Soundings placed at the transducer, none lost or sent twice; requires Node 24

More accurate soundings, and none lost or sent twice.

Requires Node 24. Signal K servers running an older Node need to upgrade before installing this version (#115).

• Positions at the transducer: each sounding's position is moved from the GPS antenna to the transducer using your heading, or your course over ground while you are moving faster than about 1 knot. A sounding that can't be placed this way is no longer uploaded with the antenna's position (#134)
• Correct depth reference: reports say what depths are measured from: the waterline, the transducer, or unknown. Depths read through the History API now get the same transducer depth or draft correction as live data, and the transducer depth below the waterline is optional (#128)
• Sensor offsets in the standard frame: report metadata gives sensor positions from the transducer, as forward, starboard and down (#129)
• Late history providers: after a restart, the plugin waits up to 10 minutes for a history provider such as signalk-to-influxdb2 to come up, recording meanwhile, before it settles on its own storage (#132)
• No lost or duplicate soundings: each report stops 5 minutes short of the current time, so soundings a history provider is still writing go out in the next report instead of being skipped. A sounding stamped exactly on a report boundary is sent once, not twice. BATHY_REPORT_DELAY changes the delay (#136)
• End-to-end tests: CI now uploads soundings through a real Signal K server and checks them against the CSB schema, and runs on pull requests from forks (#131)
• Dependency updates (#114)

Thanks to @dirkwa for most of this release.