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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/mb_define.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: "MB_PRINTF_BINARY_PATTERN_INT8"\n", MB_PRINTF_BYTE_TO_BINARY_INT8(value));
Printing of larger int types has a similar form:
	short value;
	printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT16"\n", MB_PRINTF_BYTE_TO_BINARY_INT16(value));
	int value;
	printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT32"\n", MB_PRINTF_BYTE_TO_BINARY_INT32(value));
	long long value;
	printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT64"\n", MB_PRINTF_BYTE_TO_BINARY_INT64(value));
These macros are taken from
	https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format
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dwcaress committed Aug 4, 2024
1 parent 2c01f20 commit 28b991f
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36 changes: 36 additions & 0 deletions ChangeLog.md
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ or beta, are equally accessible as tarballs through the Github interface.
---
### MB-System Version 5.8 Releases and Release Notes:
---
- Version 5.8.2beta08 August 4, 2024
- Version 5.8.2beta08 July 27, 2024
- Version 5.8.2beta07 June 27, 2024
- Version 5.8.2beta06 June 13, 2024
Expand All @@ -41,6 +42,41 @@ or beta, are equally accessible as tarballs through the Github interface.

---

#### 5.8.2beta09 (August 4, 2024)

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/mb_define.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: "MB_PRINTF_BINARY_PATTERN_INT8"\n", MB_PRINTF_BYTE_TO_BINARY_INT8(value));
Printing of larger int types has a similar form:
short value;
printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT16"\n", MB_PRINTF_BYTE_TO_BINARY_INT16(value));
int value;
printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT32"\n", MB_PRINTF_BYTE_TO_BINARY_INT32(value));
long long value;
printf("Bitmask: "MB_PRINTF_BINARY_PATTERN_INT64"\n", MB_PRINTF_BYTE_TO_BINARY_INT64(value));
These macros are taken from
https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format

#### 5.8.2beta08 (July 27, 2024)

Format 121 (MBF_GSFGENMB): Updated to use new version of libgsf (3.10) released by Leidos.
Expand Down
1 change: 0 additions & 1 deletion src/deprecated/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@
message("In src/deprecated")

set(executables
mb7k2jstar
mb7k2ss
mb7kpreprocess
mbauvnavusbl
Expand Down
8 changes: 7 additions & 1 deletion src/man/man1/mbpreprocess.1
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
.TH mbpreprocess 1 "5 November 2022" "MB-System 5.0" "MB-System 5.0"
.TH mbpreprocess 1 "2 August 2024" "MB-System 5.0" "MB-System 5.0"
.SH NAME
\fBmbpreprocess\fP \- performs preprocessing of swath sonar data as part of setting
up an MB-System processing structure for a dataset.
Expand Down Expand Up @@ -873,6 +873,12 @@ This option causes heave values to be moved to the sonardepth (sometimes sensord
field, leaving the heave value as zero, for each survey ping. This is currently
only relevant to the preprocessing of Imagenex DeltaT multibeam data in the vendor
83P format (191). The output of preprocessing format 191 data are format 192 files.
.TP
.B --kluge-early-mbari-mapping-auv
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.

.SH EXAMPLES
To be written.....
Expand Down
30 changes: 28 additions & 2 deletions src/mbio/mb_define.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,8 @@
#include <stdint.h>

/* Define version and date for this release */
#define MB_VERSION "5.8.2beta08"
#define MB_VERSION_DATE "27 July 2024"
#define MB_VERSION "5.8.2beta09"
#define MB_VERSION_DATE "4 August 2024"

/* CMake supports current OS's and so there is only one form of RPC and XDR and no mb_config.h file */
#ifdef CMAKE_BUILD_SYSTEM
Expand Down Expand Up @@ -269,6 +269,32 @@ typedef enum {
#define MB_IS_DNAN isnan
#endif

/* printf format for binary bitmask */
/* from https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format */
#define MB_PRINTF_BINARY_PATTERN_INT8 "%c%c%c%c%c%c%c%c"
#define MB_PRINTF_BYTE_TO_BINARY_INT8(i) \
(((i) & 0x80ll) ? '1' : '0'), \
(((i) & 0x40ll) ? '1' : '0'), \
(((i) & 0x20ll) ? '1' : '0'), \
(((i) & 0x10ll) ? '1' : '0'), \
(((i) & 0x08ll) ? '1' : '0'), \
(((i) & 0x04ll) ? '1' : '0'), \
(((i) & 0x02ll) ? '1' : '0'), \
(((i) & 0x01ll) ? '1' : '0')

#define MB_PRINTF_BINARY_PATTERN_INT16 \
MB_PRINTF_BINARY_PATTERN_INT8 MB_PRINTF_BINARY_PATTERN_INT8
#define MB_PRINTF_BYTE_TO_BINARY_INT16(i) \
MB_PRINTF_BYTE_TO_BINARY_INT8((i) >> 8), MB_PRINTF_BYTE_TO_BINARY_INT8(i)
#define MB_PRINTF_BINARY_PATTERN_INT32 \
MB_PRINTF_BINARY_PATTERN_INT16 MB_PRINTF_BINARY_PATTERN_INT16
#define MB_PRINTF_BYTE_TO_BINARY_INT32(i) \
MB_PRINTF_BYTE_TO_BINARY_INT16((i) >> 16), MB_PRINTF_BYTE_TO_BINARY_INT16(i)
#define MB_PRINTF_BINARY_PATTERN_INT64 \
MB_PRINTF_BINARY_PATTERN_INT32 MB_PRINTF_BINARY_PATTERN_INT32
#define MB_PRINTF_BYTE_TO_BINARY_INT64(i) \
MB_PRINTF_BYTE_TO_BINARY_INT32((i) >> 32), MB_PRINTF_BYTE_TO_BINARY_INT32(i)

/* default grid no data value define */
#define MB_DEFAULT_GRID_NODATA -9999999.9

Expand Down
1 change: 1 addition & 0 deletions src/mbio/mb_process.h
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Original file line number Diff line number Diff line change
Expand Up @@ -713,6 +713,7 @@
#define MB_PR_KLUGE_AUVSENTRYSENSORDEPTH 7
#define MB_PR_KLUGE_IGNORESNIPPETS 8
#define MB_PR_KLUGE_SENSORDEPTHFROMHEAVE 9
#define MB_PR_KLUGE_EARLYMBARIMAPPINGAUV 10

#define MB_PR_NAV_FORMAT_TLLS 1
#define MB_PR_NAV_FORMAT_YMDHMSLL 2
Expand Down
42 changes: 31 additions & 11 deletions src/mbio/mbsys_reson7k.c
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Original file line number Diff line number Diff line change
Expand Up @@ -122,6 +122,7 @@ int mbsys_reson7k_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *erro
struct mbsys_reson7k_struct *store = (struct mbsys_reson7k_struct *)*store_ptr;

/* initialize everything */
memset(*store_ptr, 0, sizeof(struct mbsys_reson7k_struct));

/* Type of data record */
store->kind = MB_DATA_NONE;
Expand Down Expand Up @@ -4534,6 +4535,7 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm
bool kluge_soundspeedsnell = false;
bool kluge_zeroattitudecorrection = false;
bool kluge_zeroalongtrackangles = false;
bool kluge_early_mbari_mapping_auv = false;

/* kluge parameters */
double kluge_beampatternsnellfactor = 1.0;
Expand All @@ -4555,6 +4557,9 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm
else if (pars->kluge_id[i] == MB_PR_KLUGE_ZEROALONGTRACKANGLES) {
kluge_zeroalongtrackangles = true;
}
else if (pars->kluge_id[i] == MB_PR_KLUGE_EARLYMBARIMAPPINGAUV) {
kluge_early_mbari_mapping_auv = true;
}
}

if (verbose >= 2) {
Expand Down Expand Up @@ -4604,6 +4609,9 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm
else if (pars->kluge_id[i] == MB_PR_KLUGE_ZEROALONGTRACKANGLES) {
fprintf(stderr, "dbg2 kluge_zeroalongtrackangles: %d\n", kluge_zeroalongtrackangles);
}
else if (pars->kluge_id[i] == MB_PR_KLUGE_EARLYMBARIMAPPINGAUV) {
fprintf(stderr, "dbg2 kluge_early_mbari_mapping_auv: %d\n", kluge_early_mbari_mapping_auv);
}
}
}

Expand Down Expand Up @@ -4787,6 +4795,7 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm

/* fix version 4 quality flags */
if (bathymetry->header.Version < 5) {
// fprintf(stderr, "%s:%d:%s: fix version 4 quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
for (unsigned int i = 0; i < bathymetry->number_beams; i++) {
if ((bathymetry->quality[i]) < 16) {
if (bathymetry->range[i] > 0.007) {
Expand All @@ -4804,6 +4813,7 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm

/* fix early version 5 quality flags */
else if (bathymetry->header.Version == 5 && header->s7kTime.Year < 2006) {
// fprintf(stderr, "%s:%d:%s: fix early version 5 quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
for (unsigned int i = 0; i < bathymetry->number_beams; i++) {
/* phase picks */
if ((bathymetry->quality[i]) == 8) {
Expand All @@ -4816,20 +4826,24 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm
}

/* fix early MBARI version 5 quality flags */
else if (bathymetry->header.Version == 5 && store->nrec_bluefinnav > 0 && header->s7kTime.Year < 2008) {
else if (bathymetry->header.Version == 5 && (kluge_early_mbari_mapping_auv || store->nrec_bluefinnav > 0) && header->s7kTime.Year < 2008) {
// fprintf(stderr, "%s:%d:%s: fix early MBARI version 5 quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
for (unsigned int i = 0; i < bathymetry->number_beams; i++) {
// fprintf(stderr, " %d %d "MB_PRINTF_BINARY_PATTERN_INT8" 0x%.8X", i, bathymetry->quality[i], MB_PRINTF_BYTE_TO_BINARY_INT8(bathymetry->quality[i]), bathymetry->quality[i]);
/* phase picks */
if ((bathymetry->quality[i]) == 4) {
bathymetry->quality[i] = 32 + 15;
}
else if ((bathymetry->quality[i]) == 2) {
bathymetry->quality[i] = 16 + 15;
}
// fprintf(stderr, " %d "MB_PRINTF_BINARY_PATTERN_INT8" 0x%.8X\n", bathymetry->quality[i], MB_PRINTF_BYTE_TO_BINARY_INT8(bathymetry->quality[i]), bathymetry->quality[i]);
}
}

/* fix upgraded MBARI version 5 quality flags */
else if (bathymetry->header.Version >= 5 && store->nrec_bluefinnav > 0 && header->s7kTime.Year <= 2010) {
else if (bathymetry->header.Version >= 5 && (kluge_early_mbari_mapping_auv || store->nrec_bluefinnav > 0) && header->s7kTime.Year <= 2010) {
// fprintf(stderr, "%s:%d:%s: fix upgraded MBARI version 5 quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
for (unsigned int i = 0; i < bathymetry->number_beams; i++) {
bathymetry->quality[i] = bathymetry->quality[i] & 15;

Expand All @@ -4850,6 +4864,7 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm

/* fix upgraded version 5 quality flags */
else if (bathymetry->header.Version >= 5) {
// fprintf(stderr, "%s:%d:%s: fix upgraded version 5 quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
for (unsigned int i = 0; i < bathymetry->number_beams; i++) {
bathymetry->quality[i] = bathymetry->quality[i] & 15;

Expand Down Expand Up @@ -4878,6 +4893,11 @@ int mbsys_reson7k_preprocess(int verbose, /* in: verbosity level set on comm
}
}

/* not fixing quality flags */
else if (bathymetry->header.Version >= 5) {
// fprintf(stderr, "%s:%d:%s: not fixing quality flags: %d year: %d bluefinnav: %d\n", __FILE__, __LINE__, __FUNCTION__, bathymetry->header.Version, header->s7kTime.Year, store->nrec_bluefinnav);
}

/* if requested ignore water column data
* (will not be included in any output file) */
if (pars->ignore_water_column
Expand Down Expand Up @@ -5981,7 +6001,7 @@ int mbsys_reson7k_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kin
else if (bathymetry->quality[i] & 128) {
beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
}
else if (bathymetry->quality[i] & 240) {
else if (bathymetry->quality[i] & 48) {
beamflag[i] = MB_FLAG_NONE;
}
else if ((bathymetry->quality[i] & 3) == 3) {
Expand All @@ -5998,35 +6018,35 @@ int mbsys_reson7k_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kin
}
#ifdef MSYS_RESON7KR_DEBUG
fprintf(stderr, "EXTRACT: beam:%d quality:%d q&240:%d ", i, bathymetry->quality[i], bathymetry->quality[i] & 240);
if (bathymetry->quality[i] & 1)
if (bathymetry->quality[i] & 128)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 2)
if (bathymetry->quality[i] & 64)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 4)
if (bathymetry->quality[i] & 32)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 8)
if (bathymetry->quality[i] & 16)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 16)
if (bathymetry->quality[i] & 8)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 32)
if (bathymetry->quality[i] & 4)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 64)
if (bathymetry->quality[i] & 2)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
if (bathymetry->quality[i] & 128)
if (bathymetry->quality[i] & 1)
fprintf(stderr, "1");
else
fprintf(stderr, "0");
Expand Down
1 change: 1 addition & 0 deletions src/utilities/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ find_package(FFTW REQUIRED)
find_package(LibPROJ REQUIRED)

set(executables
mb7k2jstar
mbabsorption
mbareaclean
mbauvloglist
Expand Down
8 changes: 4 additions & 4 deletions src/deprecated/mb7k2jstar.cc → src/utilities/mb7k2jstar.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1213,7 +1213,7 @@ int main(int argc, char **argv) {
channel->sonarDepth = 0; /* 136-139 : Depth in Millimeters (if not = 0)
* See Validity Flag (bytes 30-31). */
channel->sampleFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */
channel->pulseID = s7ksegyheader->pulseID; /* 142-143 : Unique pulse identifier */
channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */
channel->sonarAltitude = 0; /* 144-147 : Altitude in Millimeters
* A zero implies not filled. See Validity Flag (bytes 30-31) */
channel->soundspeed = 0.0; /* 148-151 : Sound Speed in Meters per Second.
Expand Down Expand Up @@ -1265,7 +1265,7 @@ int main(int argc, char **argv) {
for (int i = 0; i < 6; i++)
channel->softwareVersion[i] = 0; /* 210-215 : Software version number */
/* Following items are not in X-Star */
channel->sphericalCorrection = s7ksegyheader->sphericalCorrection;
channel->sphericalCorrection = 0;
/* 216-219 : Initial spherical correction factor (useful for multiping /*/
/* deep application) * 100 */
channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */
Expand Down Expand Up @@ -1481,7 +1481,7 @@ int main(int argc, char **argv) {
channel->sonarDepth = 0; /* 136-139 : Depth in Millimeters (if not = 0)
* See Validity Flag (bytes 30-31). */
channel->sampleFreq = 0; /* 140-141 : alias Frequency (sample frequency / 2) */
channel->pulseID = s7ksegyheader->pulseID; /* 142-143 : Unique pulse identifier */
channel->pulseID = s7kssheader->pulseID; /* 142-143 : Unique pulse identifier */
channel->sonarAltitude = 0; /* 144-147 : Altitude in Millimeters
* A zero implies not filled. See Validity Flag (bytes 30-31) */
channel->soundspeed = 0.0; /* 148-151 : Sound Speed in Meters per Second.
Expand Down Expand Up @@ -1533,7 +1533,7 @@ int main(int argc, char **argv) {
for (int i = 0; i < 6; i++)
channel->softwareVersion[i] = 0; /* 210-215 : Software version number */
/* Following items are not in X-Star */
channel->sphericalCorrection = s7ksegyheader->sphericalCorrection;
channel->sphericalCorrection = 0;
/* 216-219 : Initial spherical correction factor (useful for multiping /*/
/* deep application) * 100 */
channel->packetNum = s7kssheader->packetNum; /* 220-221 : Packet number (1 - N) (Each ping starts with packet 1) */
Expand Down
3 changes: 1 addition & 2 deletions src/utilities/mbextractsegy.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1306,8 +1306,7 @@ int main(int argc, char **argv) {
/* envelope time series */
index = 0;
for (int i = 0; i < segytraceheader.nsamps; i++) {
float magnitude = sqrt(segydata[2 * i] * segydata[2 * i] + segydata[2 * i + 1] * segydata[2 * i + 1]);
mb_put_binary_float(false, magnitude, (void *)&buffer[index]);
mb_put_binary_float(false, segydata[i], (void *)&buffer[index]);
index += 4;
}
if (status == MB_SUCCESS &&
Expand Down
12 changes: 11 additions & 1 deletion src/utilities/mbpreprocess.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,8 @@ constexpr char usage_message[] =
"\t--kluge-fix-wissl-timestamps\n"
"\t--kluge-auv-sentry-sensordepth\n"
"\t--kluge-ignore-snippets\n"
"\t--kluge-sensordepth-from-heave\n";
"\t--kluge-sensordepth-from-heave\n"
"\t--kluge-early-MBARI-Mapping-AUV\n";

/*--------------------------------------------------------------------*/

Expand Down Expand Up @@ -187,6 +188,7 @@ int main(int argc, char **argv) {
bool kluge_auv_sentry_sensordepth = false;
bool kluge_ignore_snippets = false;
bool kluge_sensordepth_from_heave = false;
bool kluge_early_mbari_mapping_auv = false;

mb_path sensordepth_file;
memset(sensordepth_file, 0, sizeof(mb_path));
Expand Down Expand Up @@ -314,6 +316,7 @@ int main(int argc, char **argv) {
{"kluge-auv-sentry-sensordepth", no_argument, nullptr, 0},
{"kluge-ignore-snippets", no_argument, nullptr, 0},
{"kluge-sensordepth-from-heave", no_argument, nullptr, 0},
{"kluge-early-MBARI-Mapping-AUV", no_argument, nullptr, 0},
{nullptr, 0, nullptr, 0}};

int option_index;
Expand Down Expand Up @@ -701,6 +704,11 @@ int main(int argc, char **argv) {
preprocess_pars.n_kluge++;
kluge_sensordepth_from_heave = true;
}
else if (strcmp("kluge-early-MBARI-Mapping-AUV", options[option_index].name) == 0) {
preprocess_pars.kluge_id[preprocess_pars.n_kluge] = MB_PR_KLUGE_EARLYMBARIMAPPINGAUV;
preprocess_pars.n_kluge++;
kluge_early_mbari_mapping_auv = true;
}

break;
case '?':
Expand Down Expand Up @@ -882,6 +890,7 @@ int main(int argc, char **argv) {
fprintf(stderr, "dbg2 kluge_auv_sentry_sensordepth: %d\n", kluge_auv_sentry_sensordepth);
fprintf(stderr, "dbg2 kluge_ignore_snippets: %d\n", kluge_ignore_snippets);
fprintf(stderr, "dbg2 kluge_sensordepth_from_heave %d\n", kluge_sensordepth_from_heave);
fprintf(stderr, "dbg2 kluge_early_mbari_mapping_auv %d\n", kluge_early_mbari_mapping_auv);
fprintf(stderr, "dbg2 Additional output:\n");
fprintf(stderr, "dbg2 output_sensor_fnv: %d\n", output_sensor_fnv);
fprintf(stderr, "dbg2 Skip existing output files:\n");
Expand Down Expand Up @@ -994,6 +1003,7 @@ int main(int argc, char **argv) {
fprintf(stderr, " kluge_auv_sentry_sensordepth: %d\n", kluge_auv_sentry_sensordepth);
fprintf(stderr, " kluge_ignore_snippets: %d\n", kluge_ignore_snippets);
fprintf(stderr, " kluge_sensordepth_from_heave %d\n", kluge_sensordepth_from_heave);
fprintf(stderr, " kluge_early_mbari_mapping_auv %d\n", kluge_early_mbari_mapping_auv);
fprintf(stderr, "Additional output:\n");
fprintf(stderr, " output_sensor_fnv: %d\n", output_sensor_fnv);
fprintf(stderr, "Skip existing output files:\n");
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