MB-System is an open source software package for the processing and display of bathymetry and backscatter imagery data derived from multibeam, interferometry, and sidescan sonars.
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README

-------------------------------------------------------------------------------
MB-SYSTEM README FILE:
-------------------------------------------------------------------------------
Version: $Id$
-------------------------------------------------------------------------------

This file contains general information regarding the MB-System open
source software package for the processing and display of swath sonar data.
This file is located at the top of the MB-System source code distribution
directory structure.

The copyright and licensing terms are contained in the file "COPYING".
The GNU GPL version 3 license used for MB-System can be found in the file "GPL".
The software authors are listed in the file "AUTHORS".
A log of source code changes is in the file "CHANGELOG".
Installation instructions are found in the file "NOTES".

-------------------------------------------------------------------------------
MB-SYSTEM VERSION 5 DESCRIPTION:
-------------------------------------------------------------------------------

MB-System is a software package consisting of programs which manipulate,
process, list, or display swath sonar bathymetry, amplitude, and sidescan data.
This software is distributed freely (and for free) in the form of source code
for Unix platforms. The heart of the system is an input/output library called
MBIO which allows programs to work transparently with any of a number of
supported swath sonar data formats. This approach has allowed the creation
of "generic" utilities which can be applied in a uniform manner to sonar data
from a variety of sources. Most of the programs are command-line tools, but the
package does include graphical tools for editing swath bathymetry, editing
navigation, modeling bathymetry calculation, and adjusting survey navigation.

-------------------------------------------------------------------------------
MB-SYSTEM PROGRAMS
-------------------------------------------------------------------------------
hsdump(1)                - hsdump lists the information contained in Hydrosweep
                            DS data files
mb7k2jstar(1)            - extracts subbottom profiler and/or sidescan sonar
                            data from Reson 7k format data files into Edgetech
                            Jstar format data files
mb7k2ss(1)               - extracts sidescan sonar data from Reson 7k format
                            data, bins and lays the sidescan onto the seafloor,
                            and outputs files in the MBF_MBLDEOIH formst
                            (MBIO format id 71)
mb7kpreprocess(1)        - performs preprocessing of Reson 7k multibeam data in
                            the 7k format (MBIO format 88)
mbabsorption(1)          - calculates the absorption of sound in sea water in
                            dB/km as a function of frequency, temperature,
                            salinity, sound speed, and depth
mbareaclean(1)           - Tool to automatically flag bad beams in swath sonar
                            bathymetry data within a specified area
mbauvloglist(1)          - Lists table data from an MBARI AUV mission log file
mbauvnavusbl(1)          - Adjusts inertial navigation of a submerged
                            platform/vehicle to be consistent with more
                            accurate but less precise surface tracking (USBL)
                            navigation
mbbackangle(1)           - Generates tables of the average amplitude or
                            sidescan values in swath sonar data as a function
                            of the grazing angle with the seafloor
mbclean(1)               - Tool to automatically flag bad beams in swath sonar
                            bathymetry data
mbcontour(1)             - GMT compatible utility for color fill or color
                            shaded relief swath plots of swath sonar data using
                            Postscript
mbcopy(1)                - Copy swath sonar bathymetry data files
mbctdlist(1)             - List CTD data in swath sonar data files
mbdatalist(1)            - parses recursive datalist files and outputs the
                            complete list of data files, formats, and file
                            weights
mbdefaults(1)            - Set or list default mbio parameters for reading and
                            writing swath sonar data
mbedit(1)                - Interactive editor used to flag bad bathymetry
                            values in swath sonar bathymetry data
mbeditviz(1)             - 3D visualization-based editing of swath bathymetry
                            soundings
mbextractsegy(1)         - extracts subbottom profiler, center beam reflection,
                            or seismic reflection data from swath data
                            supported by MB-System and rewrites it as a SEGY
                            file
mbfilter(1)              - Apply some simple filter functions to sidescan or
                            beam amplitude data from swath sonar data files
mbformat(1)              - List information about swath sonar data formats
                            supported by the MBIO library
mbgetesf(1)              - Extract swath bathymetry data flags into an edit
                            save file
mbgrdtiff(1)             - generates a geographically located TIFF image from a
                            GMT grid file
mbgrdviz(1)              - Simple interactive 2D/3D visualization of GMT grids
mbgrid(1)                - Grid bathymetry, amplitude, or sidescan data from
                            swath sonar data files
mbhistogram(1)           - Generate a histogram of bathymetry, amplitude, or
                            sidescan values from swath sonar data files
mbinfo(1)                - Output some basic statistics of swath sonar data
                            files
mbio(3)                  - Format independent input/output library for swath
                            mapping sonar data
mblevitus(1)             - Create a water velocity profile which is
                            representative of the mean annual water column for
                            a specified 1 degree by 1 degree region
mblist(1)                - List data in swath data files
mbm_arc2grd(1)           - Macro to convert an ArcView ASCII grid to a GMT grid
                            file in the GMT NetCDF grid format
mbm_copy(1)              - Apply mbcopy to all files referenced through a
                            datalist, using the MB-System file suffix convention
                            to name the output files
mbm_dslnavfix(1)         - Translate WHOI DSL AMS-120 navigation from UTM
                            eastings and northings to longitude and latitude
mbm_fmtvel(1)            - Extract sound velocity info from Hydrosweep data
                            files and create output in tabular format
mbm_grd2arc(1)           - Macro to convert a GMT grid file in the GMT NetCDF
                            grid format to an ArcView ASCII grid
mbm_grd2geovrml(1)       - Create and execute commands which generate a
                            TerraVision tileset and GeoVRML terrain set that
                            can be combined with other geospatial data for
                            viewing in a web browser
mbm_grd3dplot(1)         - Create an executable shellscript which will generate
                            a GMT 3D perspective plot of gridded data in a GMT
                            grd file
mbm_grdcut(1)            - Macro to extract a specified subarea of a GMT GRD
                            grid file as another GRD file
mbm_grdinfo(1)           - Macro to get information regarding a GMT grd file
                            when the region of interest is a subset of the area
                            covered in the input file
mbm_grdplot(1)           - Create an executable shellscript which will generate
                            a GMT map of gridded data in a GMT grd file
mbm_grdtiff(1)           - Create an executable shellscript which will generate
                            a TIFF image of gridded data in a GMT grd file
mbm_grid(1)              - Create an executable shellscript which will generate
                            a grid (bathymetry or topography) or mosaic
                            (amplitude or sidescan) of swath sonar swath data
mbm_histplot(1)          - Create an executable shellscript which will generate
                            a GMT histogram plot of a dataset
mbm_makedatalist(1)      - Macro to generate a datalist of the swath files in a
                            specified directory
mbm_plot(1)              - Create an executable shellscript which will generate
                            a GMT plot of swath sonar swath data
mbm_route2mission(1)     - Macro to convert an mbgrdviz route file into an MBARI
                            AUV mission script
mbm_stat(1)              - Extract beam statistics from output generated by
                            mbinfo
mbm_utm(1)               - Macro to perform forward and inverse UTM projections
                            of ASCII data triples
mbm_vrefcheck(1)         - Macro to generate plot of crosstrack seafloor slope
                            from a swath sonar file.  The noise in this time
                            series largely reflects noise in the vertical
                            reference used by the sonar
mbm_xbt(1)               - Calculate sound speed from XBT data
mbm_xyplot(1)            - Create an executable shellscript which will generate
                            a GMT plot of xy data
mbmask(1), mbdumpesf(1)  - Output text version of beam edits from a binary edit
                            save file
mbmosaic(1)              - Mosaic amplitude or sidescan data from swath mapping
                            sonar data files
mbnavadjust(1)           - Package that solves for optimal navigation by
                            matching bathymetry of overlapping swaths
mbnavedit(1)             - Interactive navigation editor for swath sonar data
mbnavlist(1)             - List navigation data in swath sonar data files
mbneptune2esf(1)         - Tool to import beam flags from Simrad's Neptune
                            system
mbotps(1)                - Predicts tides using the OSU Tidal Prediction
                            Software (OTPS) distribution
mbprocess(1)             - this program performs a variety of swath data
                            processing functions in a single step (producing a
                            single output swath data file), including merging
                            navigation, recalculating bathymetry from travel
                            time and angle data by raytracing through a layered
                            water sound velocity model, applying changes to
                            ship draft, roll bias and pitch bias, applying
                            tides, and applying bathymetry edits from edit save
                            files
mbps(1)                  - Generates a PostScript perspective plot of a piece of
                            swath sonar data
mbrollbias(1)            - Assess roll bias of swath sonar sonar systems
mbrolltimelag(1)         - Calculates cross correlation between the apparent
                            bottom slope in swath bathymetry data and the roll
                            time series used by the sonar in order to assess
                            attitude time lag problems
mbsegygrid(1)            - Generate time vs. trace number grids of seismic data
                            from segy files
mbsegyinfo(1)            - Output some basic statistics of segy format seismic
                            data files
mbsegylist(1)            - List selected header values in segy format seismic
                            data files
mbsegypsd(1)             - Calculates the power spectral densisty function
                            (PSD) of each trace in a segy file, outputting the
                            PSD estimates as a GMT grid file with trace number
                            along the x axis and frequency along the y axis
mbset(1)                 - Sets values in mbprocess parameter files
mbstripNaN(1)            - filter to remove NaN nodes
mbsvplist(1)             - List water sound velocity profiles in swath sonar
                            data files
mbswath(1)               - GMT compatible utility for color fill or color shaded
                            relief swath plots of swath sonar data using
                            Postscript
mbsystem(1)              - A set of utilities for manipulating and processing
                            swath sonar bathymetry, amplitude, and sidescan data
mbtime(1)                - Translate between calendar time values and unix time
mbvelocitytool(1)        - Interactive water sound velocity profile editor

-------------------------------------------------------------------------------
THE VERSION 5 DATA PROCESSING STRUCTURE
-------------------------------------------------------------------------------

MB-System version 5 features utilities implementing a parallel processing
scheme that simplifies the processing of most swath data. This scheme is
centered around the program mbprocess, which can accomplish the following
processing tasks in a single step:
   - Merge edited navigation generated by mbnavedit.
   - Apply bathymetry edit flags from mbedit
     and mbclean
   - Recalculate bathymetry from raw travel time and
     angle data by raytracing through water sound speed
     models from mbvelocitytool or mbsvplist.
   - Apply changes to roll bias, pitch bias, heading
     bias, and draft values.
   - Recalculate sidescan from raw backscatter samples
     (Simrad multibeam data only).
   - Correct sidescan for amplitude vs grazing angle
     patterns.
   - Apply tides to bathymetry.
The actions of mbprocess are controlled by text parameter files. Each mbprocess
parameter file is named by adding a ".par" suffix to the associated input swath
data file and contains single line commands that set processing modes and
parameters. Tools such as mbedit, mbnavedit, and mbclean all generate and/or
modify parameter files in addition to generating parallel files used by
mbprocess. The program mbset can also be used to create and modify mbprocess
parameter files.

One example of a possible data processing scheme is presented here:

   1) Run mbdatalist to create ancillary
      data files containing statistics
      (".inf"), quickly read bathymetry
      (".fbt"), and quickly read navigation
      (".fnv"). These files are used to
      speed common operations such as swath
      plotting and gridding.
	  Input:  mbari_1998_524.mb57
	  Output: mbari_1998_524.mb57.inf
		  mbari_1998_524.mb57.fbt
		  mbari_1998_524.mb57.fnv

   2) Run mbclean to identify
      the obvious bathymetric artifacts
      and output a list of the edit events.
      The parameter file is created and
      set to apply bathymetry flags from
      the ".esf" file.
	  Input:  mbari_1998_524.mb57
	  Output: mbari_1998_524.mb57.esf
		  mbari_1998_524.mb57.par

   3) Run mbedit to interactively
      identify bathymetric artifacts
      and output a list of the edit events.
      The existing edits from mbclean
      are loaded and applied prior to editing.
      The parameter file is updated and
      set to apply bathymetry flags from
      the ".esf" file.
	  Input:  mbari_1998_524.mb57
		  mbari_1998_524.mb57.esf
		  mbari_1998_524.mb57.par
	  Output: mbari_1998_524.mb57.esf
		  mbari_1998_524.mb57.par

   4) Run mbnavedit to interactively
      clean the navigation. The edited
      navigation is output to the ".nve" file.
      The parameter file is updated and
      set to merge the navigation from
      the ".nve" file.
	  Input:  mbari_1998_524.mb57
		  mbari_1998_524.mb57.par
	  Output: mbari_1998_524.mb57.nve
		  mbari_1998_524.mb57.par

   5) Run mbvelocitytool to generate an
      an appropriate sound velocity profile
      (SVP) for recalculating the bathymetry.
      The SVP is output to the ".svp" file.
      The parameter file is updated and
      set to recalculate the bathymetry by
      raytracing through the SVP model from
      the ".svp" file.
	  Input:  mbari_1998_524.mb57
		  mbari_1998_524.mb57.par
	  Output: mbari_1998_524.mb57.svp
		  mbari_1998_524.mb57.par

   6) Run mbbackangle to generate an
      a set of amplitude vs grazing angle
      tables at regular intervals in the
      data. These tables are placed into
      a single ".sga" file. The parameter
      file is updated and set to correct
      the sidescan by interpolating the
      amplitude vs grazing angle table for
      each ping.
	  Input:  mbari_1998_524.mb57
		  mbari_1998_524.mb57.par
	  Output: mbari_1998_524.mb57.sga
		  mbari_1998_524.mb57.par

   7) Run mbset to set the parameter file
      so that mbprocess will recalculate
      the sidescan (this is for Simrad
      multibeam data only) while ignoring
      sidescan samples from beams now flagged
      as bad.
	  Input:  mbari_1998_524.mb57.par
	  Output: mbari_1998_524.mb57.par

   8) Run mbprocess to apply the bathymetric
      edits, merge the cleaned navigation,
      recalculate the bathymetry, recalculate
      the sidescan, and correct the sidescan.
      The processed swath data is written to
      an output swath data file. The usual
      ancillary data files containing statistics,
      quickly read bathymetry, and quickly
      read navigation are also created.
	  Input:  mbari_1998_524.mb57
		  mbari_1998_524.mb57.esf
		  mbari_1998_524.mb57.nve
		  mbari_1998_524.mb57.svp
		  mbari_1998_524.mb57.aga
		  mbari_1998_524.mb57.par
	  Output: mbari_1998_524p.mb57
	          mbari_1998_524p.mb57.inf
	          mbari_1998_524p.mb57.fbt
	          mbari_1998_524p.mb57.fnv

The result of this processing is a single output swath data file. Moreover, the
processed output can be easily updated if, for example, additional bathymetry
editing is required. If the mbedit program is used again, it will load the
existing edit events from the ".esf" file and then update the ".esf" file. To
incorporate the updated bathymetry edits, one just runs mbprocess again. One
can similarly change the SVP file without impacting on the bathymetry
editing or navigation editing components of the processing.

-------------------------------------------------------------------------------
OTHER REQUIRED AND SUGGESTED SOFTWARE AND DATA
-------------------------------------------------------------------------------

MB-System requires a number of other software packages and databases to be
fully functional. These are:

- GMT version 4.5 or later: MB-System makes use of the Generic Mapping Tools
  (GMT) libraries and programs for much of its graphics. GMT also includes a
  detailed global coastline database. GMT has been developed by Professor Paul
  Wessel of SOEST (School of Ocean and Earth Science and Technology at the
  University of Hawaii) and Dr. Walter H. F. Smith of NOAA. The GMT source code
  is available from the GMT web page.
- NetCDF version 3.5.1 or later: Both GMT and MB-System require the NCAR netCDF
  library.
- Perl version 5.0 or later: Perl is a fast, well documented scripting language
  used widely in the Linux/Unix world. MB-System contains a number of perl
  scripts used both for installation and to ease common tasks. Most of the
  current Unix operating systems include perl. If you need to obtain the perl
  source code, first check with your local system administrator - you will
  probably find perl already available locally. The perl source code can be
  obtained from the GNU software archives of the Free Software Foundation.
- Perl Parallel-Forkmanager module: this Perl module is required for the
  parallel processing macros mbm_multicopy, mbm_multidatalist, and
  mbm_multiprocess to work. An easily installed package is available from from
  www.cpan.org.
- X11: The interactive graphical utilities in MB-System (MBedit, MBnavedit,
  MBvelocitytool, MBgrdviz, MBeditviz) use and require the X11 windowing system.
- Motif: The interactive graphical utilities in MB-System (MBedit, MBnavedit,
  MBvelocitytool, MBgrdviz, MBeditviz) use version 2 of the Motif widget set,
  and Motif libraries are required for these utilities to be built and to run.
  Most current Unix/Linux operating systems include the required Motif
  libraries, either in the original proprietary form (Motif), or the
  not-quite-open-source form (OpenMotif). If you do not have these libraries,
  the OpenMotif 2 source is available through Motifzone. An old alternative
  open source Motif-compatible distribution called LessTif does not work with
  the new OpenGL based MB-System programs (MBgrdviz, MBeditviz) and should be
  avoided.
- FFTW: The "Fastest Fourier Transform in the West" package is used by the
  sonagram calculation program MBbsegypsd to calculate, well, Fast Fourier
  Transforms. FFTW is commonly used and thus available on or for most current
  Unix operating systems.
- OTPSnc: The Oregon State Ocean Tide Prediction Software package is required
  for the tidal modeling program MBotps (which in fact is just a convenient
  front end for the old-style-batch interface of OTPS). The OTPSnc package can
  be obtained from the tidal modeling group at Oregon State University.

MB-System produces Postscript based graphics. Most current Unix operating
systems provide a program which serves as a screen-based Postscript viewer. If
you do not have a Postscript viewer, one option is to obtain one of several
Ghostscript-based packages from the Free Software Foundation.

- ghostview: Open source screen Postscript viewer. The source code can be
  obtained from the GNU software archives of the Free Software Foundation.
- gv: Open source screen Postscript viewer. This package is a bit more
  sophisticated than ghostview and can handle poster-sized plots. The source
  code can be obtained from the GNU software archives of the Free Software
  Foundation.

Users of MacOs X should note that many of the above packages can be painlessly
installed using the fink package available from the Fink Project.

-------------------------------------------------------------------------------
DOCUMENTATION:
-------------------------------------------------------------------------------

The html documentation consists of a number of html documents and images in the
directory mbsystem/share/doc/mbsystem/html. This documentation also comprises
the MB-System web site available from the Lamont web site at:
	http://www.ldeo.columbia.edu
and the MBARI web site at:
	http://www.mbari.org
Users can access the documentation in their own MB-System installation by using
a web browser and accessing the file:
	file:/usr/local/mbsystem/share/doc/mbsystem/html/index.html
(here it is assumed that MB-System has been installed in /usr/local). The
documentation includes some general information about MB-System (e.g. who
wrote, how to get it, how to install it) and a complete set of manual
pages.

-------------------------------------------------------------------------------
MB-SYSTEM DISCUSSION LIST
-------------------------------------------------------------------------------

We maintain an MB-System discussion email list to facilitate communication
among MB-System developers and users. We encourage users with questions and/or
problems to use this list rather than emailing the developers directly. One
must subscribe to the list in order to post messages, but the message archive is
publicly viewable and searchable over a web interface. The maximum message
size in this list is 100K.

The web interface to the list is at:
        http://listserver.mbari.org/sympa/info/mbsystem

To subscribe to the list go to:
        http://listserver.mbari.org/sympa/subscribe/mbsystem

To read the archives go to:
        http://listserver.mbari.org/sympa/arc/mbsystem

-------------------------------------------------------------------------------
SUGGESTIONS:
-------------------------------------------------------------------------------

We are interested in your suggestions. Please post in the discussion list
rather than emailing the authors directly.

-------------------------------------------------------------------------------
BUGS:
-------------------------------------------------------------------------------

There are undoubtably bugs in this software. Although we make no promises about
how rapidly problems will be fixed, we strongly encourage users to notify us of
bugs (and fixes!!). We will continue to support this software for the foreseeable
future.
-------------------------------------------------------------------------------