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MB-SYSTEM README FILE: ---------------------- Version: $Id$ ---------------------- This file is located at the top of the MB-System directory structure. This directory structure contains the source code of the MB-System software package for processing and display of swath sonar data. MB-SYSTEM VERSION 5 DESCRIPTION: ------------------------------- MB-System is a software package consisting of programs which manipulate, process, list, or display swath sonar bathymetry, amplitude, and sidescan data. This software is distributed freely (and for free) in the form of source code for Unix platforms. The heart of the system is an input/output library called MBIO which allows programs to work transparently with any of a number of supported swath sonar data formats. This approach has allowed the creation of "generic" utilities which can be applied in a uniform manner to sonar data from a variety of sources. Most of the programs are command-line tools, but the package does include graphical tools for editing swath bathymetry, editing navigation, modeling bathymetry calculation, and adjusting survey navigation. MB-SYSTEM VERSION 5 RELEASE DATES: ----------------------------------------- * Version 5.3.1982 August 15, 2012 Version 5.3.1981 August 2, 2012 * Version 5.3.1980 July 13, 2012 * Version 5.3.1955 May 16, 2012 Version 5.3.1941 March 6, 2012 * Version 5.3.1917 January 10, 2012 * Version 5.3.1912 November 19, 2011 * Version 5.3.1909 November 16, 2011 * Version 5.3.1907 November 9, 2011 * Version 5.3.1906 September 28, 2011 * Version 5.2.1880 December 30, 2010 Version 5.1.3beta1875 November 23, 2010 Version 5.1.3beta1874 November 7, 2010 Version 5.1.3beta1862 June 7, 2010 Version 5.1.3beta1858 May 18, 2010 Version 5.1.3beta1855 May 4, 2010 Version 5.1.3beta1851 April 14, 2010 Version 5.1.3beta1844 March 30, 2010 Version 5.1.3beta1843 March 29, 2010 Version 5.1.3beta1829 February 5, 2010 * Version 5.1.2 December 31, 2009 Version 5.1.2beta15 December 30, 2009 Version 5.1.2beta14 December 28, 2009 Version 5.1.2beta13 December 28, 2009 Version 5.1.2beta12 December 26, 2009 Version 5.1.2beta11 Ausust 26, 2009 Version 5.1.2beta10 Ausust 12, 2009 Version 5.1.2beta09 Ausust 7, 2009 Version 5.1.2beta08 Ausust 5, 2009 Version 5.1.2beta06 July 2, 2009 Version 5.1.2beta05 June 14, 2009 Version 5.1.2beta02 March 13, 2009 Version 5.1.2beta01 March 9, 2009 * Version 5.1.1 December 31, 2008 Version 5.1.1beta26 November 18, 2008 Version 5.1.1beta25 September 28, 2008 Version 5.1.1beta23 September 19, 2008 Version 5.1.1beta21 July 20, 2008 Version 5.1.1beta20 July 10, 2008 Version 5.1.1beta19 June 6, 2008 Version 5.1.1beta18 May 16, 2008 Version 5.1.1beta17 March 21, 2008 Version 5.1.1beta16 March 14, 2008 Version 5.1.1beta15 February 8, 2008 Version 5.1.1beta14 January 15, 2008 Version 5.1.1beta13 November 16, 2007 Version 5.1.1beta12 November 2, 2007 Version 5.1.1beta11 October 17, 2007 Version 5.1.1beta10 October 8, 2007 Version 5.1.1beta5 July 5, 2007 * Version 5.1.0 November 26, 2006 Version 5.1.0beta4 October 5, 2006 Version 5.1.0beta3 September 11, 2006 Version 5.1.0beta2 August 9, 2006 Version 5.1.0beta July 5, 2006 * Version 5.0.9 February 20, 2006 * Version 5.0.8 February 8, 2006 Version 5.0.8beta5 February 3, 2006 Version 5.0.8beta4 February 1, 2006 Version 5.0.8beta3 February 1, 2006 Version 5.0.8beta2 January 27, 2006 Version 5.0.8beta January 24, 2006 * Version 5.0.7 April 7, 2005 * Version 5.0.6 February 19, 2005 * Version 5.0.5 October 6, 2004 * Version 5.0.4 May 22, 2004 * Version 5.0.3 February 27, 2004 * Version 5.0.2 December 24, 2003 * Version 5.0.1 December 12, 2003 * Version 5.0.0 December 5, 2003 Version 5.0.beta31 April 29, 2003 Version 5.0.beta30 April 25, 2003 Version 5.0.beta29 March 10, 2003 Version 5.0.beta28 January 14, 2003 Version 5.0.beta27 November 13, 2002 Version 5.0.beta26 November 3, 2002 Version 5.0.beta25 October 15, 2002 Version 5.0.beta24 October 4, 2002 Version 5.0.beta23 September 20, 2002 Version 5.0.beta22 August 30, 2002 Version 5.0.beta21 July 25, 2002 Version 5.0.beta20 July 20, 2002 Version 5.0.beta18 May 31, 2002 Version 5.0.beta17 May 1, 2002 Version 5.0.beta16 April 5, 2002 Version 5.0.beta15 March 26, 2002 Version 5.0.beta14 February 25, 2002 Version 5.0.beta13 February 22, 2002 Version 5.0.beta12 January 2, 2002 Version 5.0.beta11 December 20, 2001 Version 5.0.beta10 November 20, 2001 Version 5.0.beta09 November 6, 2001 Version 5.0.beta08 October 19, 2001 Version 5.0.beta07 August 10, 2001 Version 5.0.beta06 July 30, 2001 Version 5.0.beta05 July 23, 2001 Version 5.0.beta04 July 20, 2001 Version 5.0.beta03 July 19, 2001 Version 5.0.beta02 June 30, 2001 Version 5.0.beta01 June 8, 2001 Version 5.0.beta00 April 6, 2001 MB-SYSTEM AUTHORS: ----------------- David W. Caress (caress@mbari.org) Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 Dale N. Chayes (dale@ldeo.columbia.edu) Lamont-Doherty Earth Observatory of Columbia University Rte 9W Palisades, NY 10964 MB-SYSTEM COPYRIGHT, LICENSING AND CAVEAT: ----------------------------------------- MB-System Copyright (C) 1993-2012 by David W. Caress (caress@mbari.org) Monterey Bay Aquarium Research Institute Moss Landing, CA 95039 Dale N. Chayes (dale@ldeo.columbia.edu) Lamont-Doherty Earth Observatory Palisades, NY 10964mbbackangle.manl All Rights Reserved All Wrongs Remembered The MB-System source code is distributed under the GNU General Public License as formulated by the GNU Project. Early MB-System distributions were described as "public domain", which meant there was no restrictions whatsoever on the use of the code. For over a decade we have adopted the more restrictive GNU GPL license in order to insure that anyone who distributes software based in whole or in part on MB-System also distributes the modified MB-System source code and any additional source code. The GNU GPL also prohibits the distribution of proprietary executables linked with MB-System libraries unless the source code is also distributed. We waive this restriction on distributing proprietary compiled programs for specific software products if and only if those software products meet the following two conditions: 1) The software product was created, sold, and delivered to customers using source code derived from MB- System release 4.6 distributions. 2) The software product was sold and delivered to customers prior to January 1, 2001. The MB-System does not come with any warranties, nor is it guarenteed to work on your computer or to do anything useful. The user assumes full responsibility for the use of this system. In particular, David W. Caress, Dale N. Chayes, the Lamont-Doherty Earth Observatory of Columbia University, the Monterey Bay Aquarium Research Institute, or any other individuals or organizations involved in the design and maintenance of the MB-System software package are NOT responsible for any damage that may follow from correct or incorrect use of these programs. MB-SYSTEM VERSION 5.3 RELEASE NOTES: ------------------------------------------ Added -MXexcludepercent option to mblist to exclude a user defined percentage of outer beams from mblist output. (contributed by Suzanne O'Hara) -----> 5.3.1982 (August 15, 2012) Fixed significant issue in mb7kpreprocess and in Reson 7k format support in general. The code was not handling the current raw detection data records correctly. Fixed mbotps so that it handles requests for sound speed models on locations that are dry land in the Topex mdoels more gracefully. Fixed minor info printing issue with mbnavadjust (now doesn't report failure to invert unless there is a failure to invert). Improved performance of navigation and attitude merging for both mb7kpreprocess and mbkongsbergpreprocess Added new functionality to mbkongsbergpreprocess (contributed by Suzanne O'Hara): -Added Ðd<outputDirectory> argument to allow users to set new directory for output files; original code always created output in input directory. This is a problem where users should not be modifying original directories. Using this flag allows the user to use the datalist optiona and is easier than copying the original mb58 data to a different directory or to using a script that loops through all the data using the Ðo option -Added Ðc flag to output counts. Current code always outputs many rows of information that can be confusing. The default now is to work silently unless there is a problem. -----> 5.3.1981 (August 2, 2012) Fixed problem with mbprocess in which the heading was unexpectedly replaced by course-made-good. Now this can only happen with HEADINGMODE:1 or HEADINGMODE:2 in the parameter file. Fixed error in the definition of the OMG HDCS format in mbf_omghdcsj.h This fix provided by Bob Covill. -----> 5.3.1980 (July 13, 2012) Augmented support for L3 XSE format (94) so that data from recent SeaBeam 3000 and SeaBeam 3050 multibeams can be processed. Added option to mbinfo to generate output in XML (contributed by Christian Ferreira) Augmented the i/o module for Reson 7k data to work with data files that do not include the 7006 bathymetry records but instead include the raw detection 7027 records. Altered mbnavlist so that longitude and latitude values are output with a precision about equivalent to 0.1 mm, the same as mblist and mbinfo. Altered mbprocess so that navigation shifts and offsets are applied to merged navigation. Navigation derived from mbnavadjust is not affected. Added new program mbkongsbergpreprocess, which reads data from a third generation Kongsberg multibeam sonar (e.g. EM122, EM302, EM710), interpolates the asynchronous navigation, heading, and attitude onto the multibeam data, and writes a new file with that information correctly embedded in the multibeam survey data. The input files may be in the vendor format MBF_EM710RAW (format id 58) or the MB-System extended format MBF_EM710MBA (format id 59); the output files will always be in the MB-System extended format MBF_EM710MBA (format id 59). Updated GSF library to new release 3.04 from SAIC. Removed local($[) = 0 initializations from all perl macros for compatibility with the current version of perl (some macros were missed when this was done before 5.3.1955). Fixed problem with mbprocess in which merged roll and pitch data were not applied to the bathymetry unless the bathymetry was being recalculated by raytracing. Added ability to change the read and write buffers for file i/o, initially just for Reson 7k and Kongsberg current generation data. This allows one to tune for the highest throughput file i/o for a given situation (e.g. 10 MB buffers achieve 5-10% faster throughput on the MBARI network). Altered i/o module mbr_image83p.c for Imagenex DeltaT data so that if no roll or pitch data are stored, the sonar is treated as if it is pointed down rather than horizontal. Also fixed the module so that the profile tile angle parameter is used correctly. -----> 5.3.1955 (May 16, 2012) Removed ($[) = 0 initializations from all perl macros for compatibility with the current version of perl. Updated PROJ4 to the 4.8.0 release. Added code for a new i/o module reading (but not yet writing) Benthos 1624 sidescan data in the XTF format. This read-only i/o module has a format id of 211. This code has been contributed by Jens Renken (MARUM/University of Bremen). The intent is to complete the i/o module to allow full processing of the Benthos 1624 data. Added a new macro, mbm_bpr, to translate pressure data from a Seabird SBE53 pressure sensor used as a Bottom Pressure Recorder (BPR) into tidal data that can be used to correct swath bathymetry data. Changed default Postscript viewer for Linux or Mac to be gv rather than Ghostview. Added option to mbinfo (-X1) to generate output in the json format. If the -O option is used to make metadata files, then the addition of -X1 will cause the output files to be named "*_inf.json" rather than "*.inf". Suzanne O'Hara (LDEO) contributed this improvement. Augmented mbsvplist with option -C which causes the program to output the number of unique SVPs in each file to stdout. Suzanne O'Hara (LDEO) contributed this improvement. Fixed multiple problems with mbcontour and the underlying contouring library that were producing crashes in many circumstances. Updated the MBARI AUV mission generator mbm_route2mission to reflect current operational parameters for the MBARI Mapping AUV. Applied fixes to the Marine Sonics sidescan i/o module (mbr_mstiffss.c) contributed by Val Schmidt of UNH/CCOM. Changed the color table in mbnavadjust to eliminate yellow contours, which are difficult to see. Added output of potential temperature to mbctdlist. Altered subbottom section plots generated by mbextractsegy. The first cut plots generated when mbextractsegy is used to extract subbottom data into segy files are broken into multiple section plots for long files (representing survey lines if extracted according to a route file). Previously, all section plots for a given line had a time sweep encompassing the data for the entire line. Now, if the total sweep exceeds 1 second, then the sections plots will be generated using only the sweep required for each section alone. Improved the robustness of calculating longitude latitude bounds for segy data using mbsegyinfo. Added capability to mbsegygrid to grid and plot subbottom sections based on distance between the end points of a survey line. This approach to plotting subbottom sections removes the impact of speed variations and deemphasizes data where the sonar platform moved slowly or stopped. -----> 5.3.1941 (March 6, 2012) Fixed sidescan filtering with mbfilter. The filtered sidescan output in format 71 files had incorrect acrosstrack locations. Fixed problems with sidescan generation for current generation Kongsberg data (formats 58 and 59). The code previously tended to choose too small of a pixel size, resulting in a sidescan swath narrower than the real swath width. Fixed swath contouring and track plotting by mbcontour and mbm_plot. Subtle changes in the GMT pslib resulted in contours and tracks only partly plotting in some Postscript devices. The MB-System code now explicitly chooses when to call stroke operations in the Postscript, rather than leaving that up to pslib. Fixed format 24 (mbf_hsldeoih) so that certain old files with extra bytes in some comment records can be read correctly. Added output of raw values from current generation Kongsberg data (formats 58 and 59) to mblist. -----> 5.3.1937 Changed the resolution of navigation in fbt (format 71) files and fnv files to be 1e-9 degrees, equivalent to about 0.1 mm. Similarly change the navigation resolution in the output of mbinfo, and thus in inf files. This affects mbr_mbldeoih.c, mbsys_ldeoih.c mbsys_ldeoih.h in src/mbio, and mbinfo.c and mblist.c in src/utilities. Add importing and display of "vector" data in mbview and mbgrdviz. The vector files are GMT-style segmented files of lon, lat, topography value triples. These are displayed as lines colored according to the value. Controls for setting the color tables still have to be added. Changed mbgrid so that any background (option -K) is calculated first, before significant memory is allocated. This avoids crashes due to attempted forks that overrun available memory. Fixed beamwidth calculation for Reson 7k data. Fix in mbr_reson7kr.c and mbsys_reson7k.c. Fixed overflow during iterative search for beam angle values in mbr_em710raw.c Added capability to mbauvloglist to output angle values in degrees rather than radians. Added code to mbnavadjust to detect when the uncertainty ellipsoid of one or more ties contains a zero value that will cause the inversion to fail. In this case, the program prints out which ties are problematic, and declines to calculate the inversion. Fixed beamwidth values stored in fbt files. Added JSON output option to mbinfo. This addition provided by Suzanne O'Hara of LDEO/IEDA. Added graceful exit to mbm_grdplot when a call to grdinfo fails. Fix provided by Hamish Bowman of the University of Otago. Bug fixes to mbr_mstiffss.c related to reading Marine Sonics sidescan data. This fix provided by Val Schmidt of CCOM/JHC at University of New Hampshire. -----> 5.3.1917 (January 10, 2012) Added preliminary support for HYSWEEP HSX format as MBIO format 201. Added program mbhysweeppreprocess to preprocess the HSX data. Fixed bug in mb_lever() function in mb_angle.c. GSF 3.03 update. -----> 5.3.1912 (November 19, 2011) Formats 58 and 59 (third generation Kongsberg multibeam data): Augmented code to handle bathymetry data in which beams are reported as having valid soundings but actually have zero ranges and NaN bathymetry, acrosstrack distance, and alongtrack distance values. Formats 58 and 59 (third generation Kongsberg multibeam data): Fixes to the handling of attitude ecords, particularly with regard to writing the records. -----> 5.3.1909 (November 16, 2011) Program mbnavlist: Fixed attitude record output so that use of -K18, -K55, -K56, or -K57 results in output lines for all attitude records, even when position or heading data are not available for interpolation. Formats 58 and 59 (third generation Kongsberg multibeam data): Fixed the i/o modules to successfully output attitude and netattitude records identified as MB_DATA_ATTITUDE1, MB_DATA_ATTITUDE2, or MB_DATA_ATTITUDE3. -----> 5.3.1907 (November 9, 2011) Program mblist: Added output of beam bottom detection algorithm (amplitude or phase) to mblist. One can now use Q and q as valid output values that can be included in the arguments to the -O option. Program mbnavlist: Added ability to output navigation data keyed to primary or ancilliary attitude data. For instance, use of the -K18 option will cause the mbnavlist output to occur for all attitude samples in the primary attitude data stream. The timestamps will be those of the attitude records, and any position, speed, or sonar depth values requested will be interpolated onto the attitude timestamps. Program mbm_route2mission: Enabled the generation of AUV missions in which multibeam beamformed data ("water column") are recorded in addition to bathymetry and backscatter. Program mb7kpreprocess: Fixed integration of MBARI AUV INS log data into the processing of Reson 7k data. Program mbrolltimelag: Fixed a bug that rarely produced a failure of time lag correlation calculation. Third generation Kongsberg data (formats 58 & 59: Fixed handling of different attitude records, in that the code now recognizes multiple sources of roll, pitch, and heave when they appear in a datastream. The data records identified as the primary attitude source are identified as type MB_DATA_ATTITUDE (18) while ancilliary records will be identified as MB_DATA_ATTITUDE1 (55), MB_DATA_ATTITUDE2 (56), or MB_DATA_ATTITUDE3(57). -----> 5.3.1906 (September 28, 2011) Program mbnavadjust: Added -D option to invert foreground (normally black) and background (normally white) colors in the interactive plots Format 88 MBF_RESON7KR (Reson 7k multibeam data): Fixed deallocation of MBF_RESON7KR data structures. Program mb7kpreprocess: Fixed some filtering code in mb7kpreprocess. Program mbrolltimelag: Added -K option to mbrolltimelag - this duplicates the new -K option in mbnavlist and is used when mbrolltimelag calls mbnavlist to extract the roll time series. Program mbnavlist: Augmented mbnavlist to allow extraction of data keyed to data records other than navigation or survey data. A new -Kkind option allows users to specify output at the times of attitude, heading, or other record types. Programs mbedit, mbeditviz, mbnavedit, mbclean, mbprocess: Added ability to disable file locking using the program mbdefaults and the .mbio_defaults file in the user's home directory. If a user disables file locking by running mbdefaults -U0 then the programs mbedit, mbeditviz, mbnavedit, mbclean, and mbprocess will not set new file locks and will ignore any existing file locks. In short, a user can disable the entire file locking mechanism in MB-System. New macros mbm_multicopy, mbm_multidatalist, mbm_multiprocess: Added three new macros authored by Christian Ferreira. These are mbm_multicopy, mbm_multidatalist, and mbm_multiprocess. All three are used to execute tasks on large numbers of swath files by starting multiple processes in parallel. The mbm_multicopy macro accomplishes copying of files from one format to another. The mbm_multidatalist macro accomplishes the creation of ancilliary files. The mbm_multiprocess macro accomplishes processing with mbprocess. These all require the Parallel-Forkmanager Perl module available from www.cpan.org. Program mbclean: Added flagging by acrosstrack distance to mbclean. Also added esf file locking for compatibility with mbedit and mbeditviz, and fixed handling of old edits. Program mbgrid: Fixed a problem with the footprint algorithm of mbgrid that sometimes left holes that could not be filled by interpolation. Macro mbm_route2mission: Added ability to mix constant altitude and constant depth behaviors within a single AUV mission to mbm_route2mission. Format 88 MBF_RESON7KR (Reson 7k multibeam data): Fixes to handling of asynchronous attitude data in format 88 (Reson s7k) and calculation of time lag estimates. Program mbextractsegy: Adjustments to the default plots of segy data by mbextractsegy. Macro mbm_route2mission: Fixes to generation of MBARI AUV missions by mbm_route2mission. Format 88 MBF_RESON7KR (Reson 7k multibeam data): Fixed extraction of raw, asynchronous attitude data from Reson 7k data using rollpitchheave records (e.g. from the MARUM AUV), which in turn fixes the calculation of attitude time lag estimates using mbrolltimelag. Program mb7kpreprocess: Fixed application of time lag model by mb7kpreprocess for the case of Reson 7k data using rollpitchheave records (e.g. from the MARUM AUV). Program mblist: Added -UN option to mblist that ignores output of lines associated with zero longitude or latitude values. This option will be used by mbdatalist to create *.fnv files. Format 71 MBF_LDEOIH (generic swath): Provided a means to continue using the old definition of swath format MBF_LDEOIH (format 71) for fbt files. Users can now use mbdefaults to set the format 71 version that will be generated when fbt files are created by mbdatalist and mbprocess. If mbdefaults -Fold is executed, the .mbio_defaults file in the user's home directory will be altered so that all new fbt files are in the old format. The purpose of this backwards compatibility is to allow users to take advantage of the Fledermaus capability for editing bathymetry in MB-System processing environments. This involved changes to mbcopy as well as to the MBF_LDEOIH i/o module. Program mbnavadjust: Changed the swath data import code so that sections will be created even when all beams have been flagged as bad. This is to allow surveys to remain intact, with no breaks, because the concept of a continuous survey is increasingly important in MBnavadjust. Also altered the status displays and listings to show survey id along with file and section id's. Format 71 MBF_LDEOIH (generic swath): Updated the definition of swath format MBF_LDEOIH (format 71), which is used for the "fast bathymetry" or *.fbt files in MB-System processing environments. The previous form of *.fbt files had a serious limitation in that bathymetry from multibeams operated near the seafloor in deep water did not represent the full numerical resolution of those data. The updated format allows for depth and distance resolution to 0.001 m even in the deep ocean. Old *.fbt files are read transparently, but newly written files will be in the new form. IMPORTANT: In order to avoid compatibility issues, all users operating on the same projects should upgrade to this version or higher once one user upgrades. Format 88 MBF_RESON7KR (Reson 7k multibeam data): Updated support for Reson 7k data to include the "1022" record. We still don't know what this is, but the code now reads and writes it without complaint. Program mbinfo: Fixed mbinfo handling of swath files with no good data (Thanks Suzanne O'Hara) MBIO function mb_get_format(): Changed mb_get_format() function in mb_format.c so that formats are inferred from parameter files if they exist. Program mbnavadjust: Supplemented informational output to stdout from MBnavadjust. Format 71 MBF_LDEOIH (generic swath): Started development of new version of format 71 (mbf_ldeoih). Program mb7kpreprocess: Fixed translation of beam quality values into MB-System beam flags by mb7kpreprocess. Program mbextractsegy: Fixed calculation of line breaks by mbextractsegy. MBIO function mb_get_format(): Augmented mb_get_format() in mb_format.c to look for the format id value in mbprocess parameter files before trying to make sense of file suffixes. Program mbedit: Fixed MBedit's handling of files not conforming to the MB-System filename suffix convention. Macro mbm_xyplot: Allow users of mbm_xyplot to specify both axis annotation with the -B option and axis labeling with the -L option. Program mbeditviz: Implemented workaround for MBeditviz crash problem on Poseidon Linux. MBeditviz would shut down whenever a second map view was requested with an Xserver error named GLXBadContextTag. Previously, the OpenGL rendering within X11/Motif widgets has been implemented with the graphics calls always sent through the X11 window server. I have now set the code to allow direct rendering through hardware when that is possible. For reasons I do not understand, this change results in MBeditviz no longer crashing on my Poseidon Linux test machine. Programs mbedit, mbnavedit, mbeditviz: Fixed font issue for MBedit, MBnavedit, and MBeditviz by using courier rather than monaco as a fixed-width font for the available file list widgets. Program mbprocess: Added support for the "Rolling Deck to Repository" (R2R) navigation format as both an MB-System format (format id 172) and an mbprocess navigation merging format (NAVFORMAT=10) Macros mbm_grdplot and mbm_grdtiff: Modified mbm_grdplot and mbm_grdtiff so that the -Y option strictly enforces the colormap min max bounds set with the -Z option. Formats 132 MBF_EDGJSTAR and 133 MBF_EDGJSTR2 (Edgetech Jstar): Fixed support for Edgetech Jstar files (formats 132 and 133) so that the output of mb7k2jstar and mbprocess are compatible with Edgetech programs. Programs mbedit, mbeditviz, and mbnavedit: Added file locking to mbedit, mbeditviz, and mbnavedit. All three programs can now load datalists and display lists of files available for editing. These lists show whether the file has been previously edited and if the file is locked. Locked files cannot be loaded or edited. As before, mbprocess also locks files during processing and skips files that are locked by other programs. The program mbdatalist can be used to detect (-S) and remove (-Y) orphan file locks in files referenced by datalist structures. Program mbprocess: Fixed bug in mbprocess.c involving parsing of NMEA GGA strings when reading in navigation for merging with survey data. Program mbnavadjust: Changed MBnavadjust to allow more file modes, in turn allowing more control over which data has the most influence over the navigation solutions. In addition to the previously existing modes (Fixed, Good, Poor), surveys can now be set to FixedXY and FixedZ modes where the navigation of the files so identified will have the specified coordinates fixed (unadjusted) and the other coordinate(s) treated as Good. In particular, this allowed us to simultaneously adjust navigation from overlapping MBARI Mapping AUV and ABE surveys in which the Mapping AUV pressure depth was clearly more accurate than the ABE vehicle depths. By setting the MBARI data to mode FixedZ, we were able to force the solution to adjust the ABE navigation to match the Mapping AUV vertical reference, while still allowing lateral (XY) adjustments of all the AUV navigation. Program mbnavadjust: Changed MBnavadjust to output user, cpu, and time of changes to project files and as comments to the adjusted navigation files. Also changed mbprocess to handle comments in adjusted navigation files. Program mbm_copy: Fixed -C option of mbm_copy. Format 192 MBF_IMAGEMBA (Imagenex DeltaT): Fixed i/o module for extended format Imagenex DeltaT data (format 192) by removing code that recalculated bathymetry unnecessarily. Program mbdatalist: Added -Y option to mbdatalist to remove any leftover lock files. Parsing *.inf files: Fixed bug in parsing file start and end times in *.inf files. MBIO functions mb_defaults(), mb_env(), and mb_lonflip(): Changed mb_defaults(), mb_env(), and mb_lonflip() functions to always return MB_SUCCESS status even when ~/.mbio_defaults file does not exist. Working with system defaults hould not be an error. Program mbeditviz: Changed mbeditviz_import_file() function in mbeditviz_prog.c to reset global status to MB_SUCCESS on entry. Program mbclean: Incomplete implementation of Dana Yoerger's changes to mbclean. Not yet tested. Program mbnavedit: Increased verbosity of mbnavedit for -X option. MB-SYSTEM VERSION 5.2 RELEASE NOTES: ------------------------------------------ -----> 5.2.1880 (December 30, 2010) Augmented mbotps to output tide in both time_d tide and year month day hour minute seconds tide using a -Atideformat command line option. Added new kluge processing option to mb7kpreprocess (-K2) that zeros alongtrack angles. This fixes some recent sample Reson 7k data. Recast lever arm calculation due to roll and pitch rotations in mb_angle.c. More changes to the handling of current generation Kongsberg data in mbr_em710raw.c. Fixed handling of beam alongtrack distance values during bathymetry recalculation by raytracing. Improved beam info display in mbeditviz. Fixed mbnavadjust recalculation of the 3D cross-correlation function after changing the vertical offset. Changed mbr_image83p.c, mbr_imagemba.c, and mbsys_imae83p.c so that calculation of beam angles happens during the first read of the data. Replaced strsep() with strtok() in mbr_edgjstar.c. This is to allow MB-System to be more easily built on Solaris systems. Fixed mbset so that it recognizes sidescan cutting commands (SSCUTNUMBER, SSCUTDISTANCE, SSCUTSPEED). -----> 5.1.3beta1875 Altered -P option in mbsvplist. Previously this option (which turns on bathymetry recalculation by raytracing in mbprocess using the water sound speed models extracted from the data files) set the raytracing to correct the takeoff angles for the difference between the sound speed used for beamforming (surface sound velocity or SSV) and the sound speed at the sonar depth in the water sound speed model. Now, mbsvplist sets mbprocess to leave the takeoff angles unchanged. This is more more consistent with the expectation that raytracing through the original sound speed model should yield values matching the original bathymetry. Altered mbprocess bathymetry recalculation by raytracing to better handle cases where large heave values bring the sonar array above the nominal water line. In this case, a static heave offset is calculated, raytracing is done from the top of the water sound speed model, and the heave offset is added to the raytracing result. Improved the autopicking function of mbnavadjust. Fixed a bug in handling the per-beam heave values in current generation Kongsberg data (formats 58 & 59). Changed mbm_route2mission to allow command line argument control of AUV speed during ascent/descent, survey lines, and transit lines. Also added control of the "deltaDepthRestart" value controlling how far up the AUV should float after an altitude abort before resuming the mission. More changes to support of Kongsberg current generation multibeam data in formats 58 and 59. As previously noted, the angles used to recalculate bathymetry from raw travel times by raytracing are estimated by iteratively seeking to match the original bathymetry reported by the sonar. These angles are estimated when data are first read as format 58 and then embedded in format 59 data (presumably when mbcopy is used to translate format 58 files to format 59)for later use by mbprocess. The default algorithm matches the original bathymetry to within about 0.1% altitude by calculating an effective heave for each ping and takeoff angles for each beam. A second algorithm (which can only be activated by uncommenting an #ifdef statement in mbr_em710raw.c) matches the orginal bathymetry by modifying both the takeoff angles and the travel time measurement - this achieves matching of the original bathymetry to about 0.02% of altitude. Use of the second algorithm is not recommended because modifying the fundamental observations (travel times) to match the sonar's calculation is, well, unsatisfying and wrong. The bad option is there because I took the time to code it to see how well it would work. -----> 5.1.3beta1874 The function mb_get_info() now properly applies the lonflip value. This in turn allows mbgrid to infer correct bounds in situations where the lonflip is important (e.g. data across the +/-180 degree boundary when lonflip is -1 or 1). Changed MBnavadjust so that an "Inversion Smoothing" value replaces a no-longer-used "Inversion Precision" value. This value, accessible under the Options dialog, sets the importance of smoothing in the adjusted navigation model. The default is 4.00, and possible ranges are 0.10 to 10.0, where the smoothing penalty weight applied to the first and second derivatives of the adjusted navigation perturbation is ten raised to this power. Added support for Kongsberg EM2040 multibeam in formats 58 and 59. Changed MBnavadjust so that default settings for section length and contour interval are appropriate for high resolution surveys such as those produced by AUV's equipped with >100 kHz multibeams. Fixed plotting macros mbm_plot, mbm_grdplot, mbm_xyplot, mbm_grd3dplot so that the calls to display postscript graphics using gv in the output plotting scripts scale plots to fit on the screen. Fixed mbm_route2mission to use proper camera control when generating mission scripts for the MBARI Benthic Imaging AUV. Added -W option to set the desired swath width of sidescan output from mb7k2ss. Updated the i/o module supporting OMG HDCS (the John Hughes Clarke format) to handle HDCS version 4. These mods contributed by Bob Covill. Fixed mb7kpreprocess to check for and ignore repeated ancilliary and survey data records. Update GSF code to version 3.02, released 28 September 2010. Set MBeditviz to resolve format id's in output parameter files when filenames do not follow known suffix conventions. Added support for a number of new data records in the Reson 7k data format, following the 19 June 2009 addendum to the 7k format version 1.00 specification. Changed mb_malloc() calls in mb_format.c and mb_buffer.c to mb_mallocd() calls for greater debugging capability. Added some debugging statements to mbprocess.c. Changed mbm_grdplot macro to use the variable names embedded in seismic section GMT grid files generated by mbsegygrid. Improved autopicking in MBnavadjust to the point where it is actually useful. Also fixed bug that caused eventual seg faults when analyzing many crossings in a single session. Fixes to Reson s7k (format 88) support allowing mbnavlist to use position records as navigation channel 3. This in turn allows mbrolltimelag to work with Reson 7k data collected by MARUM (University of Bremen). Added file name and line output to debug messages in mbr_l3xseraw.c to aid in later work to fully support the current XSE data format. Set mbrolltimelag to only attempt to generate a variable time lag model plot if more than one robust time lag values have been generated. Updating in preparation for beta release version 5.1.3beta1874. -----> 5.1.3beta1862 Moved src/mbaux/mb_rt.c to src/mbio/mb_rt.c and made this raytracing code part of libmbio rather than libmbaux. Fixed deallocation of raytracing data in mbprocess. Added source type flag (CW or chirp) definition to src/mbio/mb_status.h Add mb_io_pulses() function definition to src/mbio/mb_io.h as a pointer for functions in i/o modules that extract source type (CW or chirp) for individual beams. Added mb_pulses() function calls to src/mbio/mb_define.h and src/mbio/mb_access.c. Added mbsys_simrad3_pulses() function to i/o module for current generation Kongsberg (Simrad) data in src/mbio/mbsys_simrad3_pulses(). Altered i/o module for current generation Kongsberg (Simrad) data so that bathymetry calculation using raytracing works correctly. This involves src/mbio/mbr_em710raw.c and src/mbio/mbsys_simrad3.c. The problem is that the current raw beam and angle datagram stores travel times and angles uncorrected for motion and attitude. My attempts to properly calculate the attitude and motion compensation have not succeeded (as measured by succeeding in replicating the original bathymetry when used with the original sound speed model). This version achieves accurate estimation of the compensated angles for each sounding by finding a ray (through iteration) that replicates the original sounding position by raytracing through the original sound speed model. The depth difference is stored as a per-beam heave correction, and the angles are stored normally. This calculation is done only on the raw data format 58. When mbcopy is used to translate the data to the processing format 59, the compensated angles are stored in extended bathymetry datagrams. This scheme suffices to allow full processing of the data, but is not satisfying in that I clearly still do not fully understand the raw data format Fixed issues with a number of manual pages. -----> 5.1.3beta1860 Further changes to mbnavadjust: - The inversion stops if it is diverging rather than converging on a navigation adjustment model solution. - The program will insure that all crossings have the later section second by flipping the order of crossings if necessary while reading an old project. - The program also resorts the crossings when it reads a project. -----> 5.1.3beta1858 Slight modification to mbm_grdplot map annotation scheme (degrees + minutes for maps up to 4 degrees across where only degrees shown before for maps wider than 1 degree). Changes to mbm_route2mission to accomodate new capability of MBARI Mapping AUV to record full water column data from the Reson 7125 multibeam. Move mb_mergesort() function prototype from mb_esf.c to mb_define.h. MBnavadjust augmented with capability to check for new crossings and to recalculate overlap coverage of existing crossings after inversions. Users can also toggle previously analyzed crossing to "unset" status. MB7kpreprocess augmented to handle Reson 7111 data sample from NGDC. Fixed incorrect listing MB_DATA defines in mb_status.h. Added per-beam heave data to mbsys_simrad3 ping structure to support bathymetry recalculation for EM710, EM302, EM122 data. Defined new processed bathymetry record for use in format 59, and set code to transparently read the old record and write only the new record. Mostly fixed handling of attitude data in bathymetry recalculation. There still seems to be a problem with handling heading data. -----> 5.1.3beta1855 Fixed error in beam angle calculation for third generation Simrad multibeam data (formats 58 and 59, EM710, EM302, EM122) that made bathymetry recalculation by raytracing badly wrong. -----> 5.1.3beta1851 Fixed problem where mb7kpreprocess made beams that should have been null valid but flagged. Fixed bug that caused mbclean to fail to actually flag some beams identified for flagging. Added button to zero all z offsets on crossings for cases where tidal corrections have been made before data were imported into a mbnavadjust project. Fixed mbgetesf manual page. Fixed mode control in mbgetesf so one can extract the complete beam flag state from a swath file. MBgetesf is now used by MBeditviz to get the original beam flag state of raw swath bathymetry when processed files are read. Fixed sorting of beamflag edit events in edit save file data as used by MBedit, MBeditviz, MBclean, MBareaclean, and MBprocess. This fixes a problem wherein some edits performed by MBeditviz were dropped by MBprocess. Also, MBgetesf is now used by MBeditviz to get the original beam flag state of raw swath bathymetry when processed files are read. -----> 5.1.3beta1844 Fixed yet another bug in MBnavadjust - this time getting the importation of old project files correct and, more importantly, getting the z-offset sign correct in the Naverr display. -----> 5.1.3beta1843 Updated mb7k2ss man page. Fixed bug in mbrolltimelag regarding popen/pclose use. Fixed bug in mb_process.c file locking. Fixed mbotps man page.Fixed bug in MBeditviz and added hot keys for editing (only partially successful because it's hard to reliably get the keyboard focus onto the rendering OpenGL widget. Fixed mbotps man page. Augmented MBnavadjust to allow referencing high resolution bathymetry (e.g. AUV surveys) to lower resolution bathymetry (e.g. hull mounted multibeam surveys). The navigation of specified files (typically the data collected from the surface where GPS is available) can be fixed so that everything else floats and is adjusted relative to those data. mbprocess - improved error reporting to show why files are not being processed. mbmosaic - fixed aspects of the footprint calculation, particularly fixing a bug that prevented footprints from being fully covered. Added -S option to mbprocess for debugging file status values used to determine whether processed data files are "out of date". Greatly improved mbnavadjust by adding a interim solution for a smooth navigation adjustment model fitting ties to fixed (immovable) data and by making all of the internal crossing and tie conventions consistent. MBnavadjust now outputs version 3.0 nvh project files, but will transparently read and translate earlier version nvh project files. -----> 5.1.3beta1829 From now on beta releases will be named according to the corresponding source archive revision in the MB-System Subversion source code archive. This will allow us (and users) to more precisely track code changes relative to the beta releases. Fixed support of Reson 7k data (format 88) to work with MARUM AUV data. Includes changes to mb7kpreprocess. Fixed 64 bit issues with Simrad, Reson 7k, and L3 XSE data (formats 58, 59, 88, 94). Fixed 64 bit issues with mbnavedit, mbclean, and mbneptune2esf. Added buttons to MBedit to immediately go to the start or end of the data. Fixed sidescan beamwidths used by the Edgetech Jstar format i/o modules (formats 132 & 133). Fixed memory management errors in MBgrdviz and mbfilter. Fixed more 64 bit and memory management issues in MBeditviz and MBgrdviz. Added a plot reset button and an ability to autoscale on unflagged soundings only in the MBeditviz 3D sounding cloud display. Fixed handling of site and route points far from the display view in MBgrdviz. Put actual (but still incomplete) text into the MBeditviz man page. Changed print format for unsigned long values from %ld to %lu to avoid copious warning messages in Ubuntu. MB-SYSTEM VERSION 5.1.2 RELEASE NOTES: ------------------------------------------ Fixed pixel calculation algorithm in mbmosaic. Previously, sidescan data from each pixel were being treated as extending over a larger area than is correct. Ressurected program mbfilter with an new implementation. Allows low pass, high pass, and contrast enhancement filtering of amplitude and sidescan data. Implemented so that filtered data are stored in ancilliary files ending in *.ffa (amplitude) and *.ffs (sidescan). The data type selection options of mbswath, mbm_plot, and mbmosaic all now allow users to select filtered data. Improved handling current generation Simrad multibeam data (e.g. EM710, EM122) through formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA). There still seems to be a problem with calculating the takeoff angles for recalculating bathymetry by raytracing, probably due to a problem interpolating the correct roll and pitch values. Changed processing kluge 004. Previously kluge 004 caused mbprocess to not output survey data with time stamps prior to the last good ping. Now the dropped data will have time stamps prior to or equal to that of the last good ping. Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little-endian systems. Added support for new ROV Doc Ricketts navigation data as format 165. Added a Gaussian mean smoothing algorithm to MBnavedit. This is primarily intended for smoothing USBL or LBL based navigation of submerged platforms (e.g. ROVs or submersibles). Altered the install_makefiles perl script used to generate the makefiles during installation of MB-System. The install_makefiles script now automatically determines whether the local architecture is big or little "endian". Consequently, the "BYTESWAPPED" parameter no longer needs to be set in install_makefiles, and has been removed. The "GRAPHICAL" parameter has also been removed. Now, install_makefiles builds the graphical utilities only if the Motif libraries and header file location are specified with the MOTIFLIBs and MOTIFINCDIR parameters. Also, install_makefiles now allows users to specify the use of independent installations of the GSF and PROJ4 libraries. By default, the versions of these libraries distributed with MB-System will be built and used. Fixed bug in mbedit in which the view mode switched spontaneously after loading a new file and advancing the view buffer. Improved efficiency of attitude interpolation when reading Simrad multibeam data. This greatly improves the speed at which Simrad multibeam data files are read and processed. Fixed bug in mbm_grdplot which sometimes produces broken color tables. Updated GSF library code to GSF release 3.01. Fixed bug in EM710 support (format 59) involving netattitude datagrams. Changed licensing from GPL version 2 to GPL version 3. -----> 5.1.2beta07 Fixed MB-System compatibility with GMT 4.5.0 Fixed mbps memory handling. MBgrdviz now displays ping/shot numbers when navigation is picked. MBextractsegy now embeds line numbers into the output segy files. -----> 5.1.2beta08 Fixed mbauvloglist to work with all MBARI AUV logs. Fixed mbm_route2mission so that the AUV mission segment duration always corresponds to the actual mission segment length. Added file locking to the mbprocess system. Now, when mbprocess starts working on a swath file, it creates a *.lck file parallel to the swath file and deletes the *.lck file when processing is complete. Other instances of mbprocess will skip a locked file. This allows users to run multiple instances of mbprocess on multiple machines on the same datalist structure. This crude sort of parallel processing can greatly speed up reprocessing of large datasets. This locking functionality will be extended to the processing tools mbedit, mbeditviz, and mbnavedit in the future. -----> 5.1.2beta09 Fixed bug in SeaBeam 2112 support that misplaced some sidescan data on little-endian machines. Fixed the mbview library so that MBgrdviz will enable display of routes, sites, and navigation on all open windows when such data is loaded into one of the windows. Fixed cause of frequent MBgrdviz crashes when displaying multiple windows. Implemented timed background plotting in MBgrdviz so that full resolution displays automatically appear within a few seconds of the end of mouse interactions. Previously one had to click the "Full" button to get a full resolution view. At this point, the redisplay fails to happen occasionally. Greatly increased speed of reading third generation Simrad data (formats 58 & 59, EM710, EM302, EM122). -----> 5.1.2beta11 Fixed mb7k2ss to avoid creating shadow zones in the extracted sidescan. Fixed support for dual-head Simrad EM3002 data (formats 56 and 57). Changed mbdatalist so that the -Z option (create datalistp.mb-1 datalist file referencing an input datalist with the $PROCESSED tag set) can be executed in conjunction with creating ancilliary files with the -O or -N options. -----> 5.1.2beta12 Updated proj library to 4.7.0 release. If the installing user chooses to use the proj distributed with MB-System, then the programs proj and geod will now be built and installed in the bin directory. Rooted through the entire codebase fixing obvious failure points for 64-bit compilation. Most of the issues identified so far relate to storing address values in variables declared as "int". Completed moving the code base into subversion hosted at Lamont by first updating the subversion archive to 5.1.2beta11 and then committing the copious mods related to the 64-bit cleanup. Changed the suffix of the Perl source files in src/macros from ".perl" to ".pl". Changed the section name for the MB-System man pages from "l" to "1" for programs and "3" for libraries and functions. This is in line with common practice and follows a similar change by GMT. Modified support for Edgetech JSTAR sidescan/subbottom files (formats 132 & 133) to work with a new data sample from GEOMAR. MB-System can now automatically distinguish between low frequency (132) and high frequency (133) sidescan data. Modified support for Reson 7k multibeams (format 88) to work with a new data sample from GEOMAR. Altered interpretation of initial beam quality flags, improving initial beamflags. Fixed problems with survey generation in mbgrdviz. Improved read-only support for XTF format Reson 8XXX data (format 84 MBF_XTFR8101), but still don't have time stamping of attitude data correct. Augmented edit save file format and beam flag handling in order to deal successfully with multiple head multibeams that produce multiple pings with identical time stamps. This affects mbprocess, mbedit, mbeditviz, mbclean, and mbareaclean. Added program mbotps to generate open ocean tidal models at specified times and locations using the Oregon State Tidal Prediction Software (OTPS) package. This program will build whether OTPS is installed or not, but will only work if the OTPS programs are installed and in the user's path. The OTPS predictions are based on global barotropic inverse tidal solutions obtained with OTIS and available for download at: http://www.coas.oregonstate.edu/research/po/research/tide/ Added program mbsegypsd to calculate sonograms from segy time series data. Sonograms are 2D displays of power spectral density (PSD) functions (y-axis) versus time (x-axis). One PSD is calculated for each trace in the segy file. This program requires linking with the FFTW (Fastest FFT in The West) package. -----> 5.1.2beta13 Fixed many more issues relating to clean compiles on 64 bit machines. In particular, store GSF and netCDF data stream id's in their own int-size variables rather than a pointer-size FILE variable, and declare mbview instance parameters as size_t rather than int so that passing these values through Xt event notify function calls as pointer values is clean. Also changed casting of pointer values to long for debug printing so that the pointer values are now casted to size_t values. This should allow for compatibility with Windows 64 bit builds, as Windows 64 bit C has a different type model than the rest of the universe (e.g. long = 32 bit on Windows but long = 64 bit for gcc). -----> 5.1.2beta14 Fixed a few more issues relating to clean compiles on 64 bit machines. We're iterating towards a working version by getting problem reports from people like Hamish Bowman, Bob Arko, and Bob Covill. -----> 5.1.2beta15 Fixed EM3002 support to reliably detect whether data comes from a single or double head sonar (formats 56 & 57). Fixed problem with EM710 support (formats 58 & 59). -----> 5.1.2 Incorporates all changes listed above. Fixed memory management bug for formats 56 and 57 (Simrad EM3002 etc). MB-SYSTEM VERSION 5.1.1 RELEASE NOTES: ------------------------------------------ Fixed longstanding error in src/mbio/mb_angle.c in the application of roll and pitch angles. Previously, the pitch rotation was applied first, which is incorrect, but only produced obvious errors with large pitch values. Now roll is applied first, and the translation between sonar coordinates and raytracing coordinates is correct. Ping number, and more importantly for seismic data, shot number annotation of navigation tracks is now supported by mbm_grdplot. Improved handling of navigation plotting and annotation by mbcontour, mbm_plot, and mbm_grdplot. It is now easier to specify time, ping number, and filename annotation of navigation tracks. Major modifications have been made to MBnavadjust. MBnavadjust now picks offsets in z (depth) as well as x (longitude) and y (latitude). An autopicking algorithm has been implemented, and a display of the optimal navigation adjustment model added as well. The acrosstrack view of MBedit now shows the real alongtrack positions of the soundings. Fixed bug in mbsys_gsf.c that incorrectly calculated the alongtrack distance of sidescan samples in "snippet" sidescan data contained in GSF format (121) multibeam data. On occasion this bug produced egregiously wrong alongtrack values. Fixed bug in mbgrid that caused failure to write Arc Ascii grids with option -G4. Augmented i/o module for XSE format (94) to support current version of SeaBeam 2112 sonars on WHOI ships. This data format now has an MB-System extension to its multibeam records that includes interpolated navigation values. Previously only asynchronous navigation was handled. Fixed bug in old Simrad i/o module regarding EM121A data. Added prototype of MBeditviz, a tool that combines 3D bathymetry editing and patch test capability. MBeditviz can be started from MBgrdviz. Any selected files (using navigation selection) will be loaded. Fixed further issues with the XSE format i/o module. Added swath file copy function to mbdatalist. Fixed calculation of grazing angles in mblist by adding sonar depth to the calculation. Added some additional large format page sizes to the plot macros mbm_plot, mbm_grdplot, mbm_grd3dplot, mbm_xyplot, and mbm_histplot. Added mblist capability to output tables using column delimiters other than tabs (e.g. commas to make csv files). Modified mbnavedit so that any nav points that repeat previous lon and lat values will be automatically flagged as bad. Fixed footprint calculation in mbmosaic, correcting problems in sidescan mosaic creation. Altered mbm_utm to work with comma delimited input data as well as white space delimited data. Updated proj library to current version 4.5.0. Updated gsf to the current version 2.07. Sidescan extracted from MBARI Mapping AUV data can now be laid out on a topography grid rather than laid out with a flat bottom assumption (mb7k2ss). The sidescan and amplitude correction scheme (mbbackangle & mbprocess) can now use a topography grid to calculate grazing angles. Altered several programs so that sidescan data can have valid zero or negative values. Stopped applying a shift to Simrad sidescan and amplitude values to force them to be positive. Added decimation feature to mblist, mbnavlist, and mbsegylist. Also added and/or fixed the delimiter, segment, and binary output features for all three listing programs. Added mbcopy capability to merge bathymetry and beam flags from a third "merge" swath file. This is a Gordon Keith contribution. MB-System programs will now recognize filename suffixes of the form ".MB***" as well as ".mb***". Capitalized versions of many vendor format suffixes are also supported. Fixed error in mblist manual page. Fixed mbswath handling of time gap errors that made plotting of single beam data problematic. Fixed problem with processing mgd77 data. Can now use mbedit to process single beam echosounder bathymetry. Made checking for data min maxes and bounds more robust to improve parsing through large databases. Added some generic gain values to mblist as part of the "raw" list. To do this, added mb_gains() function to MBIO. This is currently defined for SeaBeam 2112, Simrad, and Reson 7k multibeams. Added new program mbabsorption to calculate the sound absorption of seawater as a function of salinity, pH, temperature, depth, and frequency. Changed macro mbm_grdplot so that the -T option causes the coastline to be drawn without grayscale filling of dry areas. To obtain the previously default behavior, add -MTG128. Added support for newer Simrad multibeam data (e.g. EM710) in vendor format MBF_EM710RAW (format id 58) and processing format MBF_EM710MBA (format id 59) Updated format MBF_OMGHDCSJ (151), which supports the John Hughes Clark HDCS (SwathEd) format, to handle all of John's "version 3" data. John's "version 4" format is not yet supported. Added calculation and use of three dimensional covariance in the xyz nav offsets used by mbnavadjust. Added processing kluge006 to mbprocess. This "kluge" allows users to change the sonar draft value without changing the calculated bathymetry. This fixes a problem in which Atalante Simard data were exported by Caris into GSF with an incorrect sonar draft. Added program mbtime to allow command line conversion between calendar times and unix time values. Fixed mbprocess so that changes to the sonar depth/draft derived from mbnavadjust are output to the processed data. Previously the bathymetry was corrected, but not the sonar depth/draft. Fixed formats 58/59 to support EM302, EM122 in addition to EM710. Also supported "network attitude" datagram as source of attitude. Changed mbnavadjust inversion to use simplistic iterative relaxation rather than a full matrix solver. This targeted solver is faster and avoids some bad behavior around survey starts and ends. Fixed mbedit scaling for swath widths less than 6 m. Added formats 191 and 192 to support Imagenex Delta T multibeams. Format 191 supports the 83P vendor format and format 192 is an extended processing format. This format also supports data from the Odom ES3 multibeam sonar. Lengthened filename char arrays in mbedit, mbnavedit, and mbvelocitytool to prevent possible overflows with large paths. Updated the GSF code to new GSF version 2.09 Fixed support of UNB OMG HDCS format 151 to handle situation where ancillary sidescan files are missing. Added new program mbctdlist to allow mblist style text output of CTD data from swath files. Initially relevant only to Reson 7k format data. Applied patches to mbgrid and mbmosaic to handle lonflipping of bounds in projected coordinates. Added format 26 to support Hydrosweep DS data format used by SOPAC. Fixed support for EM302 sonars. Augmented mbgrid footprint gridding algorithm. When used with the -F5 option, mbgrid now does a first pass, low resolution grid to provide a local slope estimate. During the second pass, final gridding, individual beam footprints are tilted to reflect the local slope, increasing the high-resolution fidelity of the resulting topographic model. Enhanced the patch test capability of mbeditviz. MBeditviz can now be used to model time lag as well as roll, pitch, and heading bias. In order to use the time lag function, users must place files parallel to each swath file containing time series of attitude, heading, and sonardepth. These files contain the full asynchronous times series for heading, sonardepth, roll, and pitch and the synchronous time series for roll and pitch (asynchronous means the raw sensor data sampled more frequently than the sonar ping rate, and synchronous means the sensor data sampled at ping times). Each time series file uses epoch times in seconds as the first column. These files are: *.ath - asynchronous heading - time heading *.ats - asynchronous sonardepth - time sonardepth *.ata - asynchronous attitude - time roll pitch *.sta - synchronous attitude - time roll pitch Asynchronous data are not available in all formats. When available, the asynchronous data can be extracted using mbnavlist. The synchronous attitude can be extracted using mblist. Added support for EM12D data in the Caraibes netcdf form as format 76. Contributed by Gordon Keith. Removed a number of obsolete programs and macros from the distribution. The following are no longer distributed with MB-System: mbanglecorrect mbbackangleold mbbath mbcleanold mbeditold mbfilter mbgetmask mbmask mbmerge mbm_dslnavfix.perl mbm_fmtvel.perl mbm_vrefcheck.perl mbm_rollerror.perl mbnaveditold mbsmooth mbtide mbunclean MB-SYSTEM VERSION 5.1.0 RELEASE NOTES: ------------------------------------------ The version 5.1.0 release of MB-System contains both bug fixes and new capabilities relative to the 5.0.9 release. A typo in the mbgrid man page was fixed. A catastrophic error in the i/o module for the MBF_ASCIIYXZ format was fixed. The proj library was updated to use code from the Proj 4.4.9 release. The proj and GSF libraries internal to MB-System have been renamed libmbproj and libmbgsf to avoid name conflicts with proj and gsf in package managers like fink for MacOsX. Fixed mbprocess problem with per-beam heave values when applying rotational bathymetry correction - previously did not initialize heave values for non-null but flagged beams. A minor change to mbbackangle to output the slope correction status (-Q) in the coments in the output file. Altered mbbackangle so that it outputs at least one table, even if there are no survey pings in a file. This prevents mbprocess from failing on data files with no survey pings. Also altered mbbackangle so that it outputs a single global correction table based on all of the input data. This can be used for uniform correction of sidescan and amplitude data.s A new program mbrolltimelag calculates the cross-correlation between roll data and the difference between the seafloor slope and the roll. If there is a time lag in the roll data, then the two series should have a cross correlation maximum at a nonzero time lag. New macro mbm_histplot for simple histogram plots. MBgrdviz now has a profile display capability. Profiles can be displayed and exported from two point picks, selected routes, and selected navigation. The profile view is enabled from the view menu. Fixed problems with output of ESRI ARC ascii grids from mbgrid and mbmosiac. Added interactive control over the target of precision of the navigation inversion in MBnavadjust. Added output of Winfrog pts file to mbm_route2mission. Added output of Winfrog pts file to mbgrdviz. MBedit now automatically chooses appropriate acrosstrack and vertical annotation intervals when files are opened. MBextractsegy now will extract subbottom data to segy files in sequential line files based on waypoints in a route file. The program generates a plotting shellscript that will in turn generate profile plots of the segy data. Long lines will be broken up into multiple plots. Updated manual page for mbm_route2mission. A bug in mbgrdtiff has been fixed that mislocated the geoTIFF images by 1/2 pixel, thanks to Gordon Keith. The plotting macros mbm_plot, mbm_grdplot, mbm_xyplot, mbm_3dgrdplot, and mbm_histplot all now use the current GMT default parameter PLOT_DEGREE_FORMAT rather than the old DEGREE_FORMAT. Upgraded the mbsystem/gsf code to GSF version 2.0.4. Since the libgsf code now has #ifdef statements allowing compilation under MacOSX, the code contained in MB-System no longer has modifications relative to the generic GSF releases. Added support for Simrad EM710 data in formats 56 and 57. Fixed byte count problem with comment records in format 94 (XSE data). Added GMT_end() calls to all programs calling gmtlib and pslib functions so that GMT "advisory file locking" does not system() calls to GMT programs. Put (void *) casts into qsort() calls to avoid compiler warnings. The macro mbm_grdplot now handles calls for a linear plot with decreasing x values (e.g. using -Jx-0.01/20 to specify the projection). A new edit mode called "grab" has been added to MBedit. In this mode, the user drags a rectangle on the ping display. When the mouse is released, all unflagged beams within that rectangle are flagged. All MB-System programs that read or write grids have been altered so that they will work with GMT 4.1.3 built in the default fashion (i.e. GMT built with "advisory file locking" enabled). Fixed mbgrdtiff so that it creates geographic GeoTIFF images with the longitude bounds consistent with the user's default or specified lonflip value. MBlist can now print out values associated with the port-most and starboard-most non-null beams and pixels. Use the special '=' or '+' characters in the -O option. Support was added for a new MBARI ROV navigation format (format id 170) Support was added for SEGY seismic data as single beam format (id = 160). Heading values are stored in an unused space in the trace header - this is an MB-System specific modification that will only be found in segy files generated by mbextractsegy. Ping number, and more importantly for seismic data, shot number annotation of navigation tracks is now supported by mbcontour and mbm_plot. Fixed problem reading some Simrad multibeam data with slightly broken bathymetry records. MB-SYSTEM VERSION 5.0.9 RELEASE NOTES: ------------------------------------------ The version 5.0.9 release of MB-System is purely a bug fix release, and includes only a few changes relative to the 5.0.8 release. The macros mbm_grdtiff, mbm_grd2arc, mbm_grd3dplot, mbm_grdinfo, mbm_grdtiff, mbm_grd2geovrml, and mbm_grdcut have been fixed to work properly with the output of the GMT 4.1 version of grdinfo. The code in src/mbio/mb_swap.c has been fixed so it will compile using the Solaris cc compiler. MBprocess had been fixed so that it will read navigation formats using julian days properly. MBnavedit has been altered so that speed and acceleration weighting values in the smooth inversion function can be less than 1.0. MB-SYSTEM VERSION 5.0.8 RELEASE NOTES: ------------------------------------------ The version 5.0.8 release of MB-System includes several changes relative to the 5.0.7 release. MB-System 5.0.8 requires GMT 4.1 in order to build successfully. The format 75 (MBF_MBNETCDF) i/o module has been altered to handle multiple pings with the same time stamp without breaking the beam edit (edit save file) scheme, which depends upon unique time stamps. When multiple pings with the same time stamp are encountered, the subsequent pings have multiples of 2 msec added so that each has a detectably unique time stamp. This issue relates to Thompson Seafalcon II multibeam data; this sonar collects five simultaneous acrosstrack swathes. Since this is a deep water sonar, the maximum 10 msec time addition should not introduce excessive error in navigation or other aspects of the data. The Edgetech Jstar format is now supported through the new MB-System formats 132 and 133. The Jstar format is relevant to Edgetech FSDW systems (and related sonar products). The FSDW systems include chirp subbottom profiler and dual frequency chirp sidescan sonar. Format 132 treats the low frequency sidescan as survey data, and format 133 treats the high frequency sidescan as survey data. Incorrect trace scaling of subbottom and sidescan data in the Reson 7k format (format 88) has been fixed. A new program called mb7k2jstar has been added that extracts Edgetech subbottom and sidescan data from Reson 7k format (88) files and writes that data in Edgetech Jstar (132/133) format files. The comments in the install_makefiles script has been updated to show the correct parameters needed to build MB-System on a current Solaris system. A feature to apply longitude and latitude offsets to navigation data has been added to MBnavedit. The program mbextractsegy can now extract subbottom profiler data in segy format from both Reson 7k files (format 88) and Edgetech Jstar files (formats 132 and 133). MBprocess kluge005 has been defined to cause survey data timestamps to be replaced by the timestamps of the corresponding merged navigation records. This allows timestamps fixed using MBnavedit to be inserted into processed data. The program mbsegygrid can now apply a simple time-varying gain to traces before gridding. This gain may begin at either the start of each trace or at the seafloor arrival time. The user may also set the length of time the gain is applied; samples after the end of the gain window are zeroed. The method for determining the best altitude value to be used in correcting amplitude and sidescan data has been improved in programs mbbackangle and mbbprocess. The program mbgrid once again uses the Zgrid algorithm for thin plate spline interpolation. The code allows for the GMT Surface algorithm to be used instead by compiling with a -DUSESURFACE compile flag. The macros mbm_grdplot and mbm_grd3dplot have been altered so that histogram equalization will work even if grdhisteq returns a smaller number of valid intervals than requested. The capability of plotting amplitude vs. grazing angle histograms from mbbackangle results has been fixed for sidescan data. A further significant architectural change was implemented for release 5.0.8 in order to support data formats that have no explicit maximum number of beams or pixels. The memory management of arrays used to hold bathymetry, amplitude, and sidescan data has been made dynamic. Now, when data records are encountered that include larger numbers of beams or pixels than will fit in the arrays previously allocated, those arrays are reallocated to the required size. This is handled automati- cally for all of the internal arrays used by MBIO functions. Of course, applications using MBIO must allocate arrays that are passed into functions like mb_read, mb_get_all, and mb_get to be populated by the desired data. In order for these arrays to be managed dynamically, the application must first register each array by passing the location of the array pointer to a new function called mb_register_array. The program MBgrdtiff has been altered so that the geoTiff images produced are more generally portable. A program called mbrolltimelag has been written to analyze attitude time lag. This macro extracts raw attitude and apparent slope values from multibeam data, and then calculates the cross correlation between roll and apparent slope over a specified range of time lags. If there is a an attitude time lag, then the bathymetry collected over a planar bottom should be dominated by a jitter that is correlated, with a time lag, with the roll signal. The format 56 (vendor Simrad multibeam format) i/o module has been altered to support data logged on byteswapped platforms (e.g. Windows Intel PC's.). The Simrad multibeam formats 56 and 57 now support recently introduced raw angle/range and water column imagery datagrams. These i/o modules also now handle cases where the beams listed in a sidescan datagram do not exactly match the beams listed in the corresponding bathymetry datagram differently than before. Previously the entire ping would have been dropped. Now, the ping is preserved but the raw sidescan samples are not used to generate binned sidescan. The program mbdatalist has been augmented to allow users to easily identify some problems with swath data files and the processing parameters specified in parameter files. The -n and -o options are used to generate ancillary files for all swath files referenced through a recursive datalist structure. These options now invoke mbinfo with the -n option, causing the "inf" files to include listings of easily identified data problems. The -q option of mbdatalist now extracts and lists these data problems as well as problems with the processing parameters.The possible data problems include: No survey data found Zero longitude or latitude in survey data Instantaneous speed exceeds 25 km/hr Average speed exceeds 25 km/hr Sounding depth exceeds 11000 m Unsupported Simrad datagram To populate the "inf" files of existing datalist structures with data problem notices, use mbdatalist with the -n option. The program mbvelocitytool now allows users to interactively set the center as well as the range of the water sound speed model plot window. Fixed mbm_plot so that it calculates reasonable plot bounds at high latitudes. The program mbset now accepts '=' as well as ':' as separators between parameter names and values in -P option arguments (as suggested by Bob Covill). The install_makefiles script has been altered so that the editable parameters are located towards the top of the file rather than below the documentation of example settings for different operating systems. The program mbareaclean now incorporates a mean filter as well as a median filter (contributed by Gordon Keith). The program mbmosaic will now mosaic grazing angle or acrosstrack slope as well as amplitude or sidescan data (contributed by Gordon Keith). The program mblist will now output some format specific values from Simrad multibeams (formats 56 and 57). In particular, some system parameters, raw amplitude values, and raw sidescan samples may now be output (Contributed by Gordon Keith). A new macro called mbm_makedatalist can easily generate a datalist referencing all identifiable swath files in a specified directory. There is a known but not understood bug in MBnavedit. When built on SUSE 10 systems, use of the smooth inversion function causes the first line of the output edited navigation to have NaN values for the longitude and lattitude. MB-SYSTEM VERSION 5.0.7 RELEASE NOTES: ------------------------------------------ The version 5.0.7 release of MB-System includes several changes relative to the 5.0.6 release. MBprocess and MBset now support merging sonar depth (or draft) from separate time series files. This is controlled by the SONARDEPTHMODE, SONARDEPTHFILE, and SONARDEPTHFORMAT mbprocess parameters. A bug in mbgrid has been fixed that affected the footprint gridding algorithm used with bathymetry from sonars on submerged platforms. MBedit has new view options. The default is the the traditional waterfall view. Users may now also view the soundings from an alongtrack view perspective and an acrosstrack view perspective without static vertical offsets between pings. The view mode is controlled from the View menu and from keyboard macros (characters '2', '3', and '4'). The 5.0.6 release mistakenly left the code in mbr_em300raw.c in debug mode, causing copious stderr output when reading raw Simrad data (format 56). This has been corrected. Problems with the output in debug mode of mbr_em300raw.c and mbr_em300mba.c have been fixed. The handling of the tickinfo string in the plot macros mbm_plot, mbm_grdplot, mbm_grd3dplot, and mbm_xyplot have been fixed. The orientation of the filename annotation by mbcontour has been fixed, and control over that orientation has been added to mbcontour and mbm_plot. Fixed problem of uninitialized data in mbr_mbpronav.c. Fixed problem with occasional incorrect scaling of sonar depth in mbldeoih format (71) data. Fixed problem in which sonar depth could be calculated from implausible pressure values in some single beam or navigation formats. Improved handling of interpolated asynchronous data, especially sonar depth, in Reson 7k data (format 88). A capability to interpolate over repeated values was added to mbnavedit. Fixed a problem with the beam footprint gridding algorithm in mbgrid that caused beam footprints to be miscalculated for submerged sonars. Fixed MBgrdviz crashes related to route data by fixing problem with allocation and deallocation of route arrays in the mbview library. Moved tide correction to end of processing tasks so that it doesn't mess up grazing angle calculations for amplitude and sidescan correction. Added option to mbm_grdplot allowing the user to specify a separate grid file to be contoured. This code was contributed by Gordon Keith. MB-SYSTEM VERSION 5.0.6 RELEASE NOTES: ------------------------------------------ The version 5.0.6 release of MB-System includes several changes relative to the 5.0.5 release. The man page for mbprocess has been updated with full documentation of the navigation formats supported for merging by mbprocess. The merging of heading and attitude data from navigation files has been fixed. The ability to merge attitude data from a separate file has been added to mbprocess, and the mbprocess and mbset man pages have been updated. A problem producing ascii grids from mbgrid and mbmosaic has been identified, and a fix suggested by Gordon Keith adopted. A problem with the -D option of mblist has been identified, and a fix suggested by Gordon Keith adopted. A new program called mbneptune2esf has been contributed by Gordon Keith. MBneptune2esf imports manual data flagging performed using Simrad's NEPTUNE software and flags those beams in the corresponding MB-System files. A new program called mbauvnavusbl has been added to the distribution. MBauvnavusbl reads a primary navigation file (usually from a submerged platform swath survey) and also reads secondary navigation (e.g. USBL fixes). The program calculates position offsets between the raw survey navigation and the secondary navigation every 3600 seconds (10 minutes), and then linearly interpolates and applies this adjustment vector for each primary navigation position. The adjusted navigation is output. The ability to annotate tracklines on swath plots with the swath filenames has been added to mbm_plot and mbcontour. The annotation occurs at the beginning of the data associated with each file. This option can be used most simply by specifying -NF in mbm_plot. The suggestion and initial implementation were contributed by Gordon Keith. A problem with setting file paths in parameter files in the different directories associated with recursive datalists has been fixed. The nature of and fix to this bug were determined by Gordon Keith. Fixed makefiles to link libpsl.a with all programs making libgmt.a calls. This was necessitated by changes to the GMT4.0 release relative to the GMT4.0beta release. Implemented latest GSF release (2.0.3). Fixed, but not satisfactorily, a problem reading some older EM3000 data with the current format 56 i/o module. Added release version of simple grid visualization demo mbgrdviz. Improved the ability of mbgrid to embed background datasets. MB-SYSTEM VERSION 5.0.5 RELEASE NOTES: ------------------------------------------ The version 5.0.5 release of MB-System includes several changes relative to the 5.0.4 release. The program mbgrid can now obtain background data from GMT grid files using grd2xyz as well as through raster databases using grdraster. See the -Kbackground option documentation in the mbgrid manual page. The macro mbm_xbt has been substantially updated. The -G option of mbinfo now avoids reporting zero starting positions (it always ignored zero positions for the reported data bounds). Provides read-only support for Edgetech sidescan and subbottom profiler data in the new Reson 6046 format (format id 88). A new program mbextractsegy allows for the extraction of subbottom profiler data into separate files in the SEGY format (this can apply only to data formats that incorporate subbottom data in with swath sonar data, and at present only supports format 88). A new program mbsegyinfo is a utility for reading a segy format seismic data file and outputting some basic statistics. The table generated shows the filename, data counts, navigation totals, time and navigation of the first and last data records, minimum and maximum data values, and the geographic bounding box of the data. A new program mbsegylist is a utility to output specified header values from segy seismic data files to stdout. The option -Ooutput_format is used to control the type and order of values output. By default, mbsegylist produces ASCII files in spreadsheet style, with data columns separated by tabs. Alternatively, the output can be binary, with each field represented as a double precision float (-A option). A new program mbsegygrid generates grids from subbottom profiler data (and seismic reflection data, and potentially other seismic data) in the SEGY format. These grids can then be displayed using GMT (through mbm_grdplot if desired). The program mbm_plot now works properly when start and end times are specified using the -MMB and -MME options. A bug involving the handling of edit save filenames by mbset and mbprocess has been fixed. Errors in handling Simrad datagrams and edit save files on byteswapped machines (e.g. Intel or AMD processors) have been fixed. The program mbdatalist has a new option -Z which causes a standard "datalistp.mb-1" file to be created. This is a convenience file that applies the $PROCESSED flag to be applied to the swath files referenced in a datalist named "datalist.mb-1". Problems with the creation of amplitude vs. grazing angle correction tables using mbbackangle, and the use of those tables by mbprocess, have been fixed. The default settings for mbbackangle and amplitude vs. grazing angle correction by mbprocess have been changed. The default angle mode for raytracing has been changed so that starting angles are adjusted using Snell's Law for the difference between the SSV and the initial depth in the SVP. This change affects mbvelocitytool, mbsvplist, mbset, and mbprocess. The program mbsvplist now has an option -P that not only outputs SVPs in a swath file to individual ancillary SVP files (as with the -O option), but also sets the first SVP output file to be used by mbprocess to recalculate the bathymetry. Problems with the MGD77 format i/o module have been fixed according to suggestions from Bob Covill. MB-SYSTEM VERSION 5.0.4 RELEASE NOTES: ------------------------------------------ The version 5.0.4 release of MB-System includes several changes relative to the 5.0.3 release. All of the interactive tools (MBedit, MBnavedit, MBvelocitytool, MBnavadjust) have been changed to require linking with the Motif 2.0 or later library (or compatible open source versions such as OpenMotif or LessTif). The MB-System distribution is now compatible with GMT 4.0b. There have been minor changes to the pslib and gmtlib APIs, so it is necessary to specify the linked version of GMT in the mbsystem/install_makefiles script. Set: $GMTVERSION = "4.0"; if you are using GMT 4.0b, or set: $GMTVERSION = "3.4"; if you are still using GMT 3.4 MBnavadjust has a significant new feature in which the contours displayed by the Nav Err window can be pre-generated. This greatly increases the speed with which the bathymetry crossings can be analyzed. A "Flag View" feature has been added to MBedit, allowing users to flag all of the beams in the current display. Key macros have also been defined for both the "Flag View" and "Unflag View" buttons. The raw Hydrosweep DS format (format 21) i/o module now estimates travel times from the bathymetry when data files lacking travel time records are read. This allows users to recalculate bathymetry by raytracing even if the travel times are not recorded. MB-SYSTEM VERSION 5.0.3 RELEASE NOTES: ------------------------------------------ The version 5.0.3 release of MB-System includes two bug fixes relative to the 5.0.2 release. We have fixed a bug in the i/o modules for Simrad multibeam data (formats 56 and 57) that caused a failure to gracefully handle unsupported datagrams on byteswapped systems (e.g. Intel processors running Linux). We have fixed a bug that caused edit save files to be incorrectly read on byteswapped systems (e.g. Intel processors running Linux). We have fixed a bug in the i/o modules for binary SeaBeam 2100 data (formats 42 and 43) that caused data to be written incorrectly on byteswapped systems (e.g. Intel processors running Linux). MB-SYSTEM VERSION 5.0.2 RELEASE NOTES: ------------------------------------------ The version 5.0.2 release of MB-System includes two bug fixes relative to the 5.0.1 release. We have fixed a bug in the i/o module for Elac Bottomchart data in the XSE format (94) in which the sonar depth was added to bathymetry values when new data files were written. We have also fixed problems related to reading and writing SeaBeam 2100 data in the binary formats 42 and 43. MB-SYSTEM VERSION 5.0.1 RELEASE NOTES: ------------------------------------------ The version 5.0.1 release of MB-System includes two bug fixes relative to the 5.0.0 release. The program mbgrid has been fixed so that it compiles correctly under Red Hat Linux. The program mbcopy has been fixed so that time and space bounds are successfully applied to pings with a time gap error. Also, the distribution now has a top directory name of mbsystem-5.0.1 rather than just mbsystem. This will allow users to unpack the distribution in the target location without overwriting an existing older MB-System installation. Users can then rename the directory to mbsystem or create a soft link to mbsystem-5.0.1 named mbsystem (e.g. ln -s mbsystem-5.0.1 mbsystem). MB-SYSTEM VERSION 5.0.0 RELEASE NOTES: ------------------------------------------ The version 5.0 release of MB-System includes a number of changes and improvements relative to the version 4 releases. The most significant changes include: A new approach to managing data processing. - Many tools - one output file. In previous versions of MB-System, each processing program read an input swath data file and produced an output swath data file. This "serial" processing scheme generally produced a large number of intermediate data files. MB-System version 5.0 features the integration of the editing and analysis tools with a single program, mbprocess, that outputs processed data files. The new "parallel" processing scheme covers bathymetry data processing, but does not yet incorporate the sidescan processing capabilities. All of the old tools and capabilities are still part of the distribution. - Recursive datalists. The lists of data files used by gridding and plotting programs can now be recursive, making it simpler to manage data from many different surveys. - Automatic format identification. MB-System programs will now attempt to automatically identify the swath data format based on the filename suffix. - Extended inf files. Users can generate inf files by directing the output of mbinfo to a file named by adding an ".inf" suffix to the swath data file name. Several programs can parse inf files, if they exist, to quickly obtain data locations or ranges. This feature speeds operations such as gridding, mosaicing, and automated plotting. New tools. - mbnavadjust. This new tool allows users to adjust poorly navigated surveys by matching features in overlapping swathes. It is particularly useful for processing surveys conducted from submerged platforms. - mbprocess. This new tool performs a variety of processing tasks and produces a single output processed swath data file. The program mbprocess can apply bathymetry edits from mbedit and mbclean, navigation edits from mbnavedit, sound velocity profile changes from mbvelocitytool, and a variety of other corrections. - mbset. This new tool allows users to create and modify the parameter files used to control the operation of mbprocess. - mbdatalist. This new tool allows users to list the files referenced by a recursive datalist structure. It can also be used to create the ancillary ".inf", ".fbt", and ".fnv" files for all of the data files referenced in a recursive datalist structure. - mbsvplist. This new tool lists water sound velocity profiles embedded in swath data files, creating secondary files that can be read into MBvelocitytool. - mbareaclean. This new tool identifies and flags artifacts in swath sonar bathymetry data within a specified area of interest. The area is divided into a grid with square cells or bins, and the data are grouped according to these bins. Once all of data are read, statistical tests are applied to the soundings within each bin. Improved bathymetry and navigation editors. - MBedit and MBnavedit now swallow data files whole rather than reading in limited size buffers. - MBedit now outputs beam edit events rather than an entire swath file. The edits are applied by MBprocess. - MBnavedit now outputs the edited navigation rather than an entire swath file. The edited navigation is merged using MBprocess. - Both editors show the position of the currently displayed data within the entire data file. - MBnavedit has two navigation modeling modes relevant to swath data collected using poorly navigated ROVs and towfishes. One mode applies a dead reckoning model with interactively set drifts, and the other involves inverting for an optimally smooth navigation by penalizing speed and acceleration. Support for Projected Coordinate Systems - MB-System now incorporates the source code for the PROJ.4 Cartographic Projections library, providing support for (apparently) all commonly used geodetic coordinate systems. PROJ.4 was developed by Gerald Evenden (then of the USGS), and was obtained from the www.remotesensing.org website. - A large number of commonly used projected coordinate systems (e.g. UTM) are defined in a file (mbsystem/share/projections.dat) distributed with MB-System. These include all of the standard UTM zones, all of the standard state plate coordinate systems, and most of the European Petroleum Survey Group (EPSG) coordinate systems (also including UTM). - MB-System can now handle swath data that is navigated in a supported projected coordinate system. In particular, data files that are navigated with UTM eastings and northings instead of longitude and latitude can now be plotted and processed with MB-System. - The programs mbgrid and mbmosaic can now output grids and mosaics in any of the projected coordinate systems specified in mbsystem/share/projections.dat. - The TIFF images generated with mbm_grdtiff and mbgrdtiff now fully conform to the GeoTIFF standard, providing that the source grids or mosaics were generated using mbgrid or mbmosaic in either Geographic coordinates, UTM coordinates, or any of the EPSG coordinate systems specified in the projections.dat file. This means, for instance, that GeoTIFF images generated with mbgrdtiff will be properly georeferenced when they are imported into ESRI ArcGIS or other GIS packages. Restructuring the code. - All of the C code now conforms to the ANSI C standard. - The underlying input/output library (MBIO) has been substantially rewritten. The structure has been streamlined, simplifying both future development and support of the existing code. The MBIO API has been greatly modified. Handling of old Simrad multibeam data. - Vendor format data from the old Simrad multibeams (pre- 1997 sonars) are now supported by a single format id (51) rather than a separate format id for each sonar model. The old format id's are automatically aliased to 51, so existing shellscripts will continue to work. - Sidescan data from old Simrad multibeams (pre-1997 sonars) are now handled in the same manner as data from the newer sonars (e.g. EM3000, EM3000, EM120). The raw samples in the vendor data format are binned, averaged, and interpolated into a 1024 pixel sidescan swath. This binned sidescan is not saved in the vendor format, so it is recommended that the data be copied to an extended format (57) that stores both bathymetry beam flags and processed sidescan. Format 57 is also used for processing data from the current Simrad multibeam sonars. Streamlining of MB-System Default Parameters. - Prior to version 5.0, the MB-System defaults set by mbdefaults included the format id, a control for ping averaging, longitude and latitude bounds for windowing by area, and begin and end times for windowing in time. These values are no longer set in the .mbio_defaults file or controlled by mbdefaults. As noted above, the format id is automatically identified from the filename when possible. When filenames do not match one of the recognized structures, users must specify the format using the relevant programs -Fformat option. The controls for ping averaging and windowing in time and space are rarely used, and must now be explicitly set in command line arguments. New Data Formats - Furuno HS10 multibeam bathymetry is supported as format 171. - SeaBeam 2120 multibeam data in the L3 Communications XSE format are supported as format 94 (already used to support Elac Bottomchart MkII XSE data). - Raw STN Atlas multibeam data generated by the upgraded Hydrosweep DS2 multibeam on the R/V Ewing are supported by read-only format 182. Processing is supported using the augmented read-write format 183. - The IFREMER netCDF multibeam archiving data format is supported as format 75. Similarly, the IFREMER netCDF navigation archiving data format is supported as format 167. - The STN Atlas processing data format SURF is supported as format 181. At present, SURF is supported as a read-only format. This allows plotting and gridding of the SURF data, but not processing. Writing or translating the SURF data to allow processing will be supported in a later version. - The Hawaii Mapping Research Group's new MR1 format is supported as format 64. This format is used to disseminate data from both the HMRG interferometric sonars (e.g. MR1) and the WHOI DSL 120 deep-towed inteferometric sonar. This format has been supported by including the code for the HMRG library libmr1pr in the MB-System library. Thanks to Roger Davis and HMRG for making the code available under the GPL. ------------------------------------------- THE NEW VERSION 5 DATA PROCESSING STRUCTURE ------------------------------------------- Previous versions of MB-System have emphasized processing utilities that operate serially, that is, that read in an input swath data file, modify it, and then output a second swath data file. Serial processing utilities do allow for great flexibility in processing because one uses only the programs required and, in general, the order in which the programs are used does matter. However, one consequence of serial processing has been that processing data frequently results in a large number of intermediate data files. For instance, if an EM300 data file called "mbari_1998_524.mb57" has spikes in the bathymetry, outliers in the navigation, a strong high amplitude peak in the central sidescan swath, and the bathymetry has been calculated using an incorrect model for the water sound speed structure, users of MB- System would previously have processed it with a sequence something like this: 1) Run mbclean to automatically flag the obvious bathymetric artifacts. Input: mbari_1998_524.mb57 Output: mbari_1998_524_c.mb57 2) Run mbedit to interactively flag bathymetric artifacts. Input: mbari_1998_524_c.mb57 Output: mbari_1998_524_ce.mb57 3) Run mbnavedit to interactively clean the navigation. Input: mbari_1998_524_ce.mb57 Output: mbari_1998_524_cen.mb57 4) Run mbvelocitytool to generate an appropriate sound velocity profile (SVP) for recalculating the bathymetry. Input: mbari_1998_524_cen.mb57 Output: good.svp 5) Run mbbath to recalculate the bathymetry using the SVP file generated using mbvelocitytool. Input: mbari_1998_524_cen.mb57 Input: good.svp Output: mbari_1998_524_cenb.mb57 6) Run mbsimradmakess to recalculate the sidescan while ignoring sidescan samples from beams now flagged as bad. Input: mbari_1998_524_cenb.mb57 Output: mbari_1998_524_cenbs.mb57 7) Run mbbackangle to calculate an amplitude vs grazing angle table for correcting sidescan. Input: mbari_1998_524_cenbs.mb57 Output: ampvsga.dat 8) Run mbanglecorrect to correct the sidescan. Input: mbari_1998_524_cenbs.mb57 Input: ampvsga.dat Output: mbari_1998_524_cenbsc.mb57 The result of this processing includes the input swath data file, the final swath data file, and five intermediate swath data files. The impact of this approach on data storage requirements is obvious (though some users have ameliorated the issue by working with scripts that automatically delete unneeded data files or by piping data from one non-graphical process to another to avoid making intermediate files). The serial processing approach also presents data management problems because data files frequently have different processing requirements, even within a single survey. We have found that working with very large datasets can be awkward when only a minority of data files require navigation editing or bathymetric recalculation, or when some data files require multiple episodes of bathymetry and navigation editing. MB-System version 5 includes new utilities implementing a parallel processing scheme that simplifies the processing of most swath data. This scheme is centered around the program mbprocess, which can accomplish the following processing tasks in a single step: - Merge edited navigation generated by mbnavedit. - Apply bathymetry edit flags from mbedit and mbclean - Recalculate bathymetry from raw travel time and angle data by raytracing through water sound speed models from mbvelocitytool or mbsvplist. - Apply changes to roll bias, pitch bias, heading bias, and draft values. - Recalculate sidescan from raw backscatter samples (Simrad multibeam data only). - Correct sidescan for amplitude vs grazing angle patterns. - Apply tides to bathymetry. The actions of mbprocess are controlled by text parameter files. Each mbprocess parameter file is named by adding a ".par" suffix to the associated input swath data file and contains single line commands that set processing modes and parameters. Tools such as mbedit, mbnavedit, and mbclean all generate and/or modify parameter files in addition to generating parallel files used by mbprocess. The program mbset can also be used to create and modify mbprocess parameter files. The same processing steps described above as a serial processing scheme can be accomplished with the new parallel processing scheme as follows: 1) Run mbdatalist to create ancillary data files containing statistics (".inf"), quickly read bathymetry (".fbt"), and quickly read navigation (".fnv"). These files are used to speed common operations such as swath plotting and gridding. Input: mbari_1998_524.mb57 Output: mbari_1998_524.mb57.inf mbari_1998_524.mb57.fbt mbari_1998_524.mb57.fnv 2) Run mbclean to identify the obvious bathymetric artifacts and output a list of the edit events. The parameter file is created and set to apply bathymetry flags from the ".esf" file. Input: mbari_1998_524.mb57 Output: mbari_1998_524.mb57.esf mbari_1998_524.mb57.par 3) Run mbedit to interactively identify bathymetric artifacts and output a list of the edit events. The existing edits from mbclean are loaded and applied prior to editing. The parameter file is updated and set to apply bathymetry flags from the ".esf" file. Input: mbari_1998_524.mb57 mbari_1998_524.mb57.esf mbari_1998_524.mb57.par Output: mbari_1998_524.mb57.esf mbari_1998_524.mb57.par 4) Run mbnavedit to interactively clean the navigation. The edited navigation is output to the ".nve" file. The parameter file is updated and set to merge the navigation from the ".nve" file. Input: mbari_1998_524.mb57 mbari_1998_524.mb57.par Output: mbari_1998_524.mb57.nve mbari_1998_524.mb57.par 5) Run mbvelocitytool to generate an an appropriate sound velocity profile (SVP) for recalculating the bathymetry. The SVP is output to the ".svp" file. The parameter file is updated and set to recalculate the bathymetry by raytracing through the SVP model from the ".svp" file. Input: mbari_1998_524.mb57 mbari_1998_524.mb57.par Output: mbari_1998_524.mb57.svp mbari_1998_524.mb57.par 6) Run mbbackangle to generate an a set of amplitude vs grazing angle tables at regular intervals in the data. These tables are placed into a single ".sga" file. The parameter file is updated and set to correct the sidescan by interpolating the amplitude vs grazing angle table for each ping. Input: mbari_1998_524.mb57 mbari_1998_524.mb57.par Output: mbari_1998_524.mb57.sga mbari_1998_524.mb57.par 7) Run mbset to set the parameter file so that mbprocess will recalculate the sidescan (this is for Simrad multibeam data only) while ignoring sidescan samples from beams now flagged as bad. Input: mbari_1998_524.mb57.par Output: mbari_1998_524.mb57.par 8) Run mbprocess to apply the bathymetric edits, merge the cleaned navigation, recalculate the bathymetry, recalculate the sidescan, and correct the sidescan. The processed swath data is written to an output swath data file. The usual ancillary data files containing statistics, quickly read bathymetry, and quickly read navigation are also created. Input: mbari_1998_524.mb57 mbari_1998_524.mb57.esf mbari_1998_524.mb57.nve mbari_1998_524.mb57.svp mbari_1998_524.mb57.aga mbari_1998_524.mb57.par Output: mbari_1998_524p.mb57 mbari_1998_524p.mb57.inf mbari_1998_524p.mb57.fbt mbari_1998_524p.mb57.fnv The result of this processing is a single output swath data file. Moreover, the processed output can be easily updated if, for example, additional bathymetry editing is required. If the mbedit program is used again, it will load the existing edit events from the ".esf" file and then update the ".esf" file. To incorporate the updated bathymetry edits, one just runs mbprocess again. One can similarly change the SVP file without impacting on the bathymetry editing or navigation editing components of the processing. Starting with the 5.1.1 release, the old, serial processing utilities have been removed from MB-System. However, some of the serial tools have been replaced by new versions with the same name (e.g. mbedit, mbclean, mbbackangle, and mbnavedit). OTHER REQUIRED AND SUGGESTED SOFTWARE AND DATA ---------------------------------------------- MB-System requires a number of other software packages and databases to be fully functional. These are: - GMT version 4.2.0 or later: MB-System makes use of the Generic Mapping Tools (GMT) libraries and programs for much of its graphics. GMT also includes a detailed global coastline database. GMT has been developed by Professor Paul Wessel of SOEST (School of Ocean and Earth Science and Technology at the Univeristy of Hawaii) and Dr. Walter H. F. Smith of NOAA. The GMT source code is available from the GMT web page. - NetCDF version 3.0 or later: Both GMT and MB-System require the NCAR netCDF library. - Perl version 5.0 or later: Perl is a fast, well documented scripting language used widely in the Unix world. MB-System contains a number of perl scripts used both for installation and to ease common tasks. Most of the current Unix operating systems include perl. If you need to obtain the perl source code, first check with your local system administrator - you will probably find perl already available locally. The perl source code can be obtained from the GNU Project software archive of the Free Software Foundation. - Motif 2.0 or later: The interactive graphical utilities in MB-System (e.g. data editors) use the Motif 2 widget set, and Motif-compatible libraries or equivalent are required for these utilities to be built and to run. Most current Unix operating systems include the required Motif libraries. If you do not have these libraries, you can obtain the OpenMotif source code distribution from http://www.motifzone.net Another open source Motif-compatible distribution called LessTif (http://www.lesstif.org) has been available for some time, and also works well with MB-System. - FFTW3 - Fastest Fourier Transform in the West. This FFT library is required for the spectrogram program mbsegypsd - Levitus Database: The MB-System program mblevitus depends on a 16 MByte data file that is not included in the MB-System tarfile. Be sure to uncompress the file and to set the "LEVITUS" flag in the install_makefiles appropriately, as described below in the installation section. MB-System produces Postscript based graphics. Most current Unix operating systems provide a program which serves as a screen-based Postscript viewer. If you do not have a Postscript viewer, one option is to obtain the Ghostscript package from the Free Software Foundation. - ghostview: open source screen Postscript viewer. The source code can be obtained from the GNU Project software archive of the Free Software Foundation. - gv: better open source screen Postscript viewer. The source code can be obtained from the GNU Project software archive of the Free Software Foundation. HOW TO INSTALL MB-SYSTEM: ------------------------ The MB-System source code is extracted by first uncompressing the tar file and then running tar: % tar xvzf MB-System.tar.gz This will create a directory structure called mbsystem. In order to configure your installation, you must edit the shellscript mbsystem/install_makefiles. This is perl script will read template makefiles in the MB-System source directories and create makefiles with the correct attributes. This enables users to install MB-System without having to edit the makefiles. Instead of editing the makefiles directly, the installer should edit this script so that the locations of important libraries and include files are accurate and so that the compile and link flags are correct. The important parameters to be set in install_makefiles are: Required parameters: $MBSYSTEM_HOME - absolute path to the MB-System installation location $OS - Operating system (e.g. DARWIN, LINUX). $CFLAGS - Compile flags for C source files. $LFLAGS - Load flags for all object files. $NETCDFLIBDIR - Location of NetCDF library. $NETCDFINCDIR - Location of NetCDF header files. $GMTLIBDIR - Location of GMT libraries. $GMTINCDIR - Location of GMT header files. Required parameters for spectrogram program mbsegypsd - mbsegypsd will not be built if these are commented out $FFTWLIBDIR - Location of the FFTW3 library. $FFTWINCDIR - Location of FFTW3 header files. Required parameters for graphical tools - graphical tools will not be built if these are commented out $MOTIFINCDIR - Location of the Motif header files. $MOTIFLIBS - Location of the Motif libraries. Required parameter for visualization tools - visualization tools will not be built if this is commented out $OPENGLLIBS - Link flags for the OpenGL libraries: "-lGLU -lGL"; Required parameter for mblevitus program $LEVITUS - Location of the Levitus library (usually "$MBSYSTEM_HOME/share/LevitusAnnual82.dat"). Required parameter for mbotps program $OTPSDIR - Location of the OTPSnc installation (usually "/usr/local/OTPSnc"). Optional name of C compiler (if other than "cc"). $CC - Usually "cc", but could be "gcc". Optional parameters for use of independent GSF library installation - GSF library included with MB-System will be used if these are commented out $GSFLIB - Location of GSF library. $GSFINCDIR - Location of GSF header files. Optional parameters for use of independent PROJ4 library installation - PROJ4 library included with MB-System will be used if these are commented out $PROJLIB - Location of PROJ4 library. $PROJINCDIR - Location of PROJ4 header files. Examples of appropriate values for several different installations (e.g. Sun, SGI, PC) are included in the comments in install_makefiles. To execute install_makefiles, do the following: % cd mbsystem % install_makefiles Because install_makefiles is a perl script, the executable perl must be available in the installer's path. Once install_makefiles has been correctly configured and run, give the command "make all" to generate the executable programs: % make all The make command will descend recursively down through the directory structure, compiling source files, linking object files, and copying executables and manual pages to the appropriate directories. The executables will be placed in mbsystem/bin, the libraries in mbsystem/lib, and the manual pages in mbsystem/man/man1. Naturally, in order for users to use the MB-System utilities, the directory containing the executables must be included in their path (usually this is done by editing the .cshrc file in the user's home directory). The executable perl must also be available in the user's path for most of the macros to work. Most users will also wish to specify which program they generally use to view Postscript plots on their screen. This parameter can be set either with the mbdefaults program or using the MB_PS_VIEWER environment variable - the former is recommended (see the mbdefaults manual page for details). On Sun workstations pageview is a popular Postscript viewer; on Silicon Graphics machines xpsview is commonly used. A popular generic alternative to these platform specific programs is ghostview. WEB BASED DOCUMENTATION: ------------------------ The html documentation consists of a number of html documents and images in the directory mbsystem/html. This documentation also comprises the MB-System web page available from the Lamont web site at: http://www.ldeo.columbia.edu and the MBARI web site at: http://www.mbari.org Users can access the documentation in their own MB-System installation by using a web browser and accessing the file: file:/usr/local/mbsystem/html/mbsystem_home.html (here it is assumed that MB-System has been installed in /usr/local). Currently, the documentation includes some general information about MB-System (e.g. who wrote, how to get it, how to install it) and a complete set of manual pages. In the future we will add increasing amounts of information including examples of using MB-System. CONTINUED SUPPORT: ----------------- We are pleased to have received an additional five years (2001-2005) of NSF funding for the support and development of MB-System. This project is also supported by the Monterey Bay Aquarium Research Institute. CONTRIBUTIONS: -------------- We are actively soliciting contributions for inclusion in the MB-System. In particular support for additional data formats in the mbio.a library would be helpful, as would new, clever tools for data manipulation and processing. We thank those who have already contributed to MB-System. SUGGESTIONS: ------------ We are interested in your suggestions. BUGS: ----- There are undoubtably bugs in this software. Although we make no promises about how rapidly problems will be fixed, we strongly encourage users to notify us of bugs (and fixes!!). We will continue to support this software for the forseeable future. ACKNOWLEDGMENTS: ---------------- The MB-System Cookbook was written by Val Schmidt, formerly of L-DEO and now with CCOM/JHC at the University of New Hampshire. A number of people have made contributions to the code included in MB-System. These include: Bob Covill (Tekmap Consulting) Gordon Keith (CSIRO) Val Schmidt (CCOM/JHC, University of New Hampshire) Suzanne O'Hara (Lamont-Doherty Earth Observatory) Mike McCann (MBARI) Daniel Scheirer (Brown University) Paul Cohen (SeaBeam Instruments, now Fidelity Investments) Steve Dzurenko (SeaBeam Instruments, now University of Texas) Peter Lemmond (Woods Hole Oceanographic Institution) David Brock (formerly with Antarctic Support Associates) Alberto Malinverno (Lamont-Doherty Earth Observatory, later at Schlumberger-Doll) Russ Alexander (formerly with UCSB) Numerous users and vendors have provided information regarding data file formats and sonar system specific characteristics. Good mapping!! Dave Caress caress@mbari.org Dale Chayes dale@ldeo.columbia.edu ------------------------------------------------------------------------ Subversion ID: $Id$ RCS Revision History: $Log: README,v $ Revision 5.130 2009/03/13 07:05:58 caress Release 5.1.2beta02 Revision 5.129 2009/03/10 05:11:21 caress Added Gaussian mean smoothing to MBnavedit. Revision 5.128 2009/03/09 16:58:31 caress Release 5.1.2beta01 Revision 5.127 2009/03/09 15:11:31 caress Release 5.1.2beta01 Revision 5.126 2009/03/08 09:20:59 caress Fixed problem reading and writing format 16 (MBF_SBSIOSWB) data on little endian systems. Revision 5.125 2009/03/06 21:46:47 caress Release 5.1.2beta01 March 6 2009 Revision 5.124 2009/03/02 18:59:05 caress Moving towards 5.1.2beta1. Revision 5.123 2008/12/31 09:06:56 caress Release 5.1.1 Revision 5.122 2008/12/31 08:53:31 caress Updates towards release 5.1.1 Revision 5.121 2008/12/05 17:32:51 caress Check-in mods 5 December 2008 including contributions from Gordon Keith. Revision 5.120 2008/11/18 21:26:39 caress Release 5.1.1beta26 Revision 5.119 2008/11/16 21:47:00 caress Added recent changes. Revision 5.118 2008/10/17 07:54:03 caress Check in on October 17, 2008. Revision 5.117 2008/09/27 03:27:10 caress Working towards release 5.1.1beta24 Revision 5.116 2008/09/20 00:57:40 caress Release 5.1.1beta23 Revision 5.115 2008/08/12 00:00:40 caress Working towards 5.1.beta22 Revision 5.114 2008/07/20 15:42:00 caress Release 5.1.1beta21 Revision 5.113 2008/07/10 18:24:56 caress Proceeding towards 5.1.1beta20. Revision 5.112 2008/07/10 06:51:04 caress Preparing for 5.1.1beta20 Revision 5.111 2008/05/24 19:33:25 caress Update on 24 May 2008. Revision 5.110 2008/05/16 23:17:22 caress Release 5.1.1beta18. Revision 5.109 2008/03/14 18:29:45 caress Updated support for JHC format 151. Revision 5.108 2008/03/01 09:05:10 caress Added support for EM710 multibeam using formats 58 and 59. Revision 5.107 2008/02/12 02:31:43 caress Changes as of 11 February 2008. Revision 5.106 2008/01/14 18:40:23 caress Working towards 5.1.1 release. Revision 5.105 2007/11/02 22:37:21 caress Distribution 5.1.beta12 Revision 5.104 2007/10/31 18:44:11 caress Update on 31 October 2007. Revision 5.103 2007/10/17 20:24:43 caress Release 5.1.1beta11 Revision 5.102 2007/10/08 17:50:47 caress Updates to reflect present state. Revision 5.101 2007/10/08 17:22:22 caress New MB-System version number. Revision 5.100 2007/10/08 17:16:49 caress State of 8 October 2007. Revision 5.99 2007/07/05 19:18:34 caress Release 5.1.1beta5 Revision 5.98 2007/07/05 16:43:17 caress Release 5.1.1beta5 Revision 5.97 2007/07/03 17:23:46 caress Working on things... Revision 5.96 2007/06/18 01:23:03 caress Added MBeditviz. Revision 5.95 2007/05/21 16:16:33 caress Working towards next release. Revision 5.94 2007/05/12 19:28:23 caress Working towards next version. Revision 5.93 2006/12/15 21:42:49 caress Incremental CVS update. Revision 5.92 2006/11/26 16:15:16 caress Release 5.1.0 Revision 5.91 2006/11/26 09:35:55 caress Making distribution 5.1.0. Revision 5.90 2006/11/10 22:36:04 caress Working towards release 5.1.0 Revision 5.89 2006/10/05 18:58:28 caress Changes for 5.1.0beta4 Revision 5.88 2006/09/11 19:04:41 caress Setting up release 5.1.0beta3. Revision 5.87 2006/08/10 00:08:10 caress Working towards 5.0.0beta2 Revision 5.86 2006/08/09 22:37:33 caress Working towards 5.1.0beta2 Revision 5.85 2006/08/04 03:56:41 caress Working towards 5.1.0 release. Revision 5.84 2006/07/27 18:42:24 caress Working towards 5.1.0 Revision 5.83 2006/07/06 05:30:57 caress Working more towards 5.1.0beta Revision 5.82 2006/07/05 19:50:21 caress Working towards 5.1.0beta Revision 5.81 2006/06/22 04:45:42 caress Working towards 5.1.0 Revision 5.80 2006/06/16 19:24:47 caress Check in after the Santa Monica Basin Mapping AUV Expedition. Revision 5.79 2006/03/06 21:33:42 caress Working towards 5.0.10 Revision 5.78 2006/02/20 05:25:09 caress Release 5.0.9 Revision 5.77 2006/02/16 21:24:25 caress Release 5.0.9 Revision 5.76 2006/02/08 19:15:27 caress Release 5.0.8. Really. Revision 5.75 2006/02/08 17:59:25 caress Release 5.0.8. Finally. Revision 5.74 2006/02/03 22:45:30 caress Release 5.0.8beta5 Revision 5.73 2006/02/01 18:32:47 caress Release 5.0.8beta4. Revision 5.72 2006/02/01 07:52:09 caress Modifications suggested by Gordon Keith Revision 5.71 2006/01/27 19:08:27 caress Version 5.0.8beta2 Revision 5.70 2006/01/24 22:06:42 caress 5.0.8beta. Revision 5.69 2006/01/24 19:04:07 caress Version 5.0.8 beta. Revision 5.68 2006/01/20 19:40:55 caress Working towards 5.0.8 Revision 5.67 2006/01/15 05:25:45 caress Working on 5.0.8. Revision 5.66 2006/01/11 07:22:23 caress Working towards 5.0.8 Revision 5.65 2006/01/06 18:18:25 caress Working towards 5.0.8 Revision 5.64 2005/11/05 01:43:16 caress Update. Revision 5.63 2005/06/15 15:05:42 caress Some new fixes noted. Revision 5.62 2005/06/04 03:32:27 caress Updates during 5.0.8 development. Revision 5.61 2005/04/07 04:32:19 caress 5.0.7 Release. Revision 5.60 2005/03/26 23:58:34 caress Release 5.0.7. Revision 5.59 2005/03/25 04:51:21 caress Updated with recent changes. Revision 5.58 2005/03/25 04:01:01 caress Fixes to 5.0.6. Revision 5.57 2005/02/19 07:09:22 caress Release 5.0.6 Revision 5.56 2005/02/17 07:33:26 caress Moving towards 5.0.6 release. Revision 5.55 2005/02/08 22:37:37 caress Heading towards 5.0.6 release. Revision 5.54 2005/01/04 18:36:59 caress Working towards release 5.0.6 Revision 5.53 2004/12/18 01:23:24 caress Working towards 5.0.6 release. Revision 5.52 2004/10/06 21:30:50 caress Release 5.0.5 Revision 5.51 2004/09/16 21:49:59 caress More changes leading up to 5.0.5 release. Revision 5.50 2004/06/18 02:58:15 caress Added first notes for 5.0.5 release. Revision 5.49 2004/05/22 05:58:18 caress Release 5.0.4 Revision 5.48 2004/05/22 04:22:02 caress Release 5.0.4 Revision 5.47 2004/05/21 23:59:31 caress Getting ready for release 5.0.4 Revision 5.46 2004/04/27 00:29:25 caress Updated with recent changes. Revision 5.45 2004/02/27 18:12:49 caress Release 5.0.3 Revision 5.44 2004/02/26 22:41:02 caress Release 5.0.3 Revision 5.43 2004/02/25 17:48:49 caress Release 5.0.3 Revision 5.42 2003/12/24 08:51:05 caress 5.0.2 release. Revision 5.41 2003/12/12 08:06:00 caress Release 5.0.1 Revision 5.40 2003/12/05 08:21:22 caress *** empty log message *** Revision 5.39 2003/12/01 20:32:47 caress Trying to get real 5.0.0 release out. Revision 5.38 2003/07/27 13:14:12 caress Release 5.0.0 Revision 5.37 2003/07/02 18:10:47 caress Release 5.0.0 Revision 5.36 2003/04/29 20:31:08 caress Release 5.0.beta31 Revision 5.35 2003/04/25 23:18:57 caress Release 5.0.beta30 Revision 5.34 2003/04/23 06:26:52 caress Release 5.0.beta30 Revision 5.33 2003/03/10 22:42:28 caress Release 5.0.beta29 Revision 5.32 2003/01/15 21:15:01 caress Release 5.0.beta28 Revision 5.31 2002/11/04 19:15:01 caress Release 5.0.beta26 Revision 5.30 2002/10/15 19:22:24 caress Release 5.0.beta25 Revision 5.29 2002/10/04 21:29:40 caress Release 5.0.beta24 Revision 5.28 2002/10/02 23:51:50 caress Release 5.0.beta24 Revision 5.27 2002/09/20 22:39:48 caress Real release 5.0.beta23 Revision 5.26 2002/09/19 22:24:55 caress Release 5.0.beta23 Revision 5.25 2002/09/19 17:31:21 caress Release 5.0.beta23 Revision 5.24 2002/08/30 19:37:35 caress Release 5.0.beta22 Revision 5.23 2002/08/28 01:43:27 caress Release 5.0.beta22 Revision 5.22 2002/08/21 01:10:37 caress Release 5.0.beta22 ./ Revision 5.21 2002/07/25 19:11:35 caress Release 5.0.beta21 Revision 5.20 2002/07/20 21:08:07 caress Release 5.0.beta20 Revision 5.19 2002/05/31 19:58:28 caress Release 5.0.beta18 Revision 5.18 2002/05/29 20:43:56 caress Release 5.0.beta18 Revision 5.17 2002/04/06 03:10:12 caress Release 5.0.beta16 Revision 5.16 2002/03/26 07:40:25 caress Release 5.0.beta15 Revision 5.15 2002/02/26 07:59:33 caress Release 5.0.beta15 Revision 5.14 2002/01/02 20:33:36 caress Set real data of 5.0.beta12 # Revision 5.13 2001/12/30 20:31:31 caress # Release 5.0.beta12 # Revision 5.12 2001/11/20 22:11:20 caress Release 5.0.beta09 # Revision 5.11 2001/11/16 20:14:47 caress # Release 5.0.beta10 # Revision 5.10 2001/11/07 01:57:54 caress Fixed for release 5.0.beta09 # Revision 5.9 2001/11/07 01:15:08 caress # Release 5.0.beta09 # # Revision 5.8 2001/10/19 19:49:08 caress # Release 5.0.beta08 # # Revision 5.7 2001/08/10 23:10:08 dcaress # Release 5.0.beta07 # Revision 5.6 2001-07-30 17:51:15-07 caress Release 5.0.beta06 # Revision 5.5 2001/07/27 19:28:38 caress # Release 5.0.beta06. # # Revision 5.4 2001/07/20 16:48:26 caress # Release 5.0.beta04 # # Revision 5.3 2001/06/08 21:39:07 caress # Version 5.0.beta01 # # Revision 4.22 2000/09/26 20:32:27 caress # Fixed reference to ftp site. # # Revision 4.21 2000/03/08 01:19:08 caress # Release 4.6.10 # # Revision 4.20 1999/09/16 23:09:54 caress # Real version 4.6.6 release notes # # Revision 4.19 1999/09/15 21:29:37 caress # Version 4.6.6 Release Notes # # Revision 4.18 1999/05/07 00:30:38 caress # Version 4.6a release # # Revision 4.17 1999/04/16 00:26:05 caress # Final 4.6 release? # # Revision 4.16 1998/12/17 23:09:42 caress # MB-System version 4.6beta4 # # Revision 4.15 1998/10/05 22:12:48 caress # MB-System version 4.6beta # # Revision 4.14 1997/09/15 21:33:33 caress # Fixed typo. # # Revision 4.13 1997/09/15 19:02:15 caress # Real Version 4.5 # # Revision 4.12 1997/04/21 16:51:19 caress # MB-System 4.5 Beta Release. # # Revision 4.12 1997/04/17 17:37:59 caress # MB-System 4.5 Beta Release. # # Revision 4.11 1996/09/05 12:57:11 caress # Actual V4.4 release. # # Revision 4.10 1996/08/26 15:38:28 caress # Release 4.4 revision. # # Revision 4.9 1996/01/26 21:32:53 caress # Revision for real version 4.3 release. # # Revision 4.8 1995/08/17 16:34:39 caress # Revision for release 4.3. # # Revision 4.7 1995/02/14 22:25:56 caress # Version 4.2 Release # # Revision 4.6 1994/11/18 16:37:15 caress # *** empty log message *** # # Revision 4.5 1994/10/21 21:54:24 caress # Release V4.0 # # Revision 4.4 1994/10/21 17:42:43 caress # Release V4.0 # # Revision 4.3 1994/10/21 13:29:54 caress # Release V4.0 # # Revision 4.2 1994/10/20 21:30:31 caress # Release V4.0 # # Revision 4.1 1994/08/03 21:00:43 dale # Update for Beta issues...... # # Revision 4.0 1994/03/05 23:06:24 caress # Changes for release 4.0. # # Revision 3.7 1993/12/14 22:15:56 caress # Changed for release version 3.4 # # Revision 3.6 1993/11/06 21:24:39 caress # Added discussion of src/realtime directory. # # Revision 3.5 1993/11/05 21:25:02 caress # Added discussion of how to run make to generate the executables. # # Revision 3.4 1993/11/05 14:59:04 caress # Some small changes by Dale. # # Revision 3.3 1993/11/04 17:46:36 caress # Updated for version 3.3. Added where to get required # software packages and what Makefile to change to fit # local environments. # # Revision 3.2 1993/08/25 14:41:41 dale # Add porting, and requirements, and bugs and stuff for 3.2 # # Revision 3.1 1993/04/22 16:09:21 dale # Update and clarify the text, add third reason # # Revision 3.0 1993/04/22 16:04:29 dale # *** empty log message *** #
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