5.7.9beta51

Removed problematic debug message inadvertently left in 5.7.9beta50.

5.7.9beta50

General: Changed many sprintf() calls to snprintf() calls.

General: Fixed many compiler warnings having to do with unused variables, unitialized
variables, and possible string overflows.

Mbeditviz: Fixed recently introduced bug in applying changed bias parameters in the
3D sounding view.

MBnavadjust: Fixed interface issues for importing multiple reference grids and
selecting those while makeing global ties.

Format 261 (MBF_KEMKMALL): Added code to detect and handle gracefully some
instances of corruption of MRZ datagrams, particularly due to missing bytes.

Format 201 (MBF_HYSWEEP1): Fixed reading of Hysweep multibeam in which beam angles are
stored in spherical coordinates but are not corrected for roll and pitch. Updated
support to handle multibeam data with angles in spherical coordinates that have not
been corrected for roll and pitch, and to be consistent with the most recent Hypack
users manual released February 2023.

5.7.9beta49

Mbm_grdplot, mbm_grd3dplot, mbm_histplot, mbm_plot, mbm_xyplot: Made evince one
of the default Postscript viewers because it is commonly installed on Ubuntu
machines.

General: Addressed compiler warnings due to uninitialized variables, inconsistent
variable typing, and other minor issues.

MBnavadjust: Changed the solution algorithm so that the final stage of LSQR
matrix inversion is done in several steps. As before, the first three stages are
to construct an initial model by interpolating any global ties, then solve for
and apply average offsets for each survey, then conduct an iterative relaxation
towards an additional perturbation solution. Each stage produces a perturbation
solution, that is, a solution to fit the navigation offsets remaining after
applying the existing navigation model. Each perturbation is added to the
navigation model, which is then the starting point for the next stage. These
three stages build up an approximate navigation solution that solves most of the
original mismatch between overlapping and crossing swathes. The final stage is
to build and solve an overdetermined least squares matrix problem constrained by
all crossing and global times, by any surveys with fixed navigation, and also
constrained by a penalty against first and second derivatives of the perturbation.
Now, for multi-survey projects the matrix solution stage consists of first
solving the full matrix problem, then solving for a perturbation to satisfy
the remaining misfit for each of the individual surveys in turn, and finally
redoing the full matrix problem. Again, after each solution step the resulting
perturbation is added to the navigation solution.

Mbnavadjust: Added two new list options for sorted crossing ties. Now the sorted
crossing tie list can be limited to the top 5% or 1% of ties.

Format MBF_MBARIROV (165): Added recognition for new filenaming conventions for
MBARI ROV navigation files.

5.7.9beta48

Mbmosaic: Fixed parsing of the -Ypriority_source option when priority_source is
a filename.

Mbm_grdplot: Fixed handling of image file min max when color_mode == 6.

Mbnavadjust: Added controls allowing the mode of global ties to be changed
interactively.

Mbnavadjust: Changed project file format, adding the the id of the source
reference grid used for each global tie.

Mbview library: Fixed problem where mbview did not render the last row and
column of a grid (the easternmost and northernmost data). Also attempted to
make picking more robust.

Mbnavadjust: Fixed interpolation of global ties to create the starting navigation
model during inversions. Fixed several actions in section and reference grid mode.

5.7.9beta47

Mbnavadjust: Individual survey grids are now sized to the region of those
surveys rather than the entire project. When the individual surveys are
visualized, only the navigation for that survey are loaded into the mbview
2D/3D map instance. Also fixed picking of section navigation in both crossing
and section (vs reference grid) modes.

Mbnavadjustmerge: Added options set the mode (XYZ vs XY vs Z) of all global ties.

5.7.9beta46

MBnavadjust: Added ability to import and use multiple reference grids for picking global ties of individual swath data sections.

5.7.9beta45

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
files are in the MBF_MBPRONAV (166) format. Format 166 has always supported
comment records as lines beginning with the '#' character, but fnv files have
always been created without any comment records. Many MB-System programs read
fnv files directly without using the MBF_MBPRONAV i/o module. Now all format
166 files will be written with a first record documenting the contents of the
file:
fprintf(mb_io_ptr->mbfp, "## "
"<longitude (deg)> <latitude (deg)> <heading (deg)> <speed (km/hr)> "
"<draft (m)> <roll (deg)> <pitch (deg)> <heave (m)> <portlon (deg)> "
"<portlat (deg)> <stbdlon (deg)> <stbdlat (deg)>\n");
whether they are written by the MBF_MBPRONAV i/o module or by functions in
applications like mbprocess or mbpreprocess. All instances reading these files
will ignore these file header records.

Mbgrdviz: augmented and corrected the headers of route and site files output by
mbgrdviz, better self documenting the formats of these files.

Mbnavadjust: Added ability to import a reference bathymetry grid that can be
used to define global ties. Also modified so that when the main display list mode
limits what is shown to "with selected survey" or other modifiers, these constraints
also limit what navigation is shown in the project visualization. So, if one selects
a survey and then sets the list mode to show only the selected survey, then the
visualization will also only display the navigation from that survey, the crossing
ties or global ties from that survey, and only allow picking on that survey's
navigation.

Mbareaclean: Fixed issue in which mbareaclean does not apply filters for files
without pre-existing *.esf files.

Mbbackangle: Plots of the backscatter vs grazing angle distribution are no longer
histogram equalized.

Mbprocess: Modified the threaded processing function process_file() so that each
instance carries a thread id that can be checked during debugging.

5.7.9beta44

Mbphotomosaic: Fixed problem in which an image correction model from mbgetphotocorrection
was read but not applied.

Mbeditviz: Fixed display of beam info when picking in info mode in the 3D
soundings display.

5.7.9beta43

Mblist and mbnavlist: Fixed failure to deallocate proj object.

Mbtrnpp: Added UTM projection to top level using Proj, but this is not used yet.
The UTM projection used within the TRN codebase remains defined in the very old
GCTP package, which is embedded with TRN.

TRN execution and plotting scripts (e.g. src/mbtrn/tools/mbtrnpp-plot/trnucli-plot.sh):
Changed the shebang call from #!/usr/local/bin/bash to #!/usr/bin/env bash for
portability.

Mbnavadjust: Recast global ties to utilize a full 3D covariance model just like
the crossing ties, in preparation for allowing graphical picking of global ties
relative to a reference bathymetry model.

Mbnavadjustmerge: Added ability to remove disconitinuities in mbnavadjust projects.
Recast global ties to utilize a full 3D covariance model just like
the crossing ties, in preparation for allowing graphical picking of global ties
relative to a reference bathymetry model.

Mbm_trnplot: Added mission names to mbtrnpp result plots.

Cmake Build System: Incorporates an initial attempt at a cmake based build system
that will provide an alternative to the existing AutoTools based build system.
Updated documentation for both build systems is not included yet.

5.7.9beta42

Format 261 (MBF_KEMKMALL): Fixed bug in handling beam amplitude data from null
beams.

Mbtrnpp: Fixed trnu logging.

Mbnavadjust: Altered the navigation adjustment inversion algorithm to apply
linear interpolation of global ties to create a starting model for the
inversion. Fixed picking on tie offsets in the modelplot window.