From 28aefb9f0b6052647878de816b55634b58e7725f Mon Sep 17 00:00:00 2001
From: David Caress mb7k2jstar: This program extracts Edgetech sidescan and subbottom data from Reson s7k
+files and writes current format Edgetech Jstar format files identical to what current
+Edgetech sonars record. This functionality is needed only for MBARI Mapping AUV data from
+2004-2014, as MBARI was the only user of a payload controller software package named
+6046 from Reson that logged Reson 7125 multibeam and Edgetech FSAU sidescan/subbottom
+data in the same s7k files. Recognizing that reprocessing old Mapping AUV data requires
+this capability (and much of these data are now in public archives at MGDS and NCEI), we
+are moving mb7k2jstar back into src/utilities out of src/deprecated, so that it is always
+built as part of MB-System. Also, a bug causing seg faults with 2007 data has been fixed. Mbpreprocess: Added option --kluge-early-mbari-mapping-auv to mbpreprocess. This option
+pertains only to Reson 7125 200 kHz multibeam data collected on the first MBARI Mapping
+AUV from 2006 through 2009. Invoking this kluge triggers \fBmbpreprocess\fP to modify the
+beam quality factors to be consistent with the later (>2009) standard for the original
+bathymetry records in Reson s7k format data. Mbextractsegy: Fixed bug in extracting and plotting envelope function of subbottom data. General: Added macros to src/mbio/mbdefine.h enabling the printing of byte values as a
+binary bitmask using fprintf(). To print a single byte as binary (e.g. "01010101") do
+something like:
+ char value;
+ printf("Bitmask: "MBPRINTFBINARYPATTERNINT8"\n", MBPRINTFBYTETOBINARYINT8(value));
+Printing of larger int types has a similar form:
+ short value;
+ printf("Bitmask: "MBPRINTFBINARYPATTERNINT16"\n", MBPRINTFBYTETOBINARYINT16(value));
+ int value;
+ printf("Bitmask: "MBPRINTFBINARYPATTERNINT32"\n", MBPRINTFBYTETOBINARYINT32(value));
+ long long value;
+ printf("Bitmask: "MBPRINTFBINARYPATTERNINT64"\n", MBPRINTFBYTETOBINARY_INT64(value));
+These macros are taken from
+ https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format Format 121 (MBF_GSFGENMB): Updated to use new version of libgsf (3.10) released by Leidos.
+The following change descriptions are from the libgsf 3.10 change summary: MBnavadjust: Added autosaving the last version of a project file immediately before
+beginning to write a new file. Also fixed some inconsistencies in the UI. Mbm_trnplot: Added extraction of TRN localization estimates in longitude and latitude. Formats 88 and 89 (MBFRESON7KR and MBFRESON7K3): Fixed problem calculating sample times
for attitude data in s7k 1016 Attitude data records. MBgrid and mbmosaic: Added an option to generate grids and mosaics in a projected
coordinate system defined as a Local Transverse Mercator (LTM) projection with the origin
@@ -417,7 +512,7 @@ Mbm_trnplot: augmented to allow specifying the CRS of the reference topoography so
that a Local Transverse Mercator (LTM) projection can be used. MBextractsegy: changed calculation of section plot bounds to more consistently catch the
seafloor arrival within the plot. Formats 58 (MBFEM710RAW) and 59 (MBFEM710MBA): Removed an errant debug message that
printed out information when reading height datagrams. Mbpreprocess: Added kluge option to fix large shifts in survey record timestamps in Teledyne s7k format data (specifically MBARI Mapping AUV multibeam data collected with the sonar computer experiencing large shifts in time). This option is accessed as --kluge-fix-7k-timestamps=time Mblevitus: Fixed problem building mblevitus with the Cmake build system. The problem was
that the Levitus database location was incorrectly embedded in the compiled program. Format 261 (MBF_KEMKMALL): Fixed bug in handing pings for which there are multiple MRZ datagrams that have different timestamps. This bug resulted in MB-System dropping many pings in some deepwater Kongsberg data (mostly EM124 data). Mbedit: Fixed display of ping profiles to handle condition where a ping contains
two acrosstrack profiles, typically one aft and one forward of the sonar location. Now
@@ -451,7 +546,7 @@ MB-System Docker Container: Improved Docker documentation included in the Docker directory. CMake build system: Fixed ability to set OTPS location in cmake build system.MB-System Version 5.8 Releases and Release Notes:
+
MB-System Version 5.8 Releases and Release Notes:
-5.8.2beta07 (June 27, 2024)
+5.8.2beta09 (August 4, 2024)
+
+5.8.2beta08 (July 27, 2024)
+
+Change request GSF_03-10_01
+Support for ME70 sonars
+11/8/2021
+Sean Donovan, Leidos
+Description:
+ Added GSF_SWATH_BATHY_SUBRECORD_ME70BO_SPECIFIC subrecord identifier.
+ Added support for sonar under EM4 cases.
+Purpose:
+ To add support in GSF for the ME70 multibeam systems
+
+Change request GSF_03-10_02
+STIG Remediation to address vulnerabilities
+3/12/2024
+Dwight Johnson, NAVO
+Description:
+ Various changes to safe memory allocation and usage throughout the encoding and
+ decoding processes
+Purpose:
+ Improved Robustness
+
+Change request GSF_03-10_03
+Updates to KMALL ping level metadata
+3/12/2024
+Jonathon Beaudoin, Hydro Octave
+Description:
+ Added new variables highVoltageLevelDB, sectorTrackingCorr_DB, and
+ effectiveSignalLength_sec within the spare space of the gsfKMALLTxSector Struct.
+ Added encoding and decoding logic for these values.
+Purpose:
+ To support backscatter processing
+
+Change request GSF_03-10_04
+Resolved bug surrounding network transmission of range samples
+3/12/2024
+Jonathon Beaudoin, Hydro Octave
+Description:
+ Missing htons call added to range sample processing
+Purpose:
+ Bug Fix
+
+Change request GSF_03-10_05
+Added TVG DB to bathy ping structure
+3/12/2024
+Jonathon Beaudoin, Hydro Octave
+Description:
+ Added new array variable TVG_DB to multibeam ping struct. Added encoding and
+ decoding logic for this value.
+Purpose:
+ To support backscatter processing
5.8.2beta07 (June 27, 2024)
5.8.2beta07 (June 27, 2024)
5.8.2beta06 (June 13, 2024)
+5.8.2beta06 (June 13, 2024)
5.8.2beta06 (June 13, 2024)
5.8.2beta05 (May 19, 2024)
+5.8.2beta05 (May 19, 2024)
5.8.2beta05 (May 19, 2024)
5.8.2beta04 (May 13, 2024)
+5.8.2beta04 (May 13, 2024)
5.8.2beta04 (May 13, 2024)
5.8.2beta02 (May 1, 2024)
+5.8.2beta02 (May 1, 2024)
5.8.2beta01 (April 29, 2024)
+5.8.2beta01 (April 29, 2024)
5.8.2beta01 (April 29, 2024)
5.8.1 (March 22, 2024)
+5.8.1 (March 22, 2024)
5.8.1 (March 22, 2024)
with code to utilize realtime format 58 (Kongsberg *.all) format multibeam accessed
through a serial stream.
Format 16 (MBF_SBSIOSWB): Fixed bug that became evident when processing old Scripps SeaBeam Classic data in format 16 on a MacOs Sonoma machine. This turned out to be @@ -552,7 +647,7 @@
Mbgrid: Improved output to shell so that it shows the min max values from each contributing input file whether verbose is specified or not.
-Mbm_grdplot: Added colortable 10, which runs from blue to red and can be used for plots of seismic reflection or subbottom profiler data when the trace signals are @@ -585,29 +680,29 @@
CMake build system: Fixed ability to set OTPS location in cmake build system.
CMake build system: Added installation of header files required for external programs to utilize MB-System libraries.
-Format 261 (MBF_KEMKMALL): Updated support for Kongsberg Kmall format to match updated specification J.
-Mbphotomosaic: Fixed priority-heading option that allows image prioritization on the basis of camera heading.
-Mbphotomosaic: Added options to detect and correct dark images (for when strobe lights partially drop out), to ignore dark images, and to allow image prioritization on the basis of camera heading.
-Mbpreprocess: Now checks for successive pings/scans with the same timestamp, and adds enough time to the second timestamp (0.0000033 seconds) that these pings/scans @@ -619,7 +714,7 @@
Version 5.8.0 is now the current release of MB-System.
@@ -642,7 +737,7 @@Build Systems: Made building and installing deprecated programs optional for both the CMake and Autoconf build systems.
@@ -805,13 +900,13 @@Mbm_route2mission: Now works with both old and new format route files.
-CMake build system: Fixed creating the levitus.h header file used by mblevitus and mbconfig to define the location of the Levitus database and the OTPS installation, thereby making mblevitus and mbconfig work properly.
-Mblist: Added capability to output beam travel times, angles and other values needed to recaclulate bathymetry by raytracing.
@@ -821,7 +916,7 @@Format 192 (MBF_IMAGEMBA): Fixed correction of beam amplitude values (previously corrected values were not successfully inserted into the data structure).
@@ -837,7 +932,7 @@Mbsslayout: Fixed bug in which a command to swap the starboard and port sidescan channels was ignored.
-CMake build system: It turns out that the GSF i/o module was not getting built and used by default. The build system has been fixed so that the GSF format i/o module @@ -849,11 +944,11 @@
Mbtrnpp: Fixed use of covariances from TRN: to get x y z covariances use covariance[2], covariance[0], covariance[5] rather than 0, 1, and 2.
-Mbdatalist: Fixed an unitialized string causing intermittent failure.
-Mbinfo and mblist: Fixed bug introduced with the alternate navigation capability that caused mbinfo and mblist to fail when running on single files rather than through datalists.
@@ -871,7 +966,7 @@CMake build system: Fixed the unit testing, and enabled building unit tests by default. After "make all" is run, the unit tests can be run with "make test".
-Reading GMT grids: Fixed a very significant bug that caused GMT grids to be read into memory incorrectly by mbreadgmtgrd() in src/mbaux/mbreadwritegrd.c. The problem was @@ -881,7 +976,7 @@
Further fixes to the CMake build system, which now actually builds all components of MB-System on MacOs Ventura, Debian 11 and 12, and Ubuntu 20 and 22.
@@ -890,14 +985,14 @@Fixed the Cmake build system so that all components of the current MB-System source can be built, installed, and run on MacOs using CMake.
Updated the copyright notices in the several hundred source files.
-Read functions mbgetall(), mbget(), mbread(): Fixed bug in handling the vertical dimension while applying alternate navigation. Bathymetry were being corrected wrongly for changes @@ -913,7 +1008,7 @@
Configure.ac and Configure: Modified to find Proj on CentOs 7 systems.
-Mbnavadjust: Added an application or use mode to MBnavadjust projects. Projects can now be primary, secondary, or tertiary, with the setting found in the Controls diaglog brought up @@ -994,7 +1089,7 @@
Mbnavadjustmerge: Made copying of mbnavadjust projects more efficient.
@@ -1005,7 +1100,7 @@Mbcontour: Fixed drawing of survey tracklines - restored to generate thin lines.
-Mbm_route2mission: Modifications to accomodate changes to Dorado AUV vehicle software.
@@ -1034,7 +1129,7 @@Mbnavadjustmerge: Copying mbnavadjust projects is much more efficient due to use of a fast file copy function replacing a shell call of the program cp.
-Mbm_route2mission: Added -T option to embed use of Terrain Relative Navigation in MBARI Mapping AUV missions.
@@ -1044,7 +1139,7 @@Mbnavadjust: Fixed bug in the inversion algorithm.
-Rewrote the CMake build system based on the work of both Tom O'Reilly and Josch. This build system now works on MacOs Ventura. We will continue to augment and test using @@ -1084,7 +1179,7 @@
Formats 56 (MBFEM300RAW) and 57 (MBFEM300MBA): Fixed catastrophic bug introduced in 5.7.9beta50 that treated many signed values (like acrosstrack distance) as unsigned.
-Formats 56 (MBFEM300RAW) and 57 (MBFEM300MBA): Fixed catastrophic bug introduced in 5.7.9beta50 that treated many signed values (like acrosstrack distance) as unsigned.
@@ -1102,11 +1197,11 @@Format 89 (MBF_RESON7k3): Removed debug message inadvertently left active in 5.7.9beta50.
-General: Changed many sprintf() calls to snprintf() calls.
@@ -1125,7 +1220,7 @@Mbmgrdplot, mbmgrd3dplot, mbmhistplot, mbmplot, mbm_xyplot: Made evince one of the default Postscript viewers because it is commonly installed on Ubuntu @@ -1159,7 +1254,7 @@
Format MBF_MBARIROV (165): Added recognition for new filenaming conventions for MBARI ROV navigation files.
-Mbmosaic: Fixed parsing of the -Yprioritysource option when prioritysource is a filename.
@@ -1179,7 +1274,7 @@Mbnavadjust: Fixed interpolation of global ties to create the starting navigation model during inversions. Fixed several actions in section and reference grid mode.
-Mbnavadjust: Individual survey grids are now sized to the region of those surveys rather than the entire project. When the individual surveys are @@ -1189,12 +1284,12 @@
Mbnavadjustmerge: Added options set the mode (XYZ vs XY vs Z) of all global ties.
-Mbnavadjust: Added ability to import and use multiple reference grids for picking global ties of individual swath data sections.
-FNV files: The fast navigation or *.fnv files are created as ancillary files allowing navigation to be read without reading the full swath files. The *.fnv @@ -1235,7 +1330,7 @@
Mbprocess: Modified the threaded processing function process_file() so that each instance carries a thread id that can be checked during debugging.
-Mbphotomosaic: Fixed problem in which an image correction model from mbgetphotocorrection was read but not applied.
@@ -1243,7 +1338,7 @@Mbeditviz: Fixed display of beam info when picking in info mode in the 3D soundings display.
-Mblist and mbnavlist: Fixed failure to deallocate proj object.
@@ -1270,7 +1365,7 @@Format 261 (MBF_KEMKMALL): Fixed bug in handling beam amplitude data from null beams.
@@ -1281,18 +1376,18 @@Mbm_makedatalist: Fixed to work with *.kmall files, and added -Bsize option to impose a size threshold for files included in the output datalist.
TRN: Several fixes to the TRN (terrain relative navigation) capability.
-Mbtrnpp: Fixed decimation algorithm more so it doesn't crash in Linux.
-Mbtrnpp: Added option --auv-sentry-em2040 to configuration file and command line options in order to enable use of the special pressure depth encoding in EM2040 @@ -1301,13 +1396,13 @@
Mbtrnpp: Fixed decimation algorithm.
Mbgrdtilemaker: Fixed building of this new tool.
-Mbgrdviz: Fixed export of Risi survey scripts from routes.
@@ -1317,7 +1412,7 @@Mbgrdtilemaker: Now copies the source background grid into the directory containing the octree tiles with the name source_grid.grd.
-Mbtrnpp: Added options to set the TRN search area on the command line and in cfg files. Fixed wrapper script mbtrnpp.sh so that the number of cycles @@ -1333,25 +1428,25 @@
Mbtrnpp and other elements of the Terrain Relative Navigation infrastructure: Augment mbtrnpp command set to include new commands for forced TRN resets with specified starting navigation offsets and particle filter spread size.
-Mbtrnpp and other elements of the Terrain Relative Navigation infrastructure: Test tools and mbtrnpp command set augmented to enable using TRN in an ROV context with realtime bathymetry available via LCM - this development is not complete.
-Fixes to src/mbtrnav/Makefile.am to allow successful build of TRN tools on Mac Homebrew.
-Fixes to the Autotools build system allowing MB-System to be built in full on Arm architecture Mac computers running the Monterey OS and fixing the build of @@ -1361,13 +1456,13 @@
Fixes to the Autotools build system allowing MB-System to be built in full on Arm architecture Mac computers running the Monterey OS and fixing the build of the TRN tools on Linux.
-Mbm_trnplot: Added --display option that immediately displays the plots.
@@ -1381,7 +1476,7 @@Mbtrnpp: Improved TRN result logging, including having all log files from a session placed in the same directory named according to the start time. Also @@ -1414,7 +1509,7 @@
Mbmakeplatform: Fixed header file array definition issue that caused compile failures when testing cmake based builds.
-Mbphotomosaic: Augmented available commands that can be specified in imagelist files with --priority-weight and section-length-max. The --priority-weight allows @@ -1426,7 +1521,7 @@
Mbphotomosaic: Fixed problem specifying the image correction table file in an imagelist structure.
@@ -1463,7 +1558,7 @@Mbphotomosaic and mbgetphotocorrection: Altered the image correction table file generated by mbgetphotocorrection and read by mbphotomosaic to include the @@ -1492,7 +1587,7 @@
Mbphotomosaic and mbgetphotocorrection: Another iteration trying to get image gain and exposure correction to work correctly. Altered the imagelist file format @@ -1507,12 +1602,12 @@
Mbphotomosaic and mbgetphotocorrection: Another iteration trying to bet image gain and exposure correction to work correctly.
-Mbphotomosaic, mbgetphotocorrection, mbphotogrammetry, mbmmakeimagelist: Altered
imagelist file format and functions reading recursive imagelist structures. Now
@@ -1523,7 +1618,7 @@ Mbphotomosaic, mbgetphotocorrection: Now can correct for image gain and exposure settings. Mblist: Added K and k options to the output, where K prints the fraction of non-null
beams that are good (unflagged) and k prints the fraction of all possible beams
@@ -1538,18 +1633,18 @@ Format 89 (MBF_RESON7K3): Increased the maximum possible number of beams from 512
to 1024. Mbgrid: Enabled shifting of output grid bounds using a new -Yshiftx/shifty option. Mbtrnpp: Fixed build issue TRN libraries. Mbgrid and mbmosaic: Fixed setting output grid format with the -G option. The
definition and parsing of the options is now consistent with GMT 6. Mbm_grdplot: Fixed so that it does not crash if the input grid has either no
valid values (all are NaN) or all valid values are the same. Mbnavadjust: Made listing of survey vs survey blocks much faster. Mbnavadjust: Speeded up model tie plots and insured that changes to projects will
be saved when users quit. Mbm_route2mission: added acoustic modem status signal to MBARI AUV missions
immediately at the end of the "start survey" behavior. Most programs: Fixed possible overflow associated with code that sets user, host,
and date information to be included in output files. This functionality has been
@@ -1590,19 +1685,19 @@ Many programs and i/o modules: Increased use of assert() to prevent overflow
conditions when using sprintf to construct strings. Mbextractsegy - fixed plotting so that the last plot is correct. TRN: updated TRN documentation. Build system: Fixed location of RPC and XDR headers for Ubuntu 21. TRN: updated TRN documentation. Build system: The configure script and the resulting Makefiles are
generated using GNU Autotools 2.71 instead of 2.69.5.7.9beta21 (December 4, 2021)
5.7.9beta20 (December 1, 2021)
+5.7.9beta20 (December 1, 2021)
5.7.9beta20 (December 1, 2021)
5.7.9beta19 (November 7, 2021)
+5.7.9beta19 (November 7, 2021)
5.7.9beta18 (October 31, 2021)
+5.7.9beta18 (October 31, 2021)
5.7.9beta17 (October 16, 2021)
+5.7.9beta17 (October 16, 2021)
5.7.9beta17 (October 16, 2021)
5.7.9beta16 (August 27, 2021)
+5.7.9beta16 (August 27, 2021)
5.7.9beta15 (August 26, 2021)
+5.7.9beta15 (August 26, 2021)
5.7.9beta15 (August 26, 2021)
5.7.9beta14 (July 25, 2021)
+5.7.9beta14 (July 25, 2021)
5.7.9beta14 (July 25, 2021)
5.7.9beta13 (July 18, 2021)
+5.7.9beta13 (July 18, 2021)
5.7.9beta12 (July 4, 2021)
+5.7.9beta12 (July 4, 2021)
5.7.9beta11 (June 26, 2021)
+5.7.9beta11 (June 26, 2021)
5.7.9beta11 (June 26, 2021)
Fixed thesemacros to work with the new gmt grdinfo output that
changed for GMT 6.2.0.
Mbnavadjust: Fixed importation of swath files, which was failing. Fixed crash that happened when a navigation inversion was performed in the same session as @@ -1633,7 +1728,7 @@
Mbm_grdplot: Fixed histogram equalization in cases where grdhisteq returns an incomplete or short equalized color table.
-Mbrt raytracing functions: Added tracking of travel times in arrays returned by
mbrt() for plotting raypaths. This adds a parameter to the mbrt() function call,
@@ -1671,7 +1766,7 @@ Mbvoxelclean: Fixed application of acrosstrack and range filters. mbm_histplot: Fixed the use of the -C option to specify cellwidth for the
histogram to be plotted. Mblist: Fixed function of the -O%fnv and -O%FNV commands to produce *.fnv files. Mbpreprocess: Fixed to work with the old s7k format (88) MBF_RESON7KR.5.7.9beta09 (June 8, 2021)
5.7.9beta07 (May 7, 2021)
+5.7.9beta07 (May 7, 2021)
5.7.9beta07 (May 7, 2021)
5.7.9beta06 (March 24, 2021)
+5.7.9beta06 (March 24, 2021)
5.7.9beta06 (March 24, 2021)
files in the project directory for ping records (previously data were output
for input navigation records as well).
Mbauvloglist: Added available output field of speed calculated from the velocity vector in the kearfott.log log file, with tag calcKSpeed. Also added new -C option: @@ -1719,7 +1814,7 @@
Mbpreprocess: Fixed handling of data formats that do not have specially defined preprocessing functions. This fix was prompted by problems with SeaBeam 2112 data @@ -1738,7 +1833,7 @@
Mbareaclean: Fixed memory management bug causing crashes.
-General changes: Replacing use of strtok() function with strtokr(). Strtok() is
intrinsically not thread safe or reentrant and is considered poor use under all
@@ -1769,7 +1864,7 @@ MBeditviz and MBview: Removed unneeded functions from mbview/mb3dsoundings_callbacks.c
that were breaking test Cmake builds. Fixed bug in format 58 and 59 support for bathymetry recalculation. The per beam heave values were being calculated incorrectly when bathymetry was recalculated by raytracing. These bugs were introduced during the 2020 code modernization. Mbedit and mbnavedit: Use extern for Widget definitions in mbeditcreation.h
and mbnaveditcreation.h to avoid duplicate symbol link errors when building
code according to current C / C++ standards. The other graphical utilities
already use this construct. Version 5.7.8 is now the current release of MB-System. Changes since the 5.7.6
release include: Mblist: Added output option 'n' for survey line number. This value is only defined
for SEGY format data files (format 160). The autoconf build system had been changed so that libXt and libX11 come
before libXm in the link commands. This fixes runtime errors in all of
the graphical utilities on Linux systems. This problem probably relates
more directly to the use of the gcc compiler system. The version 5.7.7 was fatally flawed in that the graphical tools would not run
on Linux (or more probably, when built using gcc rather than llvm). The problem
@@ -1923,7 +2018,7 @@ 5.7.9beta03 (February 7, 2021)
5.7.9beta02 (January 27, 2021)
+5.7.9beta02 (January 27, 2021)
5.7.9beta02 (January 27, 2021)
5.7.9beta01 (January 18, 2021)
+5.7.9beta01 (January 18, 2021)
5.7.8 (January 17, 2021)
+5.7.8 (January 17, 2021)
5.7.8 (January 17, 2021)
5.7.8beta01 (January 17, 2021)
+5.7.8beta01 (January 17, 2021)
5.7.7 (January 17, 2021)
+5.7.7 (January 17, 2021)
5.7.7 (January 17, 2021)
libXm. This problem was fixed rapidly and a new major release 5.7.8 put the
same day.
mbdatalist: Fixed memory leak in src/mbio/mbcheckinfo.c that could occur when parsing *.inf files.
@@ -1932,7 +2027,7 @@Formats 88 (MBFRESON7KR) and 89 (MBFRESON7K3): Fixed bug in handling of PingMotion data records (7012) that caused memory overruns and seg faults.
@@ -1952,12 +2047,12 @@Mbm_makedatalist: Now ignores the most recent file when the -L option is used.
-Mbprocess: Fixed raytracking library used by mbprocess so that it is thread safe. The relevant code is in mbsystem/src/mbaux/mb_rt.c
-Format 261 (MBF_KEMKMALL): Fixed bug in handling version 0 MWC datagrams.
@@ -1983,7 +2078,7 @@Mbswath2las: Shell for not-yet-working program to export soundings from swath data to some variant of the LAS format used for point cloud data.
-Mbvoxelclean: Added option to filter based on beam amplitude minimum and maximum values.
@@ -1991,7 +2086,7 @@Mbeditviz: Fixed coloring of soundings using beam amplitude values (colormap was applied incorrectly).
-Mbeditviz: Added option to display the selected sounding point cloud with soundings colored according to associated amplitude value. Also added the @@ -2038,14 +2133,14 @@
Mbotps: Modified mbotps to place temporary files in the user's home directory instead of the current working directory when the latter case results in file paths greater than 80 characters long. This is because OTPS has it's filename variables defined as 80 character strings.
-Format 88 (MBFRESON7KR): Fixed handling of the various attitude data record types by function mbextract_nnav(), which in turn allows mbnavlist to work @@ -2054,7 +2149,7 @@
Mblist: Added output option 'n' for survey line number. This value is only defined for SEGY format data files (format 160).
-Version 5.7.6 is now the current release of MB-System. Changes since the 5.7.5 release include:
@@ -2111,7 +2206,7 @@Mbnavlist: Fixed bug in parsing -O option that sometimes resulting in the output of undesired values.
@@ -2130,7 +2225,7 @@Mbsegylist: Add print option of 'l' for the line number contained in the segy file header.
@@ -2145,12 +2240,12 @@Mbtrnpp: Fix potential variable overflow and incorrect metrics value assignment in netif code.
-Mbnavadjust: Changed "Zero All Z Offsets" action to apply to only the crossings or ties currently displayed in the list, not literally all set ties.
@@ -2161,7 +2256,7 @@Mbtrnpp: Add support for trnu client reset callback (does reset using best offset) and supporting metrics, add file swap event to reinit plot
-Format 261 (MBF_KEMKMALL): Fix to AUV Sentry mode for kmall format - zero heave in processed ping records (XMT) when platform is an AUV.
@@ -2170,7 +2265,7 @@TRN plotting scripts - changed hard coded bash location to /usr/local/bash
-mbtrnpp: Added tide model correction. Added metrics covering non-survey data publishing.
@@ -2180,36 +2275,36 @@Format 261 (MBF_KEMKMALL): Fixed embedding of changed navigation and sensordepth values by mbprocess - these values needed to be changed in both MRZ and XMT records.
-mbtrnpp: Added time stamp and position to TRN status messages generated for pings with no valid soundings. Bug fix: stats and cycle exec time metrics get incorrect values on some platforms, because of mixed reference to real time and precision clocks; now use consistent references
-mbtrnpp: Now outputs TRN status messages even when the input data do not include valid soundings and so do not get processed by TRN. Also reduced the debug level of the network interface code.
-mbtrnpp: Fixed bugs in parsing commands and also in management shellscript mbtrnpp.sh
-mbtrnpp: Fixed bug that opened a new log file at each reinitialization without closing the old log file, eventually using up all of the available file descriptors and crashing. Added some diagnostic output. Updated related test clients and servers used to demonstrate socket based i/o to and from mbtrnpp.
-mbtrnpp: Modified the socket based TRN output packet and the related internal representation.
-mbtrnpp: Now reinitializes the Terrain Relative Navigation (TRN) filter using the best available position rather than the last estimated navigation offset. @@ -2231,7 +2326,7 @@
Format 72 (MBF_MBARIMB1): Fixed bug in handling sensordepth values.
-Mbtrnpp: Changed most shell output from stdout to stderr. Altered logic for triggering TRN reinits.
@@ -2239,7 +2334,7 @@Formats 12 (MBFSBSIOCEN), 13 (MBFSBSIOLSI), 14 (MBFSBURICEN), 15 (MBFSBURIVAX): Fixed string overrun while writing long comment records.
-Format 89 (MBF_RESON7K3): Fixed handling and processing of backscatter data, which had a variety of problems. Now, the pseudo-sidescan reported by MB-System @@ -2292,7 +2387,7 @@
Mbeditviz: Now outputs error message to shell when a file can't be imported because it lacks an *.inf file.
-Mbsvplist: Added capability to extract sound velocity profile (SVP) models from MBDATACTD type records as well as MBDATASOUNDVELOCITYPROFILE type records @@ -2315,7 +2410,7 @@
Mbtrn and mbtrnav: Updates and bug fixes to replay-trn_server.
@@ -2336,7 +2431,7 @@Mblist: Fixed bug in which output in the CDL format was broken, which in turn broke output in netCDF.
@@ -2348,7 +2443,7 @@Mbphotomosaic, mbgetphotocorrection, mbphotogrammetry: Added three programs used for processing seafloor photography collected during seafloor mapping surveys @@ -2378,7 +2473,7 @@
Mblist: Fixed problem in which the centermost (nadir) beam was generally set to 0.
@@ -2398,7 +2493,7 @@Mbnavadjust: Fixed problems in the inversion algorithm. The complexity of this algorithm results from the tendency @@ -2433,7 +2528,7 @@
Mblevitus: Fixed errors that had been inadvertently created as part of commit #448. Thanks to Joaquim Luis for finding and fixing this.
-Mbgrd2obj: Had to add #ifdef's on GMT version because the number of parameters passed to gmtinitmodule() changes between GMT 5.3 through 6.0 and 6.1.
@@ -2447,7 +2542,7 @@Mbnavadjustmerge: Added function to merge two adjacent surveys into one with an internal discontinuity.
-Mbgrd2obj: New GMT module that converts GMT topographic grids to OBJ format 3D model files that can be imported to visualization software or printed on 3D @@ -2475,7 +2570,7 @@
Mbnavadjust: Changed handling of fixed surveys when updating the project grid or applying the solution. Previously the files of fixed surveys were ignored, @@ -2522,7 +2617,7 @@
Mbgrid: Fixed failure of the two gridding algorithm using beam footprints in which the footprint size blows up at low grazing angles. The fix is to not @@ -2590,7 +2685,7 @@
Code style: Tom O'Reilly and David Caress added README.md files in each of the subdirectories under src/.
-Mbvoxelclean: Fixed memory leak. Added --acrosstrack-minimum and --acrosstrack-maximum filters. Cleaned up shell informational output.
@@ -2616,7 +2711,7 @@Code style: Github user abnj contributed some code cleanup by removing $Id tags used when the code was in a Subversion repository.
-Mbprocess, mbfilter, mbvoxelclean, mbclean, mbinfo, mbdatalist: Fixed bugs in handling of status values returned by functions that caused early program @@ -2626,7 +2721,7 @@
Mbnavadjust: Fixed bugs in mbnavadjust creating by modifying the handling of function status returns.
@@ -2637,7 +2732,7 @@Format 89 (MBF_RESON7K3): Added support for data record type 7058. Also added ability to handle s7k data files missing the file header record.
@@ -2658,14 +2753,14 @@mbpreprocess: Corrected prior fix to error in calculating lever arms, which didn't include all of the sign changes needed in mb_platform.c.
mbgrid: Fixed flaw in min or max weighted mean algorithm that produced array overflows in mbgrid.
-Format 181 (MBF_SAMESURF): Fixed compiler warnings, including warnings from a mismatch of 32 bit and 64 bit integer pointers due to the early 1990's vintage @@ -2687,7 +2782,7 @@
Info files: The top level information files README, ChangeLog, and GPL have been removed. The Markdown format versions (README.md, ChangeLog.md, GPL.md) remain and have been updated.
@@ -2700,7 +2795,7 @@Build system: The configure.ac file now uses the AXCXXCOMPILESTDCXX(11) macro
to require that the code conform to the C++11 standard. Some preprocessor
@@ -2724,7 +2819,7 @@ 5.7.6beta24 (January 16, 2020)
and are executed automatically by the Travis CI service integrated with Github
whenever commits are made to the Github repository.
MBprocess, mbpreprocess, mbmakeinfo(): Altered mbprocess and mbpreprocess so that both run about half as slow (twice as fast) as before. This optimization is @@ -2795,7 +2890,7 @@
GMT modules (mbcontour, mbswath, mbgrdtiff): modified the #ifdefs to allow building with GMT 6.1 and later.
@@ -2805,7 +2900,7 @@Code stye: Kurt Schwehr is systematically altering the code to conform to best practices
-Mbprocess: Fix to handle temporary failures to read GMT grd files. The GMT grid reading code will now return with an error rather than causing the program to @@ -2820,12 +2915,12 @@
mbtrnpp: Changes by Kent Headley to mbtrnpp in src/mbtrnutils and supporting source directories src/mbtrn and src/mbtrnav.
-Mbprocess: Attempting to fix processing of format 71 files within an mbnavadjust project.
-Everything: Now fully compatible with PROJ 6.X. The configure script will detect the presence or absence of PROJ 6 or later - if the PROJ installation predates @@ -2842,7 +2937,7 @@
mbtrnpp: Fixed a number for formatting and type issues hampering building the TRN code on MacOs.
-MBeditviz: Added option to display 3D soundings colored according to the map's coloring (including selected colortabel and any histogram equalization).
@@ -2863,7 +2958,7 @@mbtrnpp: Many changes by Kent Headley to this in src/mbtrnutils and supporting source directories src/mbtrn and src/mbtrnav.
-MBnavadjust: Fixed bug in calculating the range of contour values and the size of the memory allocation for contours.
@@ -2874,7 +2969,7 @@Format 261 (MBF_KEMKMALL): Fixed preprocessing of Kongsberg multibeam data in the kmall format, particularly with regard to merging WHOI-NDSF processed navigation @@ -2910,7 +3005,7 @@
MBnavadjustmerge: Added options --unset-short-section-ties=minlength and --skip-short-section-crossings=minlength that allow the deletion or prevention @@ -2941,7 +3036,7 @@
Mbset: Fix to mbset so that the mbpnavadjmode is set to MBPNAVADJOFF instead of MBPNAVOFF and MBPNAVADJLLZ instead of MBPNAVON.
@@ -2957,7 +3052,7 @@Mbnavadjust: Changed the contouring displayed during analysis of crossings to be based on a triangular mesh representation of the bathymetry data for each @@ -2976,7 +3071,7 @@
MBIO library beam flagging and detect types: The handling of multi-pick soundings has been modified. This refers to sensors that can report more than @@ -3031,7 +3126,7 @@
Mbm_route2mission: AUV spiral descent option now includes a behavior to disable DVL aiding of the INS during the descent.
@@ -3046,7 +3141,7 @@Integration with PROJ: Reverted to use of deprecated PROJ4 API due to problems with use of projections by the mbview library. This will get fixed, but it's more @@ -3058,7 +3153,7 @@
Format MBF_GSFGENMB (format 121, Generic Sensor Format, GSF): The version of libgsf used to read and write Generic Sensor Format (GSF) files has been @@ -3094,7 +3189,7 @@
Formats MBF3DWISSLR (232) and MBF3DWISSLP (233): these i/o modules have been updated to handle both the original (v1.1) and updated (v1.2) 3D at Depth Wide @@ -3104,7 +3199,7 @@
MBnavadjust: Fixed bug that resulted in Naverr window contours not being displayed when the diference between the minimum and maximum depth of a section @@ -3113,7 +3208,7 @@
Formats MBF3DWISSLR (232) and MBF3DWISSLP (233): working towards the code successfully reading and writing the 3D at Depth WiSSL *.raa format version 1.2.
-Version: Set for release 5.7.5
@@ -3127,13 +3222,13 @@mbfilter: update man page
-Code stye: Kurt Schwehr is systematically altering the code to conform to best practices regarding header inclusion and reduced variable scope, particularly for loop indices.
-Format 89 (MBF_RESON7K3): Fixed bug in support of the Teledyne 7k version 3 format that caused mbpreprocess to crash.
@@ -3144,11 +3239,11 @@Build system: Set Autotools build system to force use of standard C (i.e. C99).
-Format 89 (MBF_RESON7K3): The Teledyne 7k version 3 format is now supported as format 89. This format is used for all multibeam sonars built by Teledyne, @@ -3175,7 +3270,7 @@
Mbvelocitytool: Fixed memory leak.
-Format 89 (MBF_RESON7K3): Progress towards support of Teledyne 7k version 3 format. The i/o module builds but is not fully functional yet. Most records parse @@ -3184,7 +3279,7 @@
Format 261 (MBF_KEMKMALL): We are close to complete with support for the new Kongsberg kmall format. Testing and debugging continues.
-Windows compatibility: A number of changes from Joaquim Luis that allow building under Windows.
@@ -3194,7 +3289,7 @@Build system: Modified configure.ac to fix a problem building with the new Proj 6.0.0. MB-System uses a longstanding Proj API that is deprecated in Proj 6. @@ -3202,14 +3297,14 @@
Mbmgrdplot, mbmgrd3dplot, mbmgrdtiff, mbmhistplot, mbmplot, mbmxyplot: Set these plot macros to use "open" on Macs and on Linux to use "gio open" if available, "xdg-open" if "gio" is not available. Also got rid of another instance of orphan file creation by the plotting shellscripts (e.g. gmt.conf$$).
-Mbmgrid: Fixed problem in which execution of mbmgrid left behind an orphaned datalist file. Also changed this macro to output a bash shellscript rather than @@ -3231,12 +3326,12 @@
Mbcopy: Fixed problem with fbt file generation by mbcopy that was introduced with 5.7.5beta2
-Format 261 (MBF_KEMKMALL): There is progress towards support for the new Kongsberg kmall format. Only EM2040 data supplied by Kongsberg is being @@ -3246,7 +3341,7 @@
Mbcopy: Changed logic so that in a full copy all data records are passed on to the output even if they generate nonfatal errors (e.g. out of time or location bounds).
-Mbm_bpr: Augmented to work with Sonardyne AMT pressure data using PRS data records in addition to PR2 records.
@@ -3254,19 +3349,19 @@Mbotps: Fixed some issues with applying a tide station correction to time models.
-Format 261 (MBFKEMKMALL): Added support for new Kongsberg kmall format with MBIO id 261 and name MBFKEMKMALL. At this point the support has memory management problems resulting in sporadic and inconsistent crashing.
-Plotting macros (mbmgrdplot, mbmgrd3dplot, mbmplot, mbmxyplot, mbmhistplot): Fixed problem with plotting macro mbmplot that caused failure of the plotting shellscript.
-Plotting macros (mbmgrdplot, mbmgrd3dplot, mbmplot, mbmxyplot, mbm_histplot): This version changes how automatically displaying the Postscript plot is handled. Previously @@ -3287,7 +3382,7 @@
All files: Updated copyright to 2019.
@@ -3315,13 +3410,13 @@Initiated use of version tagging in Git.
Generated release package using github
@@ -3345,12 +3440,12 @@mbm_dslnavfix: Removed, obsolete.
-Memory management: Fixed memory leak associated with allocation and deallocation of edit save file (*.esf) data.
-Format 121 (MBFGSFGENMB): Changed GSFlib version to 3.08. MB-System also now builds and installs the program dumpgsf. Fixed several array overruns in the GSFlib @@ -3367,7 +3462,7 @@
MBgrdtiff, mbmgrdtiff: Added -Nnudgex/nudge_y option to apply a positional offset in meters relative to the input grid or mosaic.
@@ -3393,7 +3488,7 @@Many files: Changed type of pingnumber variable from int to unsigned int.
@@ -3411,12 +3506,12 @@Format 88 (MBFRESON7KR): Corrected application of attitude offsets to bathymetry calculation in mbsysreson7k_preprocess().
-Format 88 (MBFRESON7KR): Fixed problem in the mbsysreson7k_preprocess() function in which the interpolated and time latency corrected attitude values calculated @@ -3425,7 +3520,7 @@
Mbnavadjust: Added a sorted ties list view for which the list of ties is ordered from largest misfit magnitude to smallest where the misfit is measured between @@ -3535,19 +3630,19 @@
Reson 7k V3 support: Added files mbrreson7k3.c mbsysreson7k3.c mbsys_reson7k3.h while working towards support of version 3 7k data (by Christian Ferreira).
-Mbtrnpreprocess: precruise update of mbtrnpreprocess and related tools used for optional install of AUV terrain relative navigation. Excepting for a few debug print statement changes, this matches the 20180814 mbtrnpreprocess installation of Kent Headly on MBARI Mapping AUV 2.
-Mbauvloglist: augmented dimensioning of fields array to allow up to 500 data fields.
@@ -3558,7 +3653,7 @@Mbmakeplatform: Fixed segmentation fault when modifications to the platform model are specified before a command that initializes the platform.
@@ -3576,7 +3671,7 @@Mbnavadjust: Changed so that sensordepth values are included in the navigation points stored in the project file (*.nvh file).
-Mbcontour, mbswath, mbgrdtiff, mbbackangle, mbprocess, mbgrid, mbmosaic, libmbaux, mbgrdviz, mbeditviz, mbnavadjust, libmbview: Implemented a number of low level @@ -3591,7 +3686,7 @@
src/mbtrn: Changes from Kent Headley (these tools and library are being actively developed).
-Mbgpstide: New program contributed by Gordon Keith. This program generates tide files from the height above ellipsoid data in the 'h' datagrams of Simrad files. @@ -3599,7 +3694,7 @@
Autoconf build system: Restructured to build successfully with the mbtrn capability enabled using the --enable-mbtrn option of the configure script.
@@ -3617,7 +3712,7 @@Mbnavadjust: now stores only valid, unflagged soundings in the section files, which are format 71. Previously all soundings, including null and flagged, were stored.
-Mbgrid: Modified to use correct gridding algorithm when reading fbt files lacking the sonar type value.
@@ -3640,7 +3735,7 @@Mbpreprocess and format MBF_3DWISSLR (232): Add option --kluge-fix-wissl-timestamps to fix a timestamp problem with the initial version of the 3D at Depth WiSSL (wide @@ -3653,7 +3748,7 @@
Mbm_bpr: Added ability to parse pressure data from Sonardyne AMT beacons. Also added optional smoothing of the BPR depth data used to calculate tides.
@@ -3669,7 +3764,7 @@Format 88 (MBF_RESON7KR): Fixed handling of beams when using the version 2 raw detection data records.
-Mbprocess, mbareaclean, mbclean, mbedit, mbeditviz, mbrphsbias, mbneptune2esf: Reset MBESFMAXTIMEDIFFX10 value in mbprocess.h to 0.0011 to handle old @@ -3677,13 +3772,13 @@
Mbareaclean, mbclean, mbrphsbias: Fixed the previous fixes .
-Mbprocess, mbareaclean, mbclean, mbedit, mbeditviz, mbrphsbias, mbneptune2esf: Decreased time range where multiplicity of pings will consider close records as the same from 100 to 1 microsecond.
-Mbprocess, mbareaclean, mbclean, mbedit, mbeditviz, mbrphsbias, mbneptune2esf: Fixed problem recocognizing multiplicity of pings when ping times are close to @@ -3691,7 +3786,7 @@
Mbm_makedatalist: Fixed problem with use of perl sort function when handling Kongsberg multibeam data. Also fixed problem with specifying a directory using @@ -3713,7 +3808,7 @@
Mbtrnpreprocess: Continued development of this new tool, particularly adding interprocess communication via TCP-IP sockets.
-Proj: Removed the embedded Proj source package from the MB-System archive and distribution. From now on Proj is strictly a prerequisite for building MB-System.
@@ -3728,7 +3823,7 @@Format MBF_3DWISSLP (233): Many fixes to the code supporting WiSSL lidar data.
-Format MBF_3DWISSLP (233): Rewrote the processing format for the 3D at Depth wide swath lidar (WiSSL) system delivered to MBARI in December 2017. The new @@ -3746,7 +3841,7 @@
Mbmroute2mission: Fixed generation of Dorado AUV missions with waypointbottom behaviours.
-Edit Save Files (*.esf): The edit save file format has been augmented to include a mode value that can include implicitly setting all soundings not set by a beamflag @@ -3769,16 +3864,16 @@
MBinfo: Fixed memory allocation problem that led to crashes reading data in formats MBF3DWISSLR (232) and MBF3DWISSLP (233).
-Build system: Restructure the use of the mb_config.h file so that compiling on Ubuntu 17 succeeds (issue related to stdint.h includes)
-MBinfo: Fixed bug in JSON output (Christian Ferreira)
-MBpreprocess: Added support for the 3D at Depth wide swath lidar (WiSSL) system delivered to MBARI in December 2017.
@@ -3791,11 +3886,11 @@Many source files: Changes to variable names in GMT grid header and CPT structures for GMT 6.
-MBnavadjust: fixed crashes that happened when files or surveys are held fixed.
-Mbpreprocess: Now set so that input Imagenex DeltaT data in the vendor format MBFIMAGE83P (191) will be output in the processing format MBFIMAGEMBA (192) @@ -3814,7 +3909,7 @@
Mbgrdviz: fixed bug in displaying overlays.
@@ -3825,17 +3920,17 @@Format 88 (MBF_RESON7KR): Fixed confusion between Depth and Height s7k data records.
-Mbgrdviz: Now, when overlays are displayed in mbgrdviz, the only areas rendered are those where both the primary and overlay grids are defined.
-Mbprocess: Fixed bug that caused mbprocess to (sometimes) never finish while continuing to write to the output file.
-Mbnavadjust: Fixed bug that often, but not always, caused the inversion to blow up and crash the program.
@@ -3905,7 +4000,7 @@Mbprocess: Fixed bug in which mbprocess sometimes crashed for files that have not had bathymetry edited or filtered.
@@ -3925,13 +4020,13 @@Format 88 (MBF_RESON7KR): Fixed problem handling Reson data preprocessed or processed using a version older than 5.3.2004 which in some cases causes the alongtrack and acrosstrack values to be swapped.
-MBedit: Added togglebutton to the View menu that allows to control whether flagged soundings are displayed (previously flagged but valid soundings were @@ -3950,11 +4045,11 @@
MBgrdtiff, mbcontour, mbswath, mbps: Changed defines in *.c files to reflect the versioning of GMT 6
-MBnavadjust: Fixed bug that preventing importing data into a new project.
-Applied reformatting to all *.c and *.h files using the tool clang-format as suggested by Joaquim Luis.
@@ -3963,14 +4058,14 @@Updated mbotps to use the current best OSU tidal model (atlastpxo81).
-Format 88 (MBF_RESON7KR): Fixed a couple of bugs in the i/o module identified by Kurt Schwehr.
Format 121 (MBF_GSFGENMB): Fixed handling of attitude records.
-MBdatalist: Fixed bug involving operating on datalist files other than the default datalist.mb-1.
@@ -3989,7 +4084,7 @@MBinfo: Fix bug in XML output disabling output of minimum good beam counts in some cases.
-MBpreprocess: Fixed generation of *.baa, *.bsa, and *.bah files so they include only data relevant to the associated swath file, which means samples from @@ -4007,7 +4102,7 @@
MBpreprocess and MBeditviz: Changed the ancillary files used to store the asynchronous attitude and heading data used by MBeditviz for time latency modeling @@ -4022,7 +4117,7 @@
MBswath: Fixed bug that caused occasional crashes.
-Formats 56 and 57 (MBFEM300RAW and MBFEM300MBA): Fixed handling of sensordepth and heave data by mbpreprocess and mbprocess. Tide correction and recalculation @@ -4037,12 +4132,12 @@
Mbdatalist: Now supports long command line options (old short options are deprecated but still work).
-Mbpreprocess and Format 88 (MBF_RESON7KR): Fixed application of kluge-beam-tweak option for Reson 7k (format 88) data.
-Formats 58 and 59 (MBFEM710RAW and MBFEM710MBA): Fixed memory leak.
@@ -4053,7 +4148,7 @@Mbm_arc2grd: Rewritten to use GMT modules grdconvert and grdedit.
-Formats 58 and 59 (MBFEM710RAW and MBFEM710MBA): Fixed handling of sensordepth and heave data during preprocessing. Program mbkongsbergpreprocess is now @@ -4074,7 +4169,7 @@
All i/o modules: Added sensordepthsource to the arguments of the mbrinfo_XXXXXXXX() functions in the i/o modules.
@@ -4093,7 +4188,7 @@Mbm_makedatalist: Added option to suppress processed files (e.g. *p.mb88) from inclusion in the output datalist.
-Mbm_makedatalist: Major capability augmentation for this tool, preparing for automated setup of the processing environment. This macro will now construct @@ -4106,7 +4201,7 @@
Mbm_grd2arc: Fix provided by Monica Schwehr for compatibility to *.grd files generated with the current GMT.
-Mbmplot, mbmgrdplot, mbmxyplot, mbm3dgrdplot: Changes to the manual pages to reflect the new syntax for map scales (the -MGL option in the MB-System plot @@ -4127,11 +4222,11 @@
Format 121 (MBF_GSFGENMB): Integrated latest release of GSF from Leidos (3.07)
-Mbsvpselect: Fixes by Ammar Aljuhne and Christian Ferreira of MARUM.
-Mb7kpreprocess: Fixed bug in handling old MBARI Mapping AUV with navigation and attitude data in deprecated "Bluefin" records.
@@ -4146,7 +4241,7 @@Format 231 (MBF_3DDEPTHP): Fixed bug in handling angular offset values in preprocessing.
-Mblist: Added ability to output positions in a projected coordinate system, to output positions of the sensor instead of soundings or pixels, or to output @@ -4158,7 +4253,7 @@
Mbnavadjust: Now outputs the altered project less frequently (every tenth new tie instead of every tie).
-Mbnavedit: interpolation of selected navigation values now also flags the original values so they are not used in calculating a navigation model.
@@ -4169,7 +4264,7 @@Mbnavadjust: prevent occasional corruption of the mbnavadjust project by not allowing excessively large offset values to result from unstable inversions.
-Mbinfo: applied fixes from Suzanne O'Hara to JSON output from mbinfo.
@@ -4187,7 +4282,7 @@Mbnavadjust: Fixed auto set vertical level function to use the same block inversion now used for the first stage of the main inversion. Also set this function so that @@ -4197,7 +4292,7 @@
Mbnavadjustmerge: Fixed import and export of tie lists to allow moving ties between projects.
-Mbm_makesvp: added capability to extract sound speed values from survey data records as well as ctd data records, and to optionall produce sound speed models extending @@ -4212,14 +4307,14 @@
Mbprocess: fixed rare singularity in the raytracing code.
-Mbsvplist: Added -R command to set longitude-latitude bounds within which the -S option will cause ssv values to be output.
Mbgrdviz: Added start5 and end5 waypoint types to routes.
-Mbnavadjust: Added a first step in the inversion in which mbnavadjust solves for average offsets for each survey ("block"). The offsets associated with this @@ -4227,11 +4322,11 @@
Fixed some typos preparing for full release.
-mbmakeplatform: fixed bug that caused core dumps when built with gcc.
@@ -4263,7 +4358,7 @@mbprocess: fixed correction of sidescan and amplitude data using topographic grid so that the correction is actually calculated and applied.
-Mbnavadjustmerge: Added --set-ties-xyonly-by-time=timethreshold option.
@@ -4273,7 +4368,7 @@Mbedit: Changed behavior so that using the slider to change the number of pings viewed also changes the number of pings to step proportionately.
-Mbnavadjustmerge: Added --unset-skipped-crossings-by-block=survey1/survey2 and --unset-skipped-crossings-between-surveys options, and made the @@ -4283,7 +4378,7 @@
Mbclean: Added option to flag outer beams and/or unflag inner beams by acrosstrack distance (-Y option).
-Bathymetry editing (mbedit, mbeditviz, mbclean, mbareaclean): fixed problem in which mbprocess failed to successfully apply new edits generated using mbeditviz @@ -4293,13 +4388,13 @@
Mbm_grdtiff: Added support for image display program feh.
-Mbkongsbergpreprocess (Formats 58 & 59): Fixed modification of pngxducerdepth value to not include lever arms or heave, as SIS records sensor depth value in height datagrams that are already compensated for lever arms and heave.
-Mbmxyplot, mbmgrdplot: fixed problem generating plots using linear axes. Recent changes to GMT cause gmt mapproject to generate an error when passed non-map @@ -4333,7 +4428,7 @@
MBeditviz: Added algorithm to flag isolated soundings by analyzing the 3D distribution of currently selected soundings. Soundings are flagged in voxels @@ -4347,7 +4442,7 @@
Format 231 (MBF_3DDEPTHP): Now handles files with broken data records a bit more gracefully.
-MBnavadjust: Fixed display of navigation in visualization view. Fixed overwriting of zoffsetwidth value when projects are read in. Fixed autopicking when view mode @@ -4360,7 +4455,7 @@
General: Fixed several warnings generated by the new gcc version in Ubuntu 16.
-Configure.cmd and "How to Get" web page: Updated with instructions for installing in Ubuntu, including Ubuntu 16.04.
@@ -4384,7 +4479,7 @@Many source files: Fixed a number of warnings related to typing and prototyping issues.
-MBnavadjust: Added numbers of crossings and ties to the table listing of survey-vs-survey blocks.
@@ -4392,7 +4487,7 @@Formats 58 and 59 (MBFEM710RAW & MBFEM710MBA): added EM850 to supported third generation Kongsberg multibeams.
-MBnavadjust: Now plots ties within missions (surveys) in dark blue and ties between mission in light blue in the bathymetry visualization.
@@ -4401,7 +4496,7 @@MBkongsbergpreprocess, and formats 58 (MBFEM710RAW) and 59 (MBFEM710MBA) for current generation Kongsberg multibeam data: Changed so that the default source @@ -4420,7 +4515,7 @@
Mbnavadjust: Added integrated mbgrdviz-style visualization of the bathymetry in an Mbnavadjust project. Users can select crossings or ties by clicking on the @@ -4442,7 +4537,7 @@
Mbeditviz: Added capability to do automated optimization for bias parameters from the 3D soundings view. Optimization options are accessed from the "Action" @@ -4460,7 +4555,7 @@
Documentation: Corrected instructions for building MB-System on Ubuntu machines.
-Mbgrid, mbmdslnavfix, mbmgrd2arc, mbmgrd3dplot, mbmgrdplot, mbmgrdtiff, mbmhistplot, mgmplot, mbmutm, mbm_xyplot: Replaced call to "grdinfo" with @@ -4475,7 +4570,7 @@
MBnavadjustmerge: Enabled exporting and importing lists of ties.
-Formats 58 (MBFEM710RAW) and 59 (MBFEM710MBA) for current generation Kongsberg multibeam data: Fixed problems handling tide correction and applying heave when @@ -4512,7 +4607,7 @@
Mbpreprocess: Now called format-specific preprocess function if available and applied generic preprocessing otherwise. The first format specific preprocessing @@ -4528,7 +4623,7 @@
Mbeditviz: Fixed application of time latency to sonardepth.
-Mbnavadjust: Added output of route files including all unfixed ties for each survey and all crossings for each survey.
@@ -4550,7 +4645,7 @@Mbpreprocess: Using platform functions to handle sensor offsets. Read platform file or command line offsets and calculate sensor offsets. Updated bathymetry @@ -4562,7 +4657,7 @@
Mbeditviz: Improved the way to handle sensor offsets. Improved mbeditvizapplytimelag the way to handle angles corrections. Cleaned @@ -4572,7 +4667,7 @@
Mbnavadjust: Set limits on application of smoothing via penalizing the first and second derivatives of the navigation pertuturbation (particularly the @@ -4583,7 +4678,7 @@
Mbprocess: Fixed problem with handling of sensor depth changes due to tide correction or lever arm correction.
-Autotools build system: Disabled dist and distclean targets in the makefiles produced by the configure script. We do not use the autotools system to @@ -4601,12 +4696,12 @@
Mbedit, mbnavedit, mbnavadjust, mbvelocitytool: Fix X11 font initialization problem created in the 2251 commit.
-Mblist, mbnavlist, mbctdlist: Changed time outputs so that decimal second values will be formatted according to the locale (e.g. decimal delineation by @@ -4616,7 +4711,7 @@
Mbedit, mbnavedit, mbvelocitytool, mbgrdviz, mbeditviz: Removed call to X11 function XtSetLanguageProc() in all graphical tools. This call apparently @@ -4637,7 +4732,7 @@
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 @@ -4654,18 +4749,18 @@
Mb7kpreprocess: initial implementation using the new platform file and structure definitions.
-Mbgrdviz and mbview: Fixed casts between int and pointer that seem to be responsible for mbgrdviz crashes.
-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.
-Mbswath, mbcontour, mbgrdtiff: Updated GMT5 header files in src/gmt to enable building on Ubuntu Linux, CentOs Linux, and CygWin while maintaining @@ -4674,16 +4769,16 @@
Mbedit, mbnavedit, mbvelocitytool, mbgrdviz, mbeditviz: Incomplete tweaks to font handling to enable use of fonts other than Helvetica, Times, and Courier.
-Rewrote the configure.ac file to fix logic flaws in the configure script.
-Mbswath, mbcontour, mbgrdtiff: Updated files in src/gmt for compatibility with GMT 5.1.2.
-Format 59 (MBF_EM710MBA): Fixed flag causing erroneous warning that beam flags are not supported for this format (beam flags are supported).
@@ -4691,13 +4786,13 @@Many source files: further changes to precompiler directives suggested by Joaquim Luis in order to enable building under Windows.
-Format 241 (MBF_WASSPENL): Fixed recognition of *.nwsf suffix.
Mbclean: fixed bug in beam position calculation identified by Joaquim Luis.
-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 @@ -4721,7 +4816,7 @@
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.
-Mbnavadjust: Recast and improved the inversion. Added a "perturbation" model display which does not include the average offsets between the individual surveys @@ -4736,12 +4831,12 @@
Mbbackangle: Fixed mbm_grdplot call to no longer use an obsolete option.
-Mbnavadjust, mbnavedit: Removed references to GMT and netCDF in the Makefile.am file in both source directories.
-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 @@ -4770,7 +4865,7 @@
Mbm_route2mission: Added multibeam maximum range value.
-Plot macros (mbmgrdplot, mbmgrd3dplot, mbmgrdtiff, mbmhistplot, mbmplot, mbmxyplot): Now generate plotting scripts that will not attempt to display the @@ -4792,7 +4887,7 @@
Mbprocess: Reduced informational output when not in verbose mode to make the output from use of mbm_multiprocess cleaner.
-Release 5.5.2233
@@ -4802,7 +4897,7 @@Mbmroute2mission: Now allows the maximum planned climb rate of the AUV to be specified with the -U option
-Mbmplot, mbmgrdplot, mbm_grd3dplot, mbhistplot: Changed handling of gmt defaults so that any local gmt.conf file is deleted before any gmtset calls are made, and @@ -4811,14 +4906,14 @@
Mbswath: fixed calculation of beam or pixel footprints in mode requesting real footprint plotting.
-Mb7kpreprocess: Switched beam angle calculation to the mb_beaudoin() function already used by mbkongsbergpreprocess (contributed by Jonathan Beaudoin).
Mbm_bpr: Made compatible with GMT5.
-Mbgrdtiff: Fixed ordering of rows and columns in the output image.
@@ -4835,7 +4930,7 @@Mbrolltimelag: Fixed automatically generated roll-slope correlation plot.
-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.
@@ -4851,7 +4946,7 @@Mbcontour, mbswath: More changes for compatibility with GMT5.
-Installmakefiles: the old installmakefiles build system no longer functions and has been removed.
@@ -4874,7 +4969,7 @@Mbnavadjust: Fixed fixed memory management issue related to fbt files.
@@ -4945,11 +5040,11 @@Mbpreprocess: Moved toward correct handling of sensor offsets.
-Mbinfo: Fixed JSON format output to file (previously missed final closing bracket).
-Mbclean: Implemented additional flagging tests contributed by Suzanne O'Hara, including speed range (-Pspeedmin/speedmax), ping navigation bounds @@ -4960,7 +5055,7 @@
Format 71 (MBF_MBLDEOIH) and fbt files: fixed a problem with the i/o module as updated in 5.4.2216.
-Format 251 (MBF_PHOTGRAM): We have added a new data format and associated data system supporting photogrammetric topography calculated from stereo pair @@ -5009,7 +5104,7 @@
General: The sort function and related comparison function declarations in MB-System have been corrected to be consistent with qsort() from stdlib.
-Mbkongsbergpreprocess: Added -E option to allow specification of offsets between the depth sensor and the sonar. This is relevant only to submerged platforms @@ -5024,7 +5119,7 @@
Mbnavedit: Strictly define the font definitions for pushbutton widgets (some X11 environments are making bad choices when given latitude).
-Mbkongsbergpreprocess: Changed handling of water column records. The default behavior is now to not write water column records to the output format 59 files. @@ -5044,7 +5139,7 @@
Mbm_grdcut: Fix to the manual page. Contributed by Jenny Paduan.
-MBnavadjustmerge: Completed the manual page for this new program that allows one to merge and manipulate MBnavadjust projects.
@@ -5052,7 +5147,7 @@Formats 58 (MBFEM710RAW) and 59 (MBFEM710MBA): Recast the i/o architecture to handle the full variablity of multibeam data in these formats.
-Mbkongsbergpreprocess: Fixed calculation of beam takeoff angles for raytracing from the raw range and angle data records by @@ -5069,7 +5164,7 @@
Mb7kpreprocess: Changed handling of roll, pitch, and heave compensation to deal with deep water Reson 7150 data.
@@ -5086,7 +5181,7 @@Mbgrdviz and Mbeditviz: Default color and shading settings now can be set using mbdefaults.
-Format 88 (MBF_RESON7KR): Enlarged the maximum number of beams to 1024 in order to handle 7150 data with >800 beams.
@@ -5095,7 +5190,7 @@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 @@ -5113,12 +5208,12 @@
Mb7kpreprocess: Added kluge function to "tweak" the beam angles as if the speed of sound used for beamforming had been wrong.
-Format 121 (MBF_GSFGENMB): Fixed bug in which null sensor depth and altitude values are handled incorrectly.
-Format 121 (MBFGSFGENMB): Modified GSF 3.06 source files gsf.c gsfindx.c to disable recasting of fundamental file io functions (fopen(), fseek(), ftell(), @@ -5132,7 +5227,7 @@
mbpreprocess: Fixed bug in merging of asynchronous attitude data. This program is not ready for general use.
-mbotps: Added -P option to specify the location of the OTPS package.
@@ -5145,7 +5240,7 @@mbextractsegy: Made to work (again) with Reson 7k data with embedded Edgetech sidescan and subbottom data.
-Format 88 (MBFRESON7KR): Fixed bug in mbsysreson7kextractaltitude().
@@ -5163,7 +5258,7 @@Format 121 (MBF_GSFGENMB): Updated source files in src/gsf/ to GSF release 3.06.
@@ -5173,12 +5268,12 @@Formats 58 (MBFEM710RAW) and 59 (MBFEM710MBA) to support EM2040D data, in which dual sonars ping simulatneously.
-Install_makefiles: Fixed old build system so that it successfully compiles and links the new, unfinished program mbsslayout.
-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.
@@ -5190,7 +5285,7 @@MB7kpreprocess: Added support for pitch stabilization in Reson 7k data.
-Format 121 (MBF_GSFGENMB): Fixed bug that caused crashes when the GSF file contains a zero length comment.
@@ -5200,7 +5295,7 @@MBnavadjust: Fixed bug that reset the selected survey while doing autopicks.
-Format 201 (MBF_HYSWEEP1): Added code to ignore bad RMB records found in some NOAA HSX data.
@@ -5213,13 +5308,13 @@MBnavadjustmerge: Fixed to handle projects not in the current working directory.
-MBeditviz: Fixed interactive application of pitch bias and heading bias changes.
MBnavadjustmerge: New program to merge two existing MBnavadjust projects.
-MBrolltimelag: Now checks for case when all beams are flagged.
@@ -5230,7 +5325,7 @@GSF library: Updated to new release 03.05. This release is licensed using LGPL 2.1.
-Several programs: Fixed formatting error in printing system timetm.tvsec values.
@@ -5274,11 +5369,11 @@src/bsio/Makefile.in: Added to archive (previously mistakenly left out).
-Many programs: Fixed handling of system time character string provided by function ctime() to prevent occasional overflows.
@@ -5290,7 +5385,7 @@Format 231 (MBF_3DDEPTHP): Added new raw Lidar record to be used by 3DatDepth.
@@ -5301,14 +5396,14 @@Release 5.4.2181
htmlsrc/mbsystemhome.html & htmlsrc/mbsystemfaq.html: Actually committed pictures of Christian Ferreira and Krystle Anderson to the archive
-htmlsrc/mbsystemhome.html & htmlsrc/mbsystemfaq.html: Updated references to the MB-System team in the html documentation to include Christian Ferreira @@ -5344,11 +5439,11 @@
MBroutetime: Now exits with error message if no start line or end line waypoints are read from the input route file.
-Release 5.4.2176
-Configure.ac: Removed reference to src/mbsvptool (src/mbsvptool/mbsvptool.c was moved to src/utilities/mbsvpselect.c for 5.4.2173).
@@ -5372,7 +5467,7 @@All source files: Updated copyright notices to 2014.
-MBsvpselect: Added program contributed by Ammar Aljuhne and Christian Ferreira of MARUM (University of Bremen). This program chooses and implements the best @@ -5388,7 +5483,7 @@
MBpreprocess: Added an incomplete manual page for this incomplete MB-System 6 program.
-MBmosaic: Added option to apply priorities based on the platform heading.
@@ -5422,15 +5517,15 @@Mbinfo: Fixed bug in variance calculation (memory overwrites of the relevant arrays).
-Format 241 (MBF_WASSPENL): Made format suffix ".000" recognizable as format 241.
-Format 241 (MBF_WASSPENL): added new format for WASSP multibeam sonar.
@@ -5441,7 +5536,7 @@Mbauvloglist: added capability to merge navigation from external files.
-Format 71 (MBF_MBLDEOIH): fixed a recently introduced error in scaling of bathymetry values. This error impacts the fbt files, and consequently will @@ -5451,7 +5546,7 @@
MBextractsegy: Fixed so correct navigation is inserted in both the source and group position fields in the segy traceheader.
-Format 88 (MBF_RESON7KR): fixed crash when generating sidescan from pings with no valid beams.
@@ -5459,22 +5554,22 @@Build system: Altered so the configure script works with standard options.
-MBedit: fixed use of beamflag setting macros that were messed up yesterday.
-General: fixed many compiler warnings.
General: implemented changes suggested by Joaquim Luis in order to enable building MB-System on Windows systems.
-Release 5.4.2159.
-Many changes, including: - Support for new format of lidar data @@ -5489,7 +5584,7 @@
Mbm_makesvp: New macro to extract sound speed and depth data from a datalist of swath files, and generate a sound velocity profile model from averages of the @@ -5498,7 +5593,7 @@
MBvelocitytool: Fixed problems with bad calculations after loading more than one swath data.
@@ -5514,7 +5609,7 @@MBkongsbergpreprocess, MB7kpreprocess, MBhysweeppreprocess, mbprocess: Fixed errors in navigation interpolation introduced in 5.4.2152.
@@ -5523,11 +5618,11 @@Committed from CCGS Sir Wilfrid Laurier at 116d 04.4876' W, 68d 57.30' N.
-Format 201 (Hysweep HSX): fixed sign error in handling of pitch values.
-Formats 58 (Kongsberg raw), 59 (Kongsberg extended), 88 (Reson 7k): Fixed problem with interpolation of heading for Kongsberg and Reson data. @@ -5541,7 +5636,7 @@
Build system: Applied patch contributed by Frank Delahoyde with additional fixes to configure.ac and the src/*/Makefile.am files.
-Many *.c files: hundreds of small changes to eliminate compiler warning messages on various types of systems.
@@ -5549,23 +5644,23 @@Build system: Changes to configure.ac, autogen.sh, and src/*/Makefile.am files based on suggestions from Frank Delahoyde of SIO and Kurt Schwehr of Google.
-Src directories src/mbio and src/utilities: Fixed a number of debug print statements that treated pointer values as %ul rather than %p.
-Buildsystem: More tweaking of configure.ac file, including making the comments output more sensible.
-Buildsystem: More tweaking of configure.in file trying to get MB-System to build on Ubuntu 12.04.02LTS. Moved configure.in to configure.ac to conform to current autoconf file naming conventions.
-Buildsystem: Added src/mbgrdviz/Makefile.in and src/mbeditviz/Makefile.in to the subversion source archive.
@@ -5578,23 +5673,23 @@Format 121 (GSF): Now recognizes and appropriately treats null values for position, attitude, speed, and sonar depth.
-MBsxppreprocess: Added nonfunctional stub for program mbsxppreprocess to be developed by David Finlayson.
-Build system, MBgrdviz, MBeditviz, MBview: Moved source files for MBgrdviz and MBeditviz from src/mbview to src/mbgrdviz and src/mbeditviz, respectively. This move separates the application source files for MBgrdviz and MBeditviz from the source files of the mbview library.
-Build system: Further modification to the src/mbview/Makefile.am file.
-Build system: Further modifications to the Makefile.am files.
@@ -5606,26 +5701,26 @@MBgrdviz: Added capability to launch mbnavedit and mbvelocitytool on selected swath data (contributed by Christian Ferreira).
-Build system: Still attempting to fix problems with the autoconf build system on Ubuntu machines. Change mbsystem/src/opts/Makefile.am so that building this utility does not depend on GMT libraries (since it doesn't).
-Build system: Attempted to fix problems with the autoconf build system on Ubuntu machines. Reset the automake version to 2.65 from 2.69 as specified in the mbsystem/configure.in file. Also added a conditional reference to libmbgsf to the requirements for mbcopy in mbsystem/src/utilities/Makefile.am.
-Mbdatalist: Fixed generation of old-format fbt files.
Web page documentation: Updated basic web pages included in the distribution.
-Heading and nav interpolation (src/mbaux/mbspline.c): Fixed function mblinearinterpdegrees() so that negative latitude values are allowed.
@@ -5633,7 +5728,7 @@Mbkongsbergpreprocess: Added checking so that interpolated heading and navigation are in the correct domains.
-Heading and nav interpolation (src/mbaux/mbspline.c): Modified function mblinearinterpdegrees() so that return values must be in the range @@ -5648,7 +5743,7 @@
Format 88 (Reson s7k): Fixed layout of snippet backscatter into sidescan in the near-nadir region.
@@ -5672,7 +5767,7 @@Build system: Attempted to implement changes to the build system suggested by Kurt Schwehr and Hamish Bowman.
@@ -5693,7 +5788,7 @@Mblist: Fixed bug that flagged as bad all sidescan pixels with negative values.
@@ -5717,7 +5812,7 @@Many changes implementing fixes to the new build system from Bob Covill, Hamish Bowman, and Christian Ferreira. Moved key auto-generated header file @@ -5735,7 +5830,7 @@
Changed the header of the mbm_* perl macros to #!/usr/bin/env perl as suggested by Hamish Bowman and Kurt Schwehr.
-Configure.cmd: Added -DBYTESWAPPED to the recommended pre-options for the configure script on Macs.
@@ -5743,7 +5838,7 @@MBFEM710RAW (format 58) and MBFEM710MBA (format 59): Added EM2045 to the list of supported Kongsberg multibeam sonars (also known as the EM2040D).
-Build System: Have implemented an autotools-based build system with a configure script, following on the initial work by Bob Covill and others. @@ -5752,7 +5847,7 @@
Mbprocess: Fixed a couple more mistakes on lines 5659 and 5662 in mbprocess.c.
-Perl macros: Renamed all perl source files in mbsystem/src/macros by removing the *.pl suffix. This is another change to allow use of the GNU autotools for @@ -5803,12 +5898,12 @@
Mbsvplist: Added -N option to limit the number of SVP profiles that can be output. (contributed by Suzanne O'Hara)
-Mbprocess: Fixed bug in mbprocess in which angle rotation calculations mixed degrees and radians when attitude is merged as part of an external navigation @@ -5817,7 +5912,7 @@
Mbsvplist: Added -T option to output CSV delimited table (contributed by Suzanne O'Hara)
-Formats 221 and 222: Added empty i/o module files to ultimately support two new formats, both handling data from SEA SWATHplus interferometric sonars: @@ -5829,7 +5924,7 @@
Many files: fixed issues that result in compiler warnings.
@@ -5843,7 +5938,7 @@Format 121 (GSF): Added fix from Christian Ferreira to reset the depth_corrector value to zero if necessary
-Mb7k2ss: Fixed line breakouts so that the first line is output separate from the second.
@@ -5863,7 +5958,7 @@Mbdatalist: Recast the output format for the -S option. One now gets a single line of output for each file unless the -V option is also specified.
-Formats 58 and 59 (mbf): The calculation of "sidescan" from raw backscatter samples has been improved. The sidescan can now be successfully @@ -5892,7 +5987,7 @@
Mbm_plot: Updated macros to derive system defaults from mbdefaults.
-MBkongsbergpreprocess: Fixed calculation of transmit time for sector subpings.
@@ -5902,18 +5997,18 @@MBgrdviz: Added export of routes to Hypack lnw format and to degrees + decimal minutes format.
-Mb7k2ss: Program exits if topography grid specified but reading the file fails.
-Mb7k2ss: Fixed plotting correlation functions.
Mbm_xyplot: Fixed handling of NaN values in input data - no longer includes NaN inputs in sorting to determine min max.
-Format 88 (mbf_reson7kr): Fixed some debugging print statements of hexadecimal values.
@@ -5943,21 +6038,21 @@Format 21 (mbf_hsatlraw): Fixed failure to initialize the internal storage structure.
-Format 94 (mbf_l3xseraw): Fixed bug causing memory faults in Linux when data with large svp records are encountered. SVP records can now have as many as 8192 entries.
-Mbkongsbergpreprocess: Fixed bug causing seg faults on Linux
-Format 88 (mbf_reson7kr): Removed debug messages left in by mistake
-Format 88 (mbf_reson7kr): Fixed reporting of angular beam widths, particularly for pre-2009 data in which the alongtrack value was reported incorrectly.
@@ -5965,24 +6060,24 @@Mbgrid: Changed the weighted footprint algorithm to correctly use the beamwidth scaling parameter set with the -W option.
-Format 88 (mbf_reson7kr): Fixed a bug introduced at 5.3.2004 in first-time parsing of current Reson 7k data that caused erroneous flagging of some beams.
-Mbkongsbergpreprocess: Fixed -O option to direct all output to a single file. Mb7kpreprocess: Fixed -O option to direct all output to a single file.
-Mbkongsbergpreprocess: Fixed -D option to put output files in the specified directory.
-Mbsvplist: Added -M option to control SVP printing. If mode=0 (the default), then the first SVP of each file will be output, plus any SVP that is different from @@ -6011,7 +6106,7 @@
Mbprocess: Altered mbprocess so that input SVP files are checked for zero thickness layers.
-Mbsvplist: Added -S option to output surface sound speed from survey data rather
@@ -6036,7 +6131,7 @@Mbmosaic: Fixed azimuthal priority weighting so that directional mosaicing is more reliable.
-Mbinfo: Changed mbinfo to gracefully handle the situation of reading a file that has no data records while the -P option is specified (gracefully means not @@ -6044,7 +6139,7 @@
Mbmosaic: fixed bug in the use of the azimuth weighting factor.
-Mbm_route2mission: Added multibeam pulse length as a command line argument.
@@ -6054,7 +6149,7 @@Format 88 (mbf_reson7kr): Fixed bug that caused seg faults with pings that have no valid soundings.
-Mb7kpreprocess: Added -C option to apply roll bias and pitch bias during preprocessing. Fixed rotation calculations so that side-looking and up looking mapping data can be handled @@ -6073,9 +6168,9 @@
Formats 56 (mbfem300raw) and 57 (mbfem300mba): added support for asynchronous attitude output, in particular by mbnavlist -K18.
-Mbfilter: when filtering sidescan the output file now includes any bathymetry available in the original file. The bathymetry can be used by mbmosaic for calculating apparent grazing @@ -6113,7 +6208,7 @@
Mbmgrdplot & mbmgrdtiff: Fixed application of strict color table bounds in mbmgrdplot and mbmgrdtiff.
@@ -6130,7 +6225,7 @@Format 71 (mbf_mbldeoih): Implemented automatic scaling of sidescan values to improve fidelity of stored values to the original values.
@@ -6155,7 +6250,7 @@MBnavadjust now treats data from interferometric sonars different than data from other sonars. When interferometric bathymetry is imported, the many soundings @@ -6181,7 +6276,7 @@
Added -MXexcludepercent option to mblist to exclude a user defined percentage of outer beams from mblist output. (contributed by Suzanne O'Hara)
-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.
@@ -6209,7 +6304,7 @@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.
@@ -6217,7 +6312,7 @@Fixed error in the definition of the OMG HDCS format in mbf_omghdcsj.h This fix provided by Bob Covill.
-Augmented support for L3 XSE format (94) so that data from recent SeaBeam 3000 and SeaBeam 3050 multibeams can be processed.
@@ -6260,7 +6355,7 @@Removed ($[) = 0 initializations from all perl macros for compatibility with the current version of perl.
@@ -6315,7 +6410,7 @@Fixed sidescan filtering with mbfilter. The filtered sidescan output in format 71 files had incorrect acrosstrack locations.
@@ -6336,7 +6431,7 @@Added output of raw values from current generation Kongsberg data (formats 58 and 59) to mblist.
-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 @@ -6378,7 +6473,7 @@
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.
-Added preliminary support for HYSWEEP HSX format as MBIO format 201. Added program mbhysweeppreprocess to preprocess the HSX data.
@@ -6386,7 +6481,7 @@GSF 3.03 update.
-Formats 58 and 59 (third generation Kongsberg multibeam data): Augmented code to handle bathymetry data in which beams are reported @@ -6397,7 +6492,7 @@
Program mbnavlist: Fixed attitude record output so that use of -K18, -K55, -K56, or -K57 @@ -6409,7 +6504,7 @@
Program mblist: Added output of beam bottom detection algorithm (amplitude or phase) @@ -6445,7 +6540,7 @@
Program mbnavadjust: Added -D option to invert foreground (normally black) and background @@ -6691,7 +6786,7 @@
Augmented mbotps to output tide in both time_d tide @@ -6738,7 +6833,7 @@
Altered -P option in mbsvplist. Previously this option (which turns on bathymetry recalculation by raytracing in mbprocess using the water sound @@ -6836,7 +6931,7 @@
The function mbgetinfo() now properly applies the lonflip value. This in turn allows mbgrid to infer correct bounds in situations where the @@ -6905,7 +7000,7 @@
Updating in preparation for beta release version 5.1.3beta1874.
-Moved src/mbaux/mbrt.c to src/mbio/mbrt.c and made this raytracing code part of libmbio rather than libmbaux.
@@ -6943,14 +7038,14 @@Fixed issues with a number of manual pages.
-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.
-Slight modification to mbm_grdplot map annotation scheme (degrees + minutes for maps up to 4 degrees across where only degrees shown before for maps @@ -6976,13 +7071,13 @@
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.
-Fixed problem where mb7kpreprocess made beams that should have been null valid but flagged.
@@ -7007,13 +7102,13 @@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.
-Updated mb7k2ss man page.
@@ -7047,7 +7142,7 @@From now on beta releases will be named according to the corresponding source archive revision in the MB-System Subversion source code archive. @@ -7081,11 +7176,11 @@
Changed print format for unsigned long values from %ld to %lu to avoid copious warning messages in Ubuntu.
- + -Fixed pixel calculation algorithm in mbmosaic. Previously, sidescan data from each pixel were being treated as extending over a @@ -7145,7 +7240,7 @@
Changed licensing from GPL version 2 to GPL version 3.
-Fixed MB-System compatibility with GMT 4.5.0
@@ -7154,7 +7249,7 @@MBgrdviz now displays ping/shot numbers when navigation is picked. MBextractsegy now embeds line numbers into the output segy files.
-Fixed mbauvloglist to work with all MBARI AUV logs.
@@ -7170,7 +7265,7 @@Fixed bug in SeaBeam 2112 support that misplaced some sidescan data on little-endian machines.
@@ -7189,7 +7284,7 @@Greatly increased speed of reading third generation Simrad data (formats 58 & 59, EM710, EM302, EM122).
-Fixed mb7k2ss to avoid creating shadow zones in the extracted sidescan.
@@ -7200,7 +7295,7 @@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 @@ -7254,7 +7349,7 @@
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 @@ -7267,20 +7362,20 @@
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.
-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).
-Incorporates all changes listed above.
@@ -7288,7 +7383,7 @@Problems with the MGD77 format i/o module have been fixed according to suggestions from Bob Covill.
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