Hi /u/VanHelmont91! I'm sorry for the delay, but replying slipped my mind.
Here's quite a number of sources:
Kayak Bathymetry Mapping Project
A personal project by a Univ. of Oslo researcher
And here's some useful books:
Book 4 (this one's a bit overkill, but I'm an engineering student so I like that stuff!)
Book 5 (somewhat of a shorter overview than the other ones)
How's the project coming along? In the meantime, I've scored a summer job in a related field, so I'll be working with transducers and learning lots more about them. I'm curious to find out if you've made any progress.