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-------------------------------------------------------------------------------
MB-SYSTEM CHANGELOG FILE:
-------------------------------------------------------------------------------
Version: $Id: ChangeLog 2263 2016-01-08 00:10:24Z caress $
-------------------------------------------------------------------------------
This file lists changes to the source code of the MB-System open
source software package for the processing and display of swath sonar data.
This file is located at the top of the MB-System source code distribution
directory structure.
-------------------------------------------------------------------------------
MB-SYSTEM VERSION 5 RELEASE DATES:
-------------------------------------------------------------------------------
Here "*" denotes source distribution release made available for ftp download.
Releases without an "*" are discrete revisions available from the source code
archive at http://svn.ilab.ldeo.columbia.edu/listing.php?repname=MB-System.
* Version 5.5.2263 January 7, 2016
Version 5.5.2260 December 22, 2015
Version 5.5.2259 October 27, 2015
Version 5.5.2258 October 5, 2015
Version 5.5.2257 September 1, 2015
Version 5.5.2256 August 24, 2015
Version 5.5.2255 August 11, 2015
Version 5.5.2254 July 23, 2015
* Version 5.5.2252 July 1, 2015
* Version 5.5.2251 June 30, 2015
Version 5.5.2250 June 29, 2015
Version 5.5.2249 June 26, 2015
* Version 5.5.2248 May 31, 2015
Version 5.5.2247 May 29, 2015
* Version 5.5.2246 May 27, 2015
* Version 5.5.2243 May 22, 2015
* Version 5.5.2242 May 16, 2015
Version 5.5.2241 May 12, 2015
Version 5.5.2240 May 8, 2015
Version 5.5.2239 May 6, 2015
Version 5.5.2238 April 14, 2015
Version 5.5.2237 March 23, 2015
Version 5.5.2234 March 5, 2015
* Version 5.5.2233 February 23, 2015
Version 5.5.2232 February 21, 2015
Version 5.5.2231 February 20, 2015
Version 5.5.2230 February 18, 2015
Version 5.5.2229 February 14, 2015
Version 5.5.2228 February 6, 2015
* Version 5.4.2220 January 22, 2015 (Last GMT4-compatible archive revision, released February 27, 2015)
Version 5.4.2219 December 11, 2014
Version 5.4.2218 December 4, 2014
Version 5.4.2217 December 1, 2014
* Version 5.4.2213 November 13, 2014
Version 5.4.2210 November 10, 2014
* Version 5.4.2209 November 4, 2014
* Version 5.4.2208 October 29, 2014
Version 5.4.2204 September 5, 2014
* Version 5.4.2202 August 25, 2014
Version 5.4.2201 August 20, 2014
* Version 5.4.2200 July 24, 2014
* Version 5.4.2199 July 19, 2014
Version 5.4.2196 July 14, 2014
Version 5.4.2195 July 9, 2014
Version 5.4.2194 July 8, 2014
* Version 5.4.2191 June 4, 2014
* Version 5.4.2188 May 31, 2014
Version 5.4.2187 May 28, 2014
Version 5.4.2186 May 26, 2014
Version 5.4.2185 May 11, 2014
* Version 5.4.2183 April 16, 2014
Version 5.4.2182 April 8, 2014
Version 5.4.2181 April 4, 2014
* Version 5.4.2176 March 18, 2014
* Version 5.4.2168 February 19, 2014
* Version 5.4.2163 January 31, 2014
Version 5.4.2162 January 24, 2014
* Version 5.4.2159 January 18, 2014
Version 5.4.2158 January 18, 2014
* Version 5.4.2157 October 14, 2013
Version 5.4.2155 October 13, 2013
Version 5.4.2154 September 26, 2013
Version 5.4.2153 September 22, 2013
* Version 5.4.2152 September 16, 2013
Version 5.4.2151 September 12, 2013
Version 5.4.2149 September 2, 2013
Version 5.4.2148 August 28, 2013
Version 5.4.2147 August 27, 2013
Version 5.4.2144 August 26, 2013
Version 5.4.2143 August 24, 2013
Version 5.4.2141 August 24, 2013
Version 5.4.2139 August 19, 2013
Version 5.4.2138 August 18, 2013
Version 5.4.2137 August 9, 2013
Version 5.4.2136 August 8, 2013
* Version 5.4.2135 August 7, 2013
Version 5.4.2133 July 29, 2013
Version 5.4.2132 July 26, 2013
Version 5.4.2130 July 20, 2013
Version 5.4.2129 July 8, 2013
Version 5.4.2128 June 18, 2013
Version 5.4.2123 June 10, 2013
Version 5.4.2082 May 24, 2013
Version 5.3.2053 April 4, 2013
Version 5.3.2051 March 20, 2013
Version 5.3.2042 March 12, 2013
* Version 5.3.2017 March 3, 2013
* Version 5.3.2013 January 29, 2013
* Version 5.3.2012 January 25, 2013
* Version 5.3.2011 January 17, 2013
Version 5.3.2010 January 14, 2013
* Version 5.3.2009 January 10, 2013
* Version 5.3.2008 January 6, 2013
Version 5.3.2007 January 5, 2013
Version 5.3.2006 January 4, 2013
Version 5.3.2005 December 31, 2012
Version 5.3.2004 December 12, 2012
Version 5.3.2000 Navember 14, 2012
Version 5.3.1999 Navember 13, 2012
Version 5.3.1998 Navember 6, 2012
Version 5.3.1994 October 27, 2012
Version 5.3.1988 September 29, 2012
Version 5.3.1986 September 12, 2012
* 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 VERSION 5.5 RELEASE NOTES:
-------------------------------------------------------------------------------
-----> 5.5.2263 (January 7, 2016)
Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA) for current generation Kongsberg
multibeam data: Fixed problems handling tide correction and applying heave when
recalculating bathymetry through raytracing.
Format 59 (MBF_EM710MBA): Worked on preprocessing function called by mbpreprocess.
Not done yet...
Format 88 (MBF_RESON7KR): Worked on preprocessing function called by mbpreprocess.
Not done yet...
mbio/mb_access.c: Added explicitly setting the target sensor id to the
mb_preprocess() function call.
Mbm_grdtiff: Fixed bug in grdinfo call.
GMT integration: Removed GMT header files from mbsystem/gmt because GMT 5.2.1
now installs full development headers. MB-System is now not compatible with any
version of GMT prior to 5.2.1.
Configure build system: Now uses built in configuration tools in GMT and netCDF
so that command line arguments to the configure script specifying GMT and netCDF
library locations are no longer necessary.
mbio/mb_io.h and mbio/mb_platform.c: Added fields to platform structure:
mb_longname documentation_url;
double start_time_d;
double end_time_d;
int start_time_i[7];
int end_time_i[7];
Mbmakeplatform: Added commands:
--platform-documentation-url=string
--platform-start-time=yyyy/mm/dd/hh/mm/ss.ssssss
--platform-end-time=yyyy/mm/dd/hh/mm/ss.ssssss
-----> 5.5.2259 (October 27, 2015)
Mbpreprocess: Now called format-specific preprocess function if available and
applied generic preprocessing otherwise. The first format specific preprocessing
to be defined is for Reson 7k data (MBIO format 88).
Mb7kpreprocess: Modified optional fixing of multibeam ping times assuming a
specified constant ping interval.
Mbmakembplatform: Added manual page.
mbio/mb_navint.c: Added MBIO API functions mb_apply_time_latency() and
mb_apply_time_filter().
Mbeditviz: Fixed application of time latency to sonardepth.
-----> 5.5.2258 (October 5, 2015)
Mbnavadjust: Added output of route files including all unfixed ties for each
survey and all crossings for each survey.
Mbmakeplatform: Added new program to create or modify platform files.
Format 58 (MBF_EM710RAW): Added functions needed for mbmakeplatform to
automatically extract a platform model with sensor offsets.
Format 59 (MBF_EM710MBA): Added functions needed for mbmakeplatform to
automatically extract a platform model with sensor offsets.
Format 88 (MBF_RESON7KR): Added functions needed for mbmakeplatform to
automatically extract a platform model with sensor offsets.
Mb7kpreprocess: Added kluge mode (-K6) to fix a time stamp problem with recent
MBARI Mapping AUV data. Specifically, due to the application of time disciplining
to the Reson computer clock using two occasionally inconsistent time sources,
sometimes there are abrupt shifts in the ping time stamps for one to three pings.
This mode detects and corrects these time tears.
-----> 5.5.2257 (September 1, 2015)
Mbpreprocess: Using platform functions to handle sensor offsets. Read platform
file or command line offsets and calculate sensor offsets. Updated bathymetry
calculations.
General: Added functions mb_platform_orientation and
mb_platform_orientation_target on mbio/mb_platform. Cleaned
mb_platform_orientation_offset. Change all MB_PLATFORM_MATH* functions to
DEEGREES inputs/outputs on mbio/mb_platform_math. Fixed bug on
mb_platform_lever.
-----> 5.5.2256 (August 24, 2015)
Mbeditviz: Improved the way to handle sensor offsets. Improved
mbeditviz_apply_timelag the way to handle angles corrections. Cleaned
mbeditviz_beam_position to make it more clear.
mbio/mb_platform_math.c: Added new math functions
mb_platform_math_attitude_offset_corrected_by_nav and
mb_platform_math_attitude_rotate_beam to handle sensor offset corrections.
-----> 5.5.2255 (August 11, 2015)
Mbnavadjust: Set limits on application of smoothing via penalizing the first
and second derivatives of the navigation pertuturbation (particularly the
second derivative) in the inversion algorithm. This change has been implemented
to prevent the inversion from becoming unstable as the smoothing parameter is
made larger.
Mbprocess: Fixed problem with handling of sensor depth changes due to tide
correction or lever arm correction.
-----> 5.5.2254 (July 23, 2015)
Autotools build system: Disabled dist and distclean targets in the makefiles
produced by the configure script. We do not use the autotools system to
generate production distributions, so the existence of these targets defined
by default caused some confusion.
Mbset and mbprocess: Added NAVSHIFTX and NAVSHIFTY options to the mbprocess
parameter file definition.
Mbgrid: Fixed the -Kbackground option for the case of producing grids in
projected coordinate systems.
General: Improved the way to handle sensor offsets on mbio/mb_platform.c
and changed the way is currently used in mb7kpreprocess. Added
mbio/mb_platform_math.c to the archive. This source file includes math
functions to calculate angular offsets.
-----> 5.5.2252 (July 1, 2015)
Mbedit, mbnavedit, mbnavadjust, mbvelocitytool: Fix X11 font initialization
problem created in the 2251 commit.
-----> 5.5.2251 (June 30, 2015)
Mblist, mbnavlist, mbctdlist: Changed time outputs so that decimal second
values will be formatted according to the locale (e.g. decimal delineation by
commas in Europe).
Mbedit, mbnavedit, mbnavadjust, mbvelocitytool, mbgrdviz, mbeditviz: Set up
preprocessor defines to allow fonts to be defined using the CFLAGS
environment variable.
-----> 5.5.2250 (June 29, 2015)
Mbedit, mbnavedit, mbvelocitytool, mbgrdviz, mbeditviz: Removed call to X11
function XtSetLanguageProc() in all graphical tools. This call apparently
causes the program locale to be reset according system defaults, even if the
program implicitly begins in the standard C locale. If the system locale uses
"," rather than "." as the decimal point marker (e.g. a normal European locale),
then a GMT 5 initialization will probably fail on reading fonts, at least on
many if not all Linux distributions. Thanks to Giancarlo Troni for figuring this
one out.
General: Added mbio/mb_platform.c to the archive. This source file includes the
functions to read, write, and use platform, sensor, and sensor offset definitions.
At this time the mb_platform_*() functions are only used in mb7kpreprocess, but
they will soon be used in mbprocess and all the preprocess programs.
Mbprocess: changed application of tide corrections so that these corrections are
applied to the platform depth values rather than the bathymetry values. The result
is the same, but now the navigation (or trajectory) of the processed files is
corrected in addition to the bathymetry.
-----> 5.5.2249 (June 26, 2015)
Format 121 (MBF_GSFGENMB): Kluge added to the GSF format i/o module to handle
beam angles incorrectly constructed so that angles from vertical are negative
for port side beams when all aziumuthal angles are uniformaly zero (=starboard).
General: Added platform, sensor, and sensor offset definitions to mb_io.h for
use in flexibly defining a platform consisting of many sensors with relative
positional and angular offsets. Also added functions to read and write
platform files using these definitions. Have not completed the function to perform
lever arm calculations using this platform definition. Initially these functions
will be used in mb7kpreprocess, but ultimately these will be used generally
in MB-System.
Mb7kpreprocess: initial implementation using the new platform file and structure
definitions.
-----> 5.5.2248 (May 31, 2015)
Mbgrdviz and mbview: Fixed casts between int and pointer that seem to be
responsible for mbgrdviz crashes.
-----> 5.5.2247 (May 29, 2015)
General: Cleaned up missing function prototypes through much of the codebase
(excepting externally written libraries gsf, sapi, bsio) in an effort to fix
crashes of mbgrdviz and other programs.
-----> 5.5.2246 (May 27, 2015)
Mbswath, mbcontour, mbgrdtiff: Updated GMT5 header files in src/gmt to enable
building on Ubuntu Linux, CentOs Linux, and CygWin while maintaining
compatibility with GMT 5.1.2.
Mbedit, mbnavedit, mbvelocitytool, mbgrdviz, mbeditviz: Incomplete tweaks to
font handling to enable use of fonts other than Helvetica, Times, and Courier.
-----> 5.5.2243 (May 22, 2015)
Rewrote the configure.ac file to fix logic flaws in the configure script.
-----> 5.5.2242 (May 16, 2015)
Mbswath, mbcontour, mbgrdtiff: Updated files in src/gmt for compatibility with
GMT 5.1.2.
-----> 5.5.2241 (May 12, 2015)
Format 59 (MBF_EM710MBA): Fixed flag causing erroneous warning that beam flags
are not supported for this format (beam flags are supported).
Many source files: further changes to precompiler directives suggested by Joaquim Luis
in order to enable building under Windows.
-----> 5.5.2240 (May 8, 2015)
Format 241 (MBF_WASSPENL): Fixed recognition of *.nwsf suffix.
Mbclean: fixed bug in beam position calculation identified by Joaquim Luis.
-----> 5.5.2239 (May 6, 2015)
Format 241 (MBF_WASSPENL): Now supports WASSP multibeam data conforming to
the WASSP ICD 2.4. MB-System is storing beam flags in unused bytes in the
existing CORBATHY data records (specifically the "empty" field in the
CORBATHY beam data specified in ICD 2.4).
Many source files: changes to precompiler directives suggested by Joaquim Luis
in order to enable building under Windows.
Mbnavadjust: Modified the inversion to separate the vertical and lateral
covariance so that lateral offsets do not bleed into the vertical offset
model.
Mb7kpreprocess: Fixed bug that treated null soundings as good for datasets
without detection records.
Mbdumpesf: Added capability to output in the edit save file format in addition
to ASCII text, and to ignore specified types of edit events (e.g. copy an esf
file while removing all beam null events).
Build system: Fixed bug that caused configure to fail if netCDF has a pkg-config
installation while GMT5 is in a specified but nonstandard location.
-----> 5.5.2238 (April 15, 2015)
Mbnavadjust: Recast and improved the inversion. Added a "perturbation" model
display which does not include the average offsets between the individual surveys
in projects involving multiple surveys.
Mbcontour, mbswath, mbgrdtiff: Included fixes suggested by Joaquim Luis for
compatibility with the next GMT5 release.
Mbclean: Removed -M3 and -M4 options that previously caused the program to null
(or zero) rather than flag bad soundings. This is an obsolete feature that only
made sense prior to existence of mbprocess.
Mbbackangle: Fixed mbm_grdplot call to no longer use an obsolete option.
-----> 5.5.2237 (March 23, 2015)
Mbnavadjust, mbnavedit: Removed references to GMT and netCDF in the Makefile.am
file in both source directories.
-----> 5.5.2236 (March 23, 2015)
Mbnavadjust, mbnavadjustmerge: Added a new type of constraint referred to as a
global tie. Each data section can have one of its navigation points tied to
the fixed global frame of reference with a specified x, y, z offset (or just x
and y, or just z) and x, y, and z uncertainties in the offset values. These
global ties are set using mbnavadjustmerge. The relevant mbnavadjustmerge
commands are:
--set-global-tie=file:section[:snav]/xoffset/yoffset/zoffset[/xsigma/ysigma/zsigma]
--set-global-tie-xyz=file:section[:snav]
--set-global-tie-xyonly=file:section[:snav]
--set-global-tie-zonly=file:section[:snav]
Mbnavadjustmerge: Added ability to unset (delete) global ties and crossing ties.
The relevant mbnavadjustmerge commands are:
--unset-global-tie=file:section
--unset-tie=file1:section1/file2:section2
Mbnavadjust, mbnavadjustmerge: Explicitly added references to libgmt and libpsl in
the src/mbnavadjust/Makefile.am file so that the mbnavadjust and mbnavadjustmerge
executables are linked to those libraries. This is to solve a mysterious dependency
of mbnavadjust on libgmt on CentOs6 - the program was failing due inability to find
libgmt.so.5 even though the code does not reference any GMT or GMT5 function or header
file. Presumably this change will go away when the mystery is solved.
Mbsslayout: fixed automatically generated plottin script.
Mbm_route2mission: Added multibeam maximum range value.
-----> 5.5.2234 (March 5, 2015)
Plot macros (mbm_grdplot, mbm_grd3dplot, mbm_grdtiff, mbm_histplot, mbm_plot,
mbm_xyplot): Now generate plotting scripts that will not attempt to display the
plot on the screen if invoked with a "-N" command line argument.
Format 64 (MBF_MR1PRVR2): Added include of <sys/time.h> in mbbs_defines.h to
facilitate building under cygwin.
Multi-macros (mbm_multiprocess, mbm_multicopy, mbm_multidatalist): Changed to
use datalist.mb-1 as default input and to use 4 as the default number of CPUs.
Mbedit: Added fast scroll through a file if the forward or back mouse buttons
are held down more than 2 seconds.
Mbextractsegy, mbsslayout: Changed output section/line plotting script so that
it will not attempt to display the plot on the screen if invoked with a "-N"
command line argument.
Mbprocess: Reduced informational output when not in verbose mode to make the
output from use of mbm_multiprocess cleaner.
-----> 5.5.2233 (February 23, 2015)
Release 5.5.2233
Mbm_grdplot, mbm_grdtiff: Generated plot scripts now set foregound and background
colors based on the -D option.
Mbmroute2mission: Now allows the maximum planned climb rate of the AUV to be
specified with the -U option
-----> 5.5.2232 (February 21, 2015)
Mbm_plot, mbm_grdplot, mbm_grd3dplot, mbhistplot: Changed handling of gmt defaults
so that any local gmt.conf file is deleted before any gmtset calls are made, and
the resulting gmt.conf file is deleted before the plot script ends.
Mbswath: fixed calculation of beam or pixel footprints in mode requesting real
footprint plotting.
-----> 5.5.2231 (February 20, 2015)
Mb7kpreprocess: Switched beam angle calculation to the mb_beaudoin() function
already used by mbkongsbergpreprocess (contributed by Jonathan Beaudoin).
Mbm_bpr: Made compatible with GMT5.
-----> 5.5.2230 (February 18, 2015)
Mbgrdtiff: Fixed ordering of rows and columns in the output image.
Mbm_route2mission: Added output of a mission alititude profile plot.
Mbauvloglist: Added capability of binary output.
Mb7kpreprocess: Fixed so that bathymetry calculation uses roll merged at
the bottom detect time for all of the possible combinations of Reson 7k
data record types.
Mbpreprocess: Fixed to exclude zero longitude or lattitude values from the
tables used for interpolation onto ping times.
Mbrolltimelag: Fixed automatically generated roll-slope correlation plot.
-----> 5.5.2229 (February 14, 2015)
Format 121 (MBF_GSFGENMB): The i/o module will now allocate and initialize arrays
of beamflags and alongtrack distance when those are not included in the input file.
Mbfilter: removed failing check for existance of sidescan data.
Mbsegygrid: flipped grid convention for compatibility with GMT5.
Mbm_plot, mbm_grdplot, mbm_grd3dplot, mbm_histplot: further changes for compatibility
with GMT5.
Mbm_route2mission: Compatibility with GMT5.
Mbcontour, mbswath: More changes for compatibility with GMT5.
-----> 5.5.2228 (February 6, 2015)
Install_makefiles: the old install_makefiles build system no longer
functions and has been removed.
Mbgrid: When using the two-step weighted footprint slope algorithm, mbgrid
only reads files on the second pass through the input datalist that contained
useful data in the first pass.
Major changes made to integrate MB-System with GMT5:
The code will no longer compile or work with GMT4.5.
Changes include:
-updating functions in libmbaux that read and write GMT grids
-deletion of src/mbaux/mb_pslibface.c
-changes to all programs that read or write GMT grids,
-the former programs mbcontour, mbswath, and mbgrdtiff are now GMT5
modules built as part of a shared library.
-changes to all of the plot macros (e.g. mbm_grdplot) that make use of GMT
Format 88 (MBF_RESON7KR): Update Reson 7k i/o module to handle TVG records.
-------------------------------------------------------------------------------
MB-SYSTEM VERSION 5.4 RELEASE NOTES:
-------------------------------------------------------------------------------
-----> 5.4.2219 (December 11, 2014)
Mbnavadjust: Fixed fixed memory management issue related to fbt files.
Mb7kpreprocess: Moved toward correct handling of sensor offsets.
Mbpreprocess: Moved toward correct handling of sensor offsets.
-----> 5.4.2218 (December 4, 2014)
Mbinfo: Fixed JSON format output to file (previously missed final closing bracket).
-----> 5.4.2217 (December 1, 2014)
Mbclean: Implemented additional flagging tests contributed by Suzanne O'Hara,
including speed range (-Pspeed_min/speed_max), ping navigation bounds
(-Rwest/east/south/north), and zero longitude and latitude values (-Z).
Also, a minimum depth at nadir test embedded by Dana Yoerger for all data
(circa 2010) has been recast into a minimum range test option (-Krange_min).
Format 71 (MBF_MBLDEOIH) and fbt files: fixed a problem with the i/o module
as updated in 5.4.2216.
-----> 5.4.2216 (November 30, 2014)
Format 251 (MBF_PHOTGRAM): We have added a new data format and associated data
system supporting photogrammetric topography calculated from stereo pair
photographs. This format includes navigation and attitude data. Each 2D group
of bathymetry values is derived with a single stereo pair. A file consists of a
sequence of stereo pair bathymetry, each set of which has a timestamp, navigation
and attitude as well as bathymetry values. The format 251 files are generated
from stereo pairs (and navigation and attitude data) by a set of tools that
are not currently in MB-System, but which will be added to MB-System in the
future.
Mbeditviz and Mbgrdviz: Now allow selection of a single navigation point.
Mbeditviz and mbgrid: Now handle point topography data (e.g. xyz soundings, lidar
soundings, photogrammetry topography) differently than multibeam soundings even
when the footprint algorithm is specified. Point data are now treated as such,
and no longer are associated with nonsensical beam footprints.
Format 71 (MBF_MBLDEOIH) and fbt files: We have defined a new data record header (version 5)
that represents the number of bathymetry beams, amplitude beams, and sidescan
pixels as four-byte int values rather than two-byte short values. This supports
data constructs that have more than 32768 bathymetry values, as can be the case
for dense photogrammetry data derived from stereo-pair photography. The i/o module
only uses the version 5 header when there are more than 32768 bathymetry values
in the associated sonar ping, lidar scan, or photographic stereo pair. Otherwise,
the previously existing version 4 header is used. Consequently, for all previously
supported data types there will be no change to the MBF_MBLDEOIH format or to
fbt files.
General: MB-System now defines several types of bathymetry data:
MB_TOPOGRAPHY_TYPE_UNKNOWN 0
MB_TOPOGRAPHY_TYPE_ECHOSOUNDER 1
MB_TOPOGRAPHY_TYPE_MULTIBEAM 2
MB_TOPOGRAPHY_TYPE_SIDESCAN 3
MB_TOPOGRAPHY_TYPE_INTERFEROMETRIC 4
MB_TOPOGRAPHY_TYPE_LIDAR 5
MB_TOPOGRAPHY_TYPE_CAMERA 6
MB_TOPOGRAPHY_TYPE_GRID 7
MB_TOPOGRAPHY_TYPE_POINT 8
The immediate utility of differentiating between data types is to
allow gridding algorithms to handle data appropriately. As discussed
above, the footprint gridding algorithms are now only applied by
mbgrid or mbeditviz to multibeam bathymetry. Other differences in
data processing will be added in the future.
General: The sort function and related comparison function declarations
in MB-System have been corrected to be consistent with qsort() from stdlib.
-----> 5.4.2213 (November 13, 2014)
Mbkongsbergpreprocess: Added -E option to allow specification of offsets between
the depth sensor and the sonar. This is relevant only to submerged platforms
such as AUVs or ROVs. Also added -P option to enable filtering of pressure
depth data.
Format 59 (MBF_EM710MBA): Set the navigation and attitude source records to be
survey data so that mbnavedit and mbnavlist work by default with values from the
survey records rather than asynchronous raw sensor data. The navigation and attitude
sources for format 58 (MBF_EM710RAW) remain the asynchronous records.
Mbnavedit: Strictly define the font definitions for pushbutton widgets
(some X11 environments are making bad choices when given latitude).
-----> 5.4.2210 (November 10, 2014)
Mbkongsbergpreprocess: Changed handling of water column records. The default
behavior is now to not write water column records to the output format 59 files.
Users can specify -W1 to have the water column records written in the output files.
Format 41 (MBF_SB2100RW): Bug fix for Seabeam format 41 so the code handles
records without the maximum number of beams. Contributed by Bob Covill.
Mbprocess: Added ability to apply static bathymetry corrections defined according
to beam angle in addition to corrections according to beam number. Contributed
by Bob Covill.
Mbvelocitytool: When loading a swath file, mbvelocitytool will now also read in
and apply an associated *.esf (edit save file) if it exists. This prevents
soundings that have been identified as bad from biasing the calculations.
Contributed by Bob Covill.
Mbm_grdcut: Fix to the manual page. Contributed by Jenny Paduan.
-----> 5.4.2209 (November 4, 2014)
MBnavadjustmerge: Completed the manual page for this new program that allows
one to merge and manipulate MBnavadjust projects.
Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Recast the i/o architecture to
handle the full variablity of multibeam data in these formats.
-----> 5.4.2208 (October 29, 2014)
Mbkongsbergpreprocess: Fixed calculation of beam
takeoff angles for raytracing from the raw range and angle data records by
including code made available by Jonathan Beaudoin. Recalculation of
bathymetry in current generation Kongsberg multibeam data appears to work
now.
Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Support Mesotech M3
multibeam data recorded in *.all files.
Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Fixed calculation of beam
takeoff angles for raytracing from the raw range and angle data records by
including code made available by Jonathan Beaudoin. Recalculation of
bathymetry in current generation Kongsberg multibeam data appears to work
now.
-----> 5.4.2204 (September 5, 2014)
Mb7kpreprocess: Changed handling of roll, pitch, and heave compensation
to deal with deep water Reson 7150 data.
Format 88 (MBF_RESON7KR): Changed handling of roll, pitch, and heave compensation
to deal with deep water Reson 7150 data.
Mbdefaults: Added control of default color and shading settings for mbgrdviz and
mbeditviz.
Format 231 (MBF_3DDEPTHP): Fixed the mbsys_3datdepthlidar_insert_nav() function
to apply changes to all pulses.
Mbgrdviz and Mbeditviz: Default color and shading settings now can be set using
mbdefaults.
-----> 5.4.2202 (August 25, 2014)
Format 88 (MBF_RESON7KR): Enlarged the maximum number of beams to 1024 in order
to handle 7150 data with >800 beams.
Format 21 (MBF_HSATLRAW): Augmented to trim trailing blank space at the end of
lines before parsing - this allows reading Hydrosweep DS data in the form
held by NIO.
-----> 5.4.2201 (August 20, 2014)
Mbm_grdplot: Added two "sealevel" color palletes that use Haxby colors for
negative values (e.g. topography below sea level) and either greens or browns
for positive values (e.g. topography above sea level). The Sealevel 2 pallette
was contributed by Jenny Paduan.
Mbeditviz: Changed default illumination parameters to magnitude=1.0 and
elevation=5.0.
Mbgrdviz: Changed default illumination parameters to magnitude=1.0 and
elevation=5.0.
Mbnavadjust: Added views for 10% coverage crossings.
Mb7kpreprocess: Added kluge function to "tweak" the beam angles as if the speed of
sound used for beamforming had been wrong.
-----> 5.4.2200 (July 24, 2014)
Format 121 (MBF_GSFGENMB): Fixed bug in which null sensor depth and altitude
values are handled incorrectly.
-----> 5.4.2199 (July 20, 2014)
Format 121 (MBF_GSFGENMB): Modified GSF 3.06 source files gsf.c gsf_indx.c to
disable recasting of fundamental file io functions (fopen(), fseek(), ftell(),
stat()) when the compile flag -DUSE_DEFAULT_FILE_FUNCTIONS is defined. This
allows MB-System builds to just use the normal file functions without changing
the build behavior of the code in other contexts. The issue is that Leidos is
supporting 64-bit file i/o in binaries for 32-bit architectures. The consequence
of this change in MB-System is that MB-System will not support GSF files that
are 2 GB or larger when built on or for 32-bit systems.
mbpreprocess: Fixed bug in merging of asynchronous attitude data. This program
is not ready for general use.
-----> 5.4.2196 (July 14, 2014)
mbotps: Added -P option to specify the location of the OTPS package.
mbsslayout: Made to work (again) with Reson 7k data with embedded Edgetech
sidescan and subbottom data.
mb7kpreprocess: Made to work (again) with Reson 7k data with embedded Edgetech
sidescan and subbottom data.
mbextractsegy: Made to work (again) with Reson 7k data with embedded Edgetech
sidescan and subbottom data.
-----> 5.4.2195 (July 9, 2014)
Format 88 (MBF_RESON7KR): Fixed bug in mbsys_reson7k_extract_altitude().
Format 132 (MBF_EDGJSTAR): Added mbsys_jstar_insert_altitude() to support
mbpreprocess and mbsslayout. Fixed handling of heading on extract and insert.
mbm_route2mission: Removed confusing juxtaposition of estimated AUV mission time
with actual AUV mission termination time in the output AUV mission script.
mbpreprocess: Added ability to merge altitude data. Tested successfully with
raw Edgetech sidescan data collected without embedded navigation, attitude,
or anything really.
mbsslayout: A new program to lay out raw sidescan onto the seafloor, most
often on a 3D seafloor topographic model. Achieved functionality, at least
for use with Edgetech sidescan data in Jstar format.
-----> 5.4.2194 (July 8, 2014)
Format 121 (MBF_GSFGENMB): Updated source files in src/gsf/ to GSF release 3.06.
Format 121 (MBF_GSFGENMB): Fixed scaling of array values in GSF files to allow
depth and distance resolutions better than 1 cm.
Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA) to support EM2040D data, in which
dual sonars ping simulatneously.
-----> 5.4.2191 (June 4, 2014)
Install_makefiles: Fixed old build system so that it successfully compiles and
links the new, unfinished program mbsslayout.
-----> 5.4.2189 (June 4, 2014)
Format 121 (MBF_GSFGENMB): Fixed bug that caused programs reading GSF data to hang
when the GSF file ends with a partial or corrupted data record.
MBeditviz: Added capability to set the color of selected soundings (e.g. soundings
associated with a particular file or particular section of trackline).
Format 88 (MBF_RESON7KR): Added support for pitch stabilization.
MB7kpreprocess: Added support for pitch stabilization in Reson 7k data.
-----> 5.4.2188 (May 31, 2014)
Format 121 (MBF_GSFGENMB): Fixed bug that caused crashes when the GSF file
contains a zero length comment.
Format 64 (MBF_MR1PRVR2): Fixed bug that caused crashes when copying data from
MR1 file to an fbt file when comments are longer than supported in fbt files.
MBnavadjust: Fixed bug that reset the selected survey while doing autopicks.
-----> 5.4.2187 (May 28, 2014)
Format 201 (MBF_HYSWEEP1): Added code to ignore bad RMB records found in some
NOAA HSX data.
Format 88 (MBF_RESON7KR): Support for calibrated snippet records (contributed
by David Finlayson).
MB7kpreprocess: Support for calibrated snippet records (contributed
by David Finlayson).
MBnavadjustmerge: Fixed to handle projects not in the current working directory.
-----> 5.4.2186 (May 26, 2014)
MBeditviz: Fixed interactive application of pitch bias and heading bias changes.
MBnavadjustmerge: New program to merge two existing MBnavadjust projects.
-----> 5.4.2185 (May 17, 2014)
MBrolltimelag: Now checks for case when all beams are flagged.
MBlist: Added beamflag values to those that can be printed ('F' or 'f').
Bathymetry editing: Fixed bug that prevented successful flagging of some beams
when files include simultaneous pings with different numbers of beams.
GSF library: Updated to new release 03.05. This release is licensed using LGPL 2.1.
-----> 5.4.2185 (May 11, 2014)
Several programs: Fixed formating error in printing system time_tm.tv_sec values.
MBsvpselect: Fixed sscanf format warning.
MBcopy: Fixed array dimensioning bug that occasionally caused buffer overflows.
MBnavadjust: Moved some declarations from mbnavadjust_prog.c to mbnavadjust.h in
preparation for breaking project i/o out into a separate source file to be shared
with the new program mbnavadjustmerge.
MBsslayout: Added shell of program under development to read sidescan in raw time
series form, lay the sidescan out regularly sampled on a specified topography
model, and output the sidescan to format 71 (MBF_MBLDEOIH) files.
HSDS formats (MBF_HSATLRAW, MBF_HSLDEDMB, MBF_HSURIVAX, MBF_HSURICEN): Fixed bug
in handling of system gain arrays (16 rather than 59 values).
MBsegygrid: Attempted to incorporate actual nonvertical geometry into the
subbottom sections - not satisfactory yet.
MBrolltimelag: Fixed bug regarding the default roll source. The program will
now work with roll values derived from survey records by default.
Format 88 (MBF_RESON7KR): Cleaned up some debug print statements.
MBinsreprocess: Incomplete new MB6 program to reprocess INS data of various sorts
to improve on realtime Kalman filtered navigation and attitude data.
MBsslayout: Incomplete new MB6 program to perform layout of time series sidescan
onto a 3D topography model. This will replace mb7k2ss and extend the functionality
to conventional sidescan data in several data formats.
Mbm_route2mission: Fixed output AUV mission script to have "\r\n" line ends on
all lines.
Format 222 (MBF_SWPLSSXP): Revised implementation of SEA SwathPlus SXP data format
(format id 222) contributed by David Finlayson.
Format 121 (MBF_GSFGENMB): Changed the source for the internally supplied GSF
library to be the new 3.05 release. This includes for the first time a proper
open source license (LGPL 2.1).
-----> 5.4.2184 (April 22, 2014)
src/bsio/Makefile.in: Added to archive (previously mistakenly left out).
-----> 5.4.2183 (April 16, 2014)
Many programs: Fixed handling of system time character string provided by
function ctime() to prevent occasional overflows.
Format 222 (MBF_SWPLSSXP): Revised implementation of SEA SwathPlus SXP data format
(format id 222) contributed by David Finlayson.
MBswplspreprocess: Preprocess program for SEA SwathPlus SXP data format
(format id 222) contributed by David Finlayson. This was formerly known as
mbsxppreprocess.
-----> 5.4.2182 (April 8, 2014)
Format 231 (MBF_3DDEPTHP): Added new raw Lidar record to be used by 3DatDepth.
Format 201 (): Corrected bug in handling of navigation in projected coordinate
systems.
mbio/mb_navint.c and mbio/mb_define.h: Added a new function mb_navint_prjinterp()
that interpolates navigation and speed from internal runnings lists assuming the
navigation is in eastings and northings rather than longitude and latitude.
-----> 5.4.2181 (April 4, 2014)
Release 5.4.2181
htmlsrc/mbsystem_home.html & htmlsrc/mbsystem_faq.html: Actually committed
pictures of Christian Ferreira and Krystle Anderson to the archive