5.8.2beta08

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:

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

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.

5.8.2beta07

Mbm_trnplot: Added extraction of TRN localization estimates in longitude and latitude.

Mbtrnpp: Now includes longitude and latitude values of TRN localization estimates into
the log file (in addition to the coordinate reference system used for the reference
map).

Mbgrdviz: Fixed importation of non-csv raw site files.

Formats 88 and 89 (MBF_RESON7KR and MBF_RESON7K3): Change to allow pings to be valid if
a BeamGeometry record has been read earlier in the file (as opposed to having a
BeamGeometry record for every ping).

Formats 88 and 89 (MBF_RESON7KR and MBF_RESON7K3): Fixed problem calculating sample times
for attitude data in s7k 1016 Attitude data records.

5.8.2beta06

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
at the center of the grid or mosaic.

MBgrdviz, mbeditviz, mbnavadjust: The mbview visualization library now displays grids
defined in geographic coordinates (longitude and latitude) using a Local Transverse
Mercator projection with the origin at the center of the grid or mosaic. This replaces the
prior use of UTM projections, which introduced rotation and distortion when the grid was
located far from the center of the UTM zone.

MBtrnpp: and TRN: Changed TerrainNav, supporting libraries, and the program mbtrnpp to
calculate projections using the Proj package rather than the GCTP package.

MBtrnpp: Now works with reference topography models defined in a Local Transverse
Mercator (LTM) projection.

Mbm_trnplot: augmented to allow specifying the CRS of the reference topoography so
that a Local Transverse Mercator (LTM) projection can be used.

5.8.2beta05

MBextractsegy: changed calculation of section plot bounds to more consistently catch the
seafloor arrival within the plot.

MBpreprocess: fixed initialization of the --kluge-fix-7k-times option.

Docker image: updated documentation in the Docker directory.

Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Removed an errant debug message that
printed out information when reading height datagrams.

5.8.2beta04

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

Mbroutetime: Now works with the recently changed route file format.

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.

5.8.2beta02

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).

5.8.2beta01

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 the connection between the end of the first acrosstrack profile and the start of the second is no longer plotted.

MB-System Docker Container: Improved Docker documentation included in the Docker directory.

5.8.1

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.

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
a poorly formed preprocessor macro for rounding floating point values in code dating
from 1992.

Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Fixed bug in which some bathymetry
edits were applied to the wrong pings. Third generation Kongsberg multibeams produce
two cross profiles with each ping cycle, but represent these as two separate pings
with the same ping time. MB-System distinguishes between pings using the timestamps
rather than ping numbers (because not all sonars produce ping numbers), so pings
with the same timestamp confuse the beam flag handling code. The solution is to add
a small amount of time to the timestamp of the second ping in each pair. The bug was
that the amount of time added by mbpreprocess was 33 microseconds, but the datagrams
in Kongsberg *.all files specify timestamps only to the millisecond level, and so
the added time was not large enough to be recorded differently in the output files.

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
are seen as different by the beam edit flag handling code. For dual head sensors
this logic only compares timestamps for the same subsensor, so simultaneous operation
of the two subsensors (sonar or lidar heads) is allowed.

Mbpreprocess and format MBF_EM710RAW (58): The command --kluge-auv-sentry-sensordepth
now works for format 58 files (3rd generation Kongsberg multibeam data in *.all files)
such that available sensordepth values are embedded in the output format MBF_EM710MBA
(59) files.

Mbpreprocess and mbprocess: Now support merging navigation and attitude from Schmidt
Ocean Institute RVDAS format ROV navigation.

Mbvoxelclean: Fixed bug in which previously beamflags from previously existing esf
files were ignored. Also fixed a non-initialized pointer bug that produced occasional
crashes.

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
both positive or negative.

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.

SEGY format data: Changed MB-System SEGY traceheader to include a sensordepthtime
float value in bytes 216-219. This will be used to hold the two-way traveltime in
seconds corresponding to the source depth assuming a 1500 m/sec water sound speed.
This value can be used as a trace start delay time in plotting to account for the
source location of subbottom profiler data collected from submerged platforms like
AUVs and ROVs. The MB-System programs mbsegygrid and mbm_grdplot use the source
depth value in meters, but some external packages need the delay time.

SEGY format data: MB-System now recognizes file suffixes *.sgy and *.SGY in addition
to *.segy *.SEGY *.seg and *.SEG

Mbsegyinfo: Fixed calculation and reporting of trace minimum and maximum values.

Mbextractsegy: Now allows output of subbottom analytic data as well as envelope data.
Use of the -S4 command will output three separate segy files, one with the envelope
function, one with the subbottom correlate, and one with the correlate conjugant
(i.e. the Hilbert transform of the correlate). The section plot script generated now
will create plots of all three trace types.

Mbtrnpp: The optional Terrain Relative Navigation (TRN) software has been augmented
with code to utilize realtime format 58 (Kongsberg *.all) format multibeam accessed
through a serial stream.

5.8.1beta09

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
a poorly formed preprocessor macro for rounding floating point values in code dating
from 1992.

Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA): Fixed bug in which some bathymetry
edits were applied to the wrong pings. Third generation Kongsberg multibeams produce
two cross profiles with each ping cycle, but represent these as two separate pings
with the same ping time. MB-System distinguishes between pings using the timestamps
rather than ping numbers (because not all sonars produce ping numbers), so pings
with the same timestamp confuse the beam flag handling code. The solution is to add
a small amount of time to the timestamp of the second ping in each pair. The bug was
that the amount of time added by mbpreprocess was 33 microseconds, but the datagrams
in Kongsberg *.all files specify timestamps only to the millisecond level, and so
the added time was not large enough to be recorded differently in the output files.

Mbgrid: Improved output to shell so that it shows the min max values from each
contributing input file whether verbose is specified or not.

5.8.1beta08

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
both positive or negative.

SEGY format data: Changed MB-System SEGY traceheader to include a sensordepthtime
float value in bytes 216-219. This will be used to hold the two-way traveltime in
seconds corresponding to the source depth assuming a 1500 m/sec water sound speed.
This value can be used as a trace start delay time in plotting to account for the
source location of subbottom profiler data collected from submerged platforms like
AUVs and ROVs. The MB-System programs mbsegygrid and mbm_grdplot use the source
depth value in meters, but some external packages need the delay time.

SEGY format data: MB-System now recognizes file suffixes *.sgy and *.SGY in addition
to *.segy *.SEGY *.seg and *.SEG

Mbsegyinfo: Fixed calculation and reporting of trace minimum and maximum values.

Mbextractsegy: Now allows output of subbottom analytic data as well as envelope data.
Use of the -S4 command will output three separate segy files, one with the envelope
function, one with the subbottom correlate, and one with the correlate conjugant
(i.e. the Hilbert transform of the correlate). The section plot script generated now
will create plots of all three trace types.

Mbpreprocess and mbprocess: Now support merging navigation and attitude from Schmidt
Ocean Institute RVDAS format ROV navigation.

Mbpreprocess and format MBF_EM710RAW (58): The command --kluge-auv-sentry-sensordepth
now works for format 58 files (3rd generation Kongsberg multibeam data in *.all files)
such that available sensordepth values are embedded in the output format MBF_EM710MBA
(59) files.