time1)
-        time3 = self._nan_timestamp_handler(time3)
-        time4 = self._nan_timestamp_handler(time4)
+        time10 = self._nan_timestamp_handler(time10)
+        time11 = self._nan_timestamp_handler(time11)
 
         ds = xr.Dataset(
             {
@@ -248,12 +248,12 @@ def set_platform(self) -> xr.Dataset:
                     ]
                 },
                 "heading": (
-                    ["time4"],
+                    ["time10"],
                     np.array(heading),
                     self._varattrs["platform_var_default"]["heading"],
                 ),
                 "speed_over_ground": (
-                    ["time3"],
+                    ["time11"],
                     np.array(sog),
                     self._varattrs["platform_var_default"]["speed_over_ground"],
                 ),
@@ -278,20 +278,20 @@ def set_platform(self) -> xr.Dataset:
                         "orientation data.",
                     },
                 ),
-                "time3": (
-                    ["time3"],
-                    time3,
+                "time10": (
+                    ["time10"],
+                    time10,
                     {
                         **self._varattrs["platform_coord_default"]["time1"],
-                        "comment": "Time coordinate corresponding to NMEA speed data.",
+                        "comment": "Time coordinate corresponding to NMEA heading data.",
                     },
                 ),
-                "time4": (
-                    ["time4"],
-                    time4,
+                "time11": (
+                    ["time11"],
+                    time11,
                     {
                         **self._varattrs["platform_coord_default"]["time1"],
-                        "comment": "Time coordinate corresponding to NMEA heading data.",
+                        "comment": "Time coordinate corresponding to NMEA speed data.",
                     },
                 ),
             },
diff --git a/echopype/convert/set_groups_ek80.py b/echopype/convert/set_groups_ek80.py
index 6a6b9fadb..a2a4ddc3e 100644
--- a/echopype/convert/set_groups_ek80.py
+++ b/echopype/convert/set_groups_ek80.py
@@ -329,15 +329,15 @@ def set_platform(self) -> xr.Dataset:
         time2 = np.array(time2) if time2 is not None else [np.nan]
         time3 = self.parser_obj.mru1.get("timestamp", None)
         time3 = np.array(time3) if time3 is not None else [np.nan]
-        time4, msg_type_sog, sog_nmea = self._extract_NMEA_speed()
-        time5, msg_type_heading, heading_nmea = self._extract_NMEA_heading()
+        time10, msg_type_heading, heading_nmea = self._extract_NMEA_heading()
+        time11, msg_type_sog, sog_nmea = self._extract_NMEA_speed()
 
         # Handle potential nan timestamps
         time1 = self._nan_timestamp_handler(time1)
         time2 = self._nan_timestamp_handler(time2)
         time3 = self._nan_timestamp_handler(time3)
-        time4 = self._nan_timestamp_handler(time4)
-        time5 = self._nan_timestamp_handler(time5)
+        time10 = self._nan_timestamp_handler(time10)
+        time11 = self._nan_timestamp_handler(time11)
 
         # Set MRU1 lat lon attributes
         latitude_mru1_attrs = self._varattrs["platform_var_default"]["latitude"].copy()
@@ -364,7 +364,7 @@ def set_platform(self) -> xr.Dataset:
             )
         elif len(heading_nmea) > 0:
             hdg_data = (
-                ["time5"],
+                ["time10"],
                 heading_nmea,
                 self._varattrs["platform_var_default"]["heading"],
             )
@@ -492,7 +492,7 @@ def set_platform(self) -> xr.Dataset:
                     longitude_mru1_attrs,
                 ),
                 "speed_over_ground": (
-                    ["time4"],
+                    ["time11"],
                     np.array(sog_nmea),
                     self._varattrs["platform_var_default"]["speed_over_ground"],
                 ),
@@ -534,20 +534,20 @@ def set_platform(self) -> xr.Dataset:
                         "orientation data from the Kongsberg Maritime Binary Datagram.",
                     },
                 ),
-                "time4": (
-                    ["time4"],
-                    time4,
+                "time10": (
+                    ["time10"],
+                    time10,
                     {
                         **self._varattrs["platform_coord_default"]["time1"],
-                        "comment": "Time coordinate corresponding to NMEA speed data.",
+                        "comment": "Time coordinate corresponding to NMEA heading data.",
                     },
                 ),
-                "time5": (
-                    ["time5"],
-                    time5,
+                "time11": (
+                    ["time11"],
+                    time11,
                     {
                         **self._varattrs["platform_coord_default"]["time1"],
-                        "comment": "Time coordinate corresponding to NMEA heading data.",
+                        "comment": "Time coordinate corresponding to NMEA speed data.",
                     },
                 ),
             },
diff --git a/echopype/echodata/echodata.py b/echopype/echodata/echodata.py
index 24ac2473f..57b6c3208 100644
--- a/echopype/echodata/echodata.py
+++ b/echopype/echodata/echodata.py
@@ -439,7 +439,7 @@ def update_platform(
                 if v["ext_time_dim_name"] != "scalar"
             }
         )
-        time_dims_max = max([int(dim[-1]) for dim in platform.dims if dim.startswith("time")])
+        time_dims_max = max([int(dim[4:]) for dim in platform.dims if dim.startswith("time")])
         new_time_dims = [f"time{time_dims_max + i + 1}" for i in range(len(ext_time_dims))]
         # Map each new time dim name to the external time dim name:
         new_time_dims_mappings = {new: ext for new, ext in zip(new_time_dims, ext_time_dims)}
diff --git a/echopype/tests/convert/test_convert_ek60.py b/echopype/tests/convert/test_convert_ek60.py
index 1666bce4f..90b4c9566 100644
--- a/echopype/tests/convert/test_convert_ek60.py
+++ b/echopype/tests/convert/test_convert_ek60.py
@@ -277,7 +277,7 @@ def test_parse_speed_over_ground(ek60_path):
     )
 
     # Check that there are data that are not NaN
-    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time3': 584})
+    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time11': 584})
     # this .raw file has nan's in the speed over ground data 
     # assert (not np.any(np.isnan(echodata["Platform"]['speed_over_ground'])))
 
@@ -292,5 +292,5 @@ def test_parse_NMEA_heading(ek60_path):
     )
 
     # Check that there are non-NaN data
-    assert (echodata["Platform"]['heading'].sizes == {'time4': 584})
+    assert (echodata["Platform"]['heading'].sizes == {'time10': 584})
     assert (not np.any(np.isnan(echodata["Platform"]['heading'])))
diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index a8fd49192..95bdd601a 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -500,7 +500,7 @@ def test_parse_mru0_mru1(ek80_path):
     # Check dimensions
     assert (
         echodata["Platform"].sizes
-        == {'channel': 1, 'time1': 1, 'time2': 43, 'time3': 43, 'time4': 1, 'time5': 1}
+        == {'channel': 1, 'time1': 1, 'time2': 43, 'time3': 43, 'time10': 1, 'time11': 1}
     )
 
     # Check no NaN values in MRU data
@@ -527,7 +527,7 @@ def test_parse_speed_over_ground(ek80_path):
     )
 
     # Check that there are data that are not NaN
-    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time4': 440})
+    assert (echodata["Platform"]['speed_over_ground'].sizes == {'time11': 220})
     assert (not np.any(np.isnan(echodata["Platform"]['speed_over_ground'])))
 
 
@@ -541,7 +541,7 @@ def test_parse_NMEA_heading(ek80_path):
     )
 
     # Check that there are non-NaN data
-    assert (echodata["Platform"]['heading'].sizes == {'time5': 911})
+    assert (echodata["Platform"]['heading'].sizes == {'time10': 911})
     assert (not np.any(np.isnan(echodata["Platform"]['heading'])))
 
 
diff --git a/echopype/tests/echodata/test_echodata.py b/echopype/tests/echodata/test_echodata.py
index 54a06b3f6..ed9cf29cf 100644
--- a/echopype/tests/echodata/test_echodata.py
+++ b/echopype/tests/echodata/test_echodata.py
@@ -541,21 +541,21 @@ def test_update_platform(
     # times have max interval of 2s
     # check times are > min(ed["Sonar/Beam_group1"]["ping_time"]) - 2s
     assert (
-        ed["Platform"]["time3"]
+        ed["Platform"]["time12"]
         > ed["Sonar/Beam_group1"]["ping_time"].min() - np.timedelta64(2, "s")
     ).all()
     # check there is only 1 time < min(ed["Sonar/Beam_group1"]["ping_time"])
     assert (
-        np.count_nonzero(ed["Platform"]["time3"] < ed["Sonar/Beam_group1"]["ping_time"].min()) <= 1
+        np.count_nonzero(ed["Platform"]["time12"] < ed["Sonar/Beam_group1"]["ping_time"].min()) <= 1
     )
     # check times are < max(ed["Sonar/Beam_group1"]["ping_time"]) + 2s
     assert (
-        ed["Platform"]["time3"]
+        ed["Platform"]["time12"]
         < ed["Sonar/Beam_group1"]["ping_time"].max() + np.timedelta64(2, "s")
     ).all()
     # check there is only 1 time > max(ed["Sonar/Beam_group1"]["ping_time"])
     assert (
-        np.count_nonzero(ed["Platform"]["time3"] > ed["Sonar/Beam_group1"]["ping_time"].max()) <= 1
+        np.count_nonzero(ed["Platform"]["time12"] > ed["Sonar/Beam_group1"]["ping_time"].max()) <= 1
     )
 
 
@@ -598,8 +598,8 @@ def test_update_platform_multidim(test_path):
 
     # Number of dimensions in Platform group and addition of time3 and time4
     assert len(ed["Platform"].dims) == len(platform_preexisting_dims) + 2
-    assert "time3" in ed["Platform"].dims
-    assert "time4" in ed["Platform"].dims
+    assert "time12" in ed["Platform"].dims
+    assert "time13" in ed["Platform"].dims
 
     # Dimension assignment
     assert ed["Platform"]["longitude"].dims[0] == ed["Platform"]["latitude"].dims[0]
diff --git a/echopype/tests/echodata/test_echodata_combine.py b/echopype/tests/echodata/test_echodata_combine.py
index b99eec6c7..aaaa55fc4 100644
--- a/echopype/tests/echodata/test_echodata_combine.py
+++ b/echopype/tests/echodata/test_echodata_combine.py
@@ -159,7 +159,17 @@ def test_combine_echodata(raw_datasets):
 
     eds = [echopype.open_raw(file, sonar_model, xml_file) for file in files]
 
-    append_dims = {"filenames", "time1", "time2", "time3", "nmea_time", "ping_time", "filter_time"}
+    append_dims = {
+        "filenames",
+        "time1",
+        "time2",
+        "time3",
+        "time10",
+        "time11",
+        "nmea_time",
+        "ping_time",
+        "filter_time",
+    }
 
     combined = echopype.combine_echodata(eds)
 
@@ -210,7 +220,6 @@ def attr_time_to_dt(time_str):
         for dim in concat_dims:
 
             drop_dims = [c_dim for c_dim in concat_dims if c_dim != dim]
-
             diff_concats.append(xr.concat([ed_subset.drop_dims(drop_dims) for ed_subset in eds_groups], dim=dim,  # noqa: E501
                                 coords="minimal", data_vars="minimal"))
 

From 12507ef8cdd370b6bdc427773ea00f3ebcc90d6c Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Thu, 16 Jul 2026 03:00:19 +0000
Subject: [PATCH 06/15] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 echopype/convert/set_groups_base.py | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index bc1c7354e..36002bfd1 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -1,7 +1,7 @@
 import abc
 import warnings
-from typing import List, Set
 from collections.abc import Iterable
+from typing import List, Set
 
 import numpy as np
 import pynmea2
@@ -182,7 +182,9 @@ def set_vendor(self) -> xr.Dataset:
         raise NotImplementedError
 
     # TODO: move this to be part of parser as it is not a "set" operation
-    def _extract_selected_NMEA(self, nmea_sentence_types: list) -> tuple[Iterable, Iterable, Iterable]:
+    def _extract_selected_NMEA(
+        self, nmea_sentence_types: list
+    ) -> tuple[Iterable, Iterable, Iterable]:
         """Parse out the selected NMEA messages."""
         messages = [string[3:6] for string in self.parser_obj.nmea["nmea_string"]]
         idx_loc = np.argwhere(np.isin(messages, nmea_sentence_types)).squeeze()

From 1ac96c626af830b308c6bf78484974e49b520a0e Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Fri, 17 Jul 2026 08:49:31 +1200
Subject: [PATCH 07/15] Update test_convert_ek80 to use new location of data
 for test_parse_NMEA_heading

---
 echopype/tests/convert/test_convert_ek80.py | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index 95bdd601a..8b65709f6 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -38,6 +38,10 @@ def ek80_sequence_path(test_path):
 def ek80_new_path(test_path):
     return test_path["EK80_NEW"]
 
+@pytest.fixture
+def ek80_heading_path(test_path):
+    return test_path["EK80_HEADING"]
+
 def pytest_generate_tests(metafunc):
     """Dynamically parameterize tests for EK80 .raw files."""
     from echopype.tests import conftest as ct
@@ -532,11 +536,11 @@ def test_parse_speed_over_ground(ek80_path):
 
 
 @pytest.mark.unit
-def test_parse_NMEA_heading(ek80_path):
+def test_parse_NMEA_heading(ek80_heading_path):
     """Make sure we parse NMEA heading from a RAW file when MRU heading is not present."""
 
     echodata = open_raw(
-        raw_file=ek80_path/'heading'/'D20260613-T230914.raw',
+        raw_file=ek80_heading_path/'heading'/'D20260613-T230914.raw',
         sonar_model='ES80'
     )
 

From de5216a09415d463aad1077a55444420a2a5e6be Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Fri, 17 Jul 2026 18:20:01 +1200
Subject: [PATCH 08/15] Change heading raw file path to match updated asset
 location

---
 echopype/tests/convert/test_convert_ek80.py |    2 +-
 pyproject.toml                              |    3 +-
 uv.lock                                     | 4603 +++++++++++++++++++
 3 files changed, 4606 insertions(+), 2 deletions(-)
 create mode 100644 uv.lock

diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index 8b65709f6..85e279e81 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -540,7 +540,7 @@ def test_parse_NMEA_heading(ek80_heading_path):
     """Make sure we parse NMEA heading from a RAW file when MRU heading is not present."""
 
     echodata = open_raw(
-        raw_file=ek80_heading_path/'heading'/'D20260613-T230914.raw',
+        raw_file=ek80_heading_path/'D20260613-T230914.raw',
         sonar_model='ES80'
     )
 
diff --git a/pyproject.toml b/pyproject.toml
index f14b52899..c2f3afa52 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -65,7 +65,7 @@ plot = [
     "matplotlib>=3.7",
     "cmocean",
 ]
-
+[dependency-groups]
 test = [
     "moto",
     "pooch",
@@ -73,6 +73,7 @@ test = [
     "pytest-cov",
     "pytest-mock",
     "pytest-xdist",
+    "matplotlib",
 ]
 
 docs = [
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 000000000..b371a65e9
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,4603 @@
+version = 1
+revision = 3
+requires-python = ">=3.11, <3.14"
+resolution-markers = [
+    "python_full_version >= '3.12' and platform_machine == 'ARM64' and sys_platform == 'win32'",
+    "python_full_version < '3.12' and platform_machine == 'ARM64' and sys_platform == 'win32'",
+    "python_full_version >= '3.12' and platform_machine != 'ARM64' and sys_platform == 'win32'",
+    "python_full_version >= '3.12' and sys_platform == 'emscripten'",
+    "python_full_version >= '3.12' and sys_platform != 'emscripten' and sys_platform != 'win32'",
+    "python_full_version < '3.12' and platform_machine != 'ARM64' and sys_platform == 'win32'",
+    "python_full_version < '3.12' and sys_platform == 'emscripten'",
+    "python_full_version < '3.12' and sys_platform != 'emscripten' and sys_platform != 'win32'",
+]
+
+[[package]]
+name = "accessible-pygments"
+version = "0.0.5"
+source = { registry = "https://pypi.org/simple" }
+dependencies = [
+    { name = "pygments" },
+]
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From e20981b14798013b17a9414d20925b093bd3bebc Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 17 Jul 2026 06:21:32 +0000
Subject: [PATCH 09/15] [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci
---
 uv.lock | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/uv.lock b/uv.lock
index b371a65e9..c1eca2c9a 100644
--- a/uv.lock
+++ b/uv.lock
@@ -253,7 +253,7 @@ wheels = [
 ]
 
 [[package]]
-name = "astroid"
+name = "asteroid"
 version = "4.0.4"
 source = { registry = "https://pypi.org/simple" }
 sdist = { url = "https://files.pythonhosted.org/packages/07/63/0adf26577da5eff6eb7a177876c1cfa213856be9926a000f65c4add9692b/astroid-4.0.4.tar.gz", hash = "sha256:986fed8bcf79fb82c78b18a53352a0b287a73817d6dbcfba3162da36667c49a0", size = 406358, upload-time = "2026-02-07T23:35:07.509Z" }
@@ -3054,7 +3054,7 @@ name = "pylint"
 version = "4.0.6"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "astroid" },
+    { name = "asteroid" },
     { name = "colorama", marker = "sys_platform == 'win32'" },
     { name = "dill" },
     { name = "isort" },

From 3f833fb303946c1255c984c796fe89ade6dc4281 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Fri, 17 Jul 2026 18:25:37 +1200
Subject: [PATCH 10/15] Remove accidentally committed files and changes

---
 pyproject.toml |    3 +-
 uv.lock        | 4603 ------------------------------------------------
 2 files changed, 1 insertion(+), 4605 deletions(-)
 delete mode 100644 uv.lock

diff --git a/pyproject.toml b/pyproject.toml
index c2f3afa52..f14b52899 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -65,7 +65,7 @@ plot = [
     "matplotlib>=3.7",
     "cmocean",
 ]
-[dependency-groups]
+
 test = [
     "moto",
     "pooch",
@@ -73,7 +73,6 @@ test = [
     "pytest-cov",
     "pytest-mock",
     "pytest-xdist",
-    "matplotlib",
 ]
 
 docs = [
diff --git a/uv.lock b/uv.lock
deleted file mode 100644
index b371a65e9..000000000
--- a/uv.lock
+++ /dev/null
@@ -1,4603 +0,0 @@
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From 6d74d0144543b72709e68e2fc0cc8e4853885e63 Mon Sep 17 00:00:00 2001
From: Lloyd Izard <76954858+LOCEANlloydizard@users.noreply.github.com>
Date: Fri, 17 Jul 2026 10:03:08 -0700
Subject: [PATCH 11/15] change checksum

---
 echopype/tests/conftest.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/echopype/tests/conftest.py b/echopype/tests/conftest.py
index 02c153bbc..14c2e5880 100644
--- a/echopype/tests/conftest.py
+++ b/echopype/tests/conftest.py
@@ -58,7 +58,7 @@
         "ek80_invalid_env_datagrams.zip": "sha256:dece27d90f30d1a13b56d99350c3254e81622af3199fda0112d3b9e1d7db270c",  # noqa: E501
         "ek80_missing_sound_velocity_profile.zip": "sha256:1635585026ae5c4ffdff09ca4d63aeff0b33471c5ee0e1b8a520f87469535852",  # noqa: E501
         "ek80_new.zip": "sha256:f799cde453762c46ad03fee178c76cd9fbb00eec92a5d1038c32f6a9479b2e57",
-        "ek80_heading.zip": "sha256:cd02ed39fef2fd450c3d28ccec673625557d3d3d6348ffe54cb23b66e5f7858d",
+        "ek80_heading.zip": "sha256:141b9a482af22483097de6f928db4d7b0494d4f7a153f88cffd24c070e11fadb",
         "ek80_sequence.zip": "sha256:9d8fac39dd31f587d55b9978ba4d2b52bbc85daa85d320ef2ac34b3ae947bb1f",  # noqa: E501
         "es60.zip": "sha256:a6c2a15c664ef8b6ac17cb36a28162c271fca361509cf43313038f1bdc9b6c7c",
         "es70.zip": "sha256:a6b4f27f33f09bace26264de6984fdb4111a3a0337bc350c3c1d25c8b3effc7c",

From a6bc7b46cbc1b3d10c7b995ec9f3686dfe7cdc09 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Wed, 22 Jul 2026 12:13:05 +1200
Subject: [PATCH 12/15] Resolve a testing warning

---
 echopype/convert/utils/ek_raw_parsers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/echopype/convert/utils/ek_raw_parsers.py b/echopype/convert/utils/ek_raw_parsers.py
index 303908613..4ee9cd68c 100644
--- a/echopype/convert/utils/ek_raw_parsers.py
+++ b/echopype/convert/utils/ek_raw_parsers.py
@@ -1762,7 +1762,7 @@ def _unpack_contents(self, raw_string, bytes_read, version):
                         raw_string[indx : indx + block_size],  # noqa
                         dtype=data["complex_dtype"],
                     )
-                    data["complex"].dtype = np.complex64
+                    data["complex"] = data["complex"].view(np.complex64)
                     if version == 3:
                         data["complex"] = data["complex"].reshape((-1, data["n_complex"]))
                 else:

From b3f20698b147704a2ff7a6a371efd57cf0659117 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Wed, 22 Jul 2026 12:18:31 +1200
Subject: [PATCH 13/15] Undo a commit to the wrong PR

---
 echopype/convert/utils/ek_raw_parsers.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/echopype/convert/utils/ek_raw_parsers.py b/echopype/convert/utils/ek_raw_parsers.py
index 4ee9cd68c..303908613 100644
--- a/echopype/convert/utils/ek_raw_parsers.py
+++ b/echopype/convert/utils/ek_raw_parsers.py
@@ -1762,7 +1762,7 @@ def _unpack_contents(self, raw_string, bytes_read, version):
                         raw_string[indx : indx + block_size],  # noqa
                         dtype=data["complex_dtype"],
                     )
-                    data["complex"] = data["complex"].view(np.complex64)
+                    data["complex"].dtype = np.complex64
                     if version == 3:
                         data["complex"] = data["complex"].reshape((-1, data["n_complex"]))
                 else:

From 7c371cb8834c0c9bab2eb3f3e9ca5052cde26994 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Thu, 23 Jul 2026 08:25:44 +1200
Subject: [PATCH 14/15] Apply suggestions from code review

Co-authored-by: Caesar Tuguinay <87830138+ctuguinay@users.noreply.github.com>
---
 echopype/convert/set_groups_base.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/echopype/convert/set_groups_base.py b/echopype/convert/set_groups_base.py
index 36002bfd1..e8d9d5f5d 100644
--- a/echopype/convert/set_groups_base.py
+++ b/echopype/convert/set_groups_base.py
@@ -11,7 +11,7 @@
 from ..utils.coding import COMPRESSION_SETTINGS, DEFAULT_TIME_ENCODING, set_time_encodings
 from ..utils.prov import echopype_prov_attrs, source_files_vars
 
-NMEA_SENTENCE_DEFAULT = ["GGA", "GLL", "RMC"]
+NMEA_SENTENCE_LOCATION = ["GGA", "GLL", "RMC"]
 NMEA_SENTENCE_SPEED = ["RMC", "VTG"]
 NMEA_SENTENCE_HEADING = ["HDT"]
 
@@ -237,7 +237,7 @@ def _extract_selected_NMEA(
     # TODO: move this to be part of parser as it is not a "set" operation
     def _extract_NMEA_latlon(self):
         """Get the lat and lon values from the raw nmea data"""
-        nmea_msg, time, msg_type = self._extract_selected_NMEA(NMEA_SENTENCE_DEFAULT)
+        nmea_msg, time, msg_type = self._extract_selected_NMEA(NMEA_SENTENCE_LOCATION)
         if nmea_msg:
             lat, lon = [], []
             for x in nmea_msg:

From f90da53ef19d150aa38e3f127309b358c7b331a1 Mon Sep 17 00:00:00 2001
From: Gavin Macaulay <gavin@macaulay.co.nz>
Date: Sat, 8 Aug 2026 08:01:27 +1200
Subject: [PATCH 15/15] Add mark.unit label to speed over ground test

---
 echopype/tests/convert/test_convert_ek60.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/echopype/tests/convert/test_convert_ek60.py b/echopype/tests/convert/test_convert_ek60.py
index 840aca88f..79b710fe3 100644
--- a/echopype/tests/convert/test_convert_ek60.py
+++ b/echopype/tests/convert/test_convert_ek60.py
@@ -368,7 +368,7 @@ def test_open_raw_channels_invalid_ek60(ek60_path):
             channels=["nonexistent-channel"],
         )
 
-
+@pytest.mark.unit
 def test_parse_speed_over_ground(ek60_path):
     """Make sure we parse speed over ground from a RAW file."""