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.