Sonar to CAD file or Point Cloud App

I would like to create point cloud data from the side scan Sonar from My Garmin unit.  Is there a direct way to export the data as XYZ points or Longitude, Latitude, Height?  If not is there a data format that will allow my to develop an app to read the data stored in a Garmin file?

https://web.wpi.edu/Pubs/E-project/Available/E-project-051320-170851/unrestricted/Underwater_3D_Data_Collection.pdf