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<body>
<h2 id="toc_0"></h2>
<h2 id="toc_1">MB-System ChangeLog File:</h2>
<p>This file lists changes to the source code of 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.</p>
<p>In the list below, releases shown in bold type are major, announced releases.
The other entries are test or "beta" releases that were not announced and generally
not widely distributed. Prior to 5.7.1, the MB-System source code repository was
a privately hosted Subversion archive. In that era, announced source distribution
releases were made available for download by ftp. Starting with 5.7.1 the
MB-System source code repository is hosted by Github at
https://github.com/dwcaress/MB-System/
and each distribution corresponds to a discrete Github release tag. Releases that
include "beta" in the tag name are preliminary and generally not announced.
Distributions that do not include "beta" in the tag name correspond to the major,
announced releases. The source distributions associated with all releases, major
or beta, are equally accessible as tarballs through the Github interface.</p>
<hr>
<h3 id="toc_2">MB-System Version 5.8 Releases and Release Notes:</h3>
<hr>
<ul>
<li>Version 5.8.3beta14 June 12, 2026</li>
<li>Version 5.8.3beta13 April 29, 2026</li>
<li>Version 5.8.3beta12 January 7, 2026</li>
<li>Version 5.8.3beta11 December 27, 2025</li>
<li>Version 5.8.3beta10 December 22, 2025</li>
<li>Version 5.8.3beta09 December 4, 2025</li>
<li>Version 5.8.3beta08 November 16, 2025</li>
<li>Version 5.8.3beta07 October 22, 2025</li>
<li>Version 5.8.3beta06 October 1, 2025</li>
<li>Version 5.8.3beta05 September 30, 2025</li>
<li>Version 5.8.3beta04 September 18, 2025</li>
<li>Version 5.8.3beta03 August 31, 2025</li>
<li>Version 5.8.3beta02 August 29, 2025</li>
<li>Version 5.8.3beta01 August 27, 2025</li>
<li><strong>Version 5.8.2 August 19, 2025</strong></li>
<li>Version 5.8.2beta24 July 19, 2025</li>
<li>Version 5.8.2beta23 June 25, 2025</li>
<li>Version 5.8.2beta22 June 16, 2025</li>
<li>Version 5.8.2beta21 March 15, 2025</li>
<li>Version 5.8.2beta20 February 22, 2025</li>
<li>Version 5.8.2beta19 January 19, 2025</li>
<li>Version 5.8.2beta18 December 8, 2024</li>
<li>Version 5.8.2beta17 November 7, 2024</li>
<li>Version 5.8.2beta16 November 6, 2024</li>
<li>Version 5.8.2beta15 October 1, 2024</li>
<li>Version 5.8.2beta14 September 6, 2024</li>
<li>Version 5.8.2beta13 August 23, 2024</li>
<li>Version 5.8.2beta12 August 22, 2024</li>
<li>Version 5.8.2beta11 August 19, 2024</li>
<li>Version 5.8.2beta10 August 16, 2024</li>
<li>Version 5.8.2beta09 August 4, 2024</li>
<li>Version 5.8.2beta08 July 27, 2024</li>
<li>Version 5.8.2beta07 June 27, 2024</li>
<li>Version 5.8.2beta06 June 13, 2024</li>
<li>Version 5.8.2beta05 May 19, 2024</li>
<li>Version 5.8.2beta04 May 13, 2024</li>
<li>Version 5.8.2beta02 May 1, 2024</li>
<li>Version 5.8.2beta01 April 29, 2024</li>
<li><strong>Version 5.8.1 March 22, 2024</strong></li>
<li>Version 5.8.1beta09 March 22, 2024</li>
<li>Version 5.8.1beta08 March 10, 2024</li>
<li>Version 5.8.1beta07 February 24, 2024</li>
<li>Version 5.8.1beta04 February 16, 2024</li>
<li>Version 5.8.1beta03 February 8, 2024</li>
<li>Version 5.8.1beta02 February 7, 2024</li>
<li>Version 5.8.1beta01 February 1, 2024</li>
<li><strong>Version 5.8.0 January 22, 2024</strong></li>
</ul>
<hr>
<h4 id="toc_3">5.8.3beta14 (June 12, 2026)</h4>
<p>Build system: Make MB-System buildable on Windows with MSVC (no cygwin or mingw). Contributed by Joaquim Luis.</p>
<p>Format MBF_KEMKALL (261): Fixed support for platform files used for preprocessing.</p>
<p>Format MBF_EM710RAW (58): Added support for *.all files associate with the HISAS sonar from Kongsberg.</p>
<p>Programs mbpreprocess and mbprocess: Added support for merging navigation from Kongsberg Navlab software
that is commonly used for Hugin AUV data processing.
Programs mbnavlab2fnv and mbfnv2navlab: Added tools that translate between navlab_smooth.bin and fnv files.</p>
<p>Programs mbnavadjust and mbnavadjustmerge: Fixed problems with new and merged project files resulting
from treating surveys and blocks of continuous data separately.</p>
<p>Program mbmakedatalist: Compiled C version of macro mbm_makedatalist</p>
<h4 id="toc_4">5.8.3beta13 (April 29, 2026)</h4>
<p>Library mbtrnav/gctp: Added modern function definitions to function pointer arrays.</p>
<p>Program mbphotomosaic: Fix bug in which if one photo of a stereo pair is dropped, the other
photo is not used.</p>
<p>Program mbnavadjust: Changed so that surveys can be imported as a single piece even if there
are time breaks between some of the files.</p>
<p>Format MBF_3DWISSL2 (id 234): Add kluge to deal with WiSSL2 lidar bathymetry needing
additional correction.</p>
<h4 id="toc_5">5.8.3beta12 (January 7, 2026)</h4>
<p>CMake build system: Extended to handle complications of MacOs Tahoe. Building the
graphical tools in MB-System on MacOs has been complicated for a number of years because
of the requirement for X11/Motif and also, for programs mbgrdviz, mbeditviz, and mbnavadjust,
OpenGL and GLX. For MacOs versions Sequoia (15) and earlier, the only way to successfully
build and run MB-System has been to install all of the prerequisite packages using the MacPorts
package manager. For reasons that have never been understood, the MB-System graphical
programs failed to run correctly when built with prerequisites installed through the
alternative package managers Homebrew and Fink. This situation changes with MacOs Tahoe
because now the MB-System graphical programs fail when prerequisites are installed through
MacPorts, but succeed when the prerequisites are installed through Homebrew. This update
to the build system handles the differences between the two MacOs scenarios (before Tahoe
vs Tahoe or later). The installation documentation on the MB-System website will be
updated to reflect the necessity of using Homebrew for installations on MacOs Tahoe.
A significant issue with all X11 programs running on MacOs Tahoe so far is that when
windows are resized, the GUI elements are not refreshed properly, and parts of the GUI
wind up overwritten in solid black. Hopefully this will be fixed in a new version of
the X11 server XQuartz. In the meantime, minimizing the program window using the middle
(yellow) button on the upper left of the window (or the command-M shortcut), and then
restoring that window by clicking on it's icon in the dock will properly refresh the GUI
graphics.</p>
<p>Program mbgrd2gltf: Continued updates to this tool for translating gridded topography
to Graphics Library Transmission Format (GLTF) files that can be visualized by GLTF
viewers.</p>
<h4 id="toc_6">5.8.3beta11 (December 27, 2025)</h4>
<p>Formats 56 (MBF<em>EM300RAW) and 57 (MBF</em>EM300MBA): Fixed erroneous calculation of a large
sensordepth value by mbprocess when the draft of a surface vessel has not been defined.</p>
<h4 id="toc_7">5.8.3beta10 (December 22, 2025)</h4>
<p>Program mbbackangle: A skipping existing feature implemented in beta04 had a small error
in the source code that made it not work as intended. This release contains a bug fix to
correct that behavior.</p>
<h4 id="toc_8">5.8.3beta09 (December 4, 2025)</h4>
<p>Program mbnavadjustmerge: Fixed options --unset-tie, --unset-ties-file, --unset-ties-survey,
--unset-ties-by-survey, --unset-ties-block, --unset-ties-all.</p>
<p>Program mbbackangle: A skipping existing feature implemented in beta04 had a small error
in the source code that made it not work as intended. This release contains a bug fix to
correct that behavior.</p>
<h4 id="toc_9">5.8.3beta08 (November 16, 2025)</h4>
<p>Programs mbedit and mbeditviz: Now display dual swath Kongsberg multibeam data in the
kmall format (id 261) with two separate acrosstrack profiles. As before the two profiles
are associated with a single ping cycle and set of datagrams.</p>
<p>Format MBF_3DWISSL2 (id 234): Updates to handle the evolving representation for the
3D at Depth 2nd generation Wide Swath Subsea Lidar (WiSSL2)</p>
<p>Programs mbphotomosaic, mbgetphotocorrection, and mbphotogrammetry: Augmented to handle
seafloor photographs that have already been rectified (corrected for distortion). This
capability has not been fully tested at this point.</p>
<h4 id="toc_10">5.8.3beta07 (October 22, 2025)</h4>
<p>Program mbeditviz: Fixed display of swath width when navigation is selected in the survey
view.</p>
<p>Format 234 (MBF_3DWISSL2): Supports data from new 3D at Depth 2nd Generation Wide swath
Subsea Lidar (WiSSL2).</p>
<p>Program mbpreprocess: Added option attitude-zero-heave to zero heave values in attitude
data to be merged with survey data. The immediate use is for integration of Exail Phins C7
navigation and attitude data with multibeam data, all collected on a submerged AUV for
which the platform depth is defined by a pressure sensor rather than the heave output
by the INS.</p>
<p>Programs mbgrdviz, mbeditviz, mbnavadjust: Fixed the mouse button description for Rotate
View mode so that the right button is properly labeled as zoom rather than exaggeration.</p>
<h4 id="toc_11">5.8.3beta06 (October 1, 2025)</h4>
<p>GMT integration: Fixed compiler directives insuring
that the GMT header file gmt_dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<h4 id="toc_12">5.8.3beta05 (September 30, 2025)</h4>
<p>GMT grid i/o functions (src/mbaux/mb<em>readwritegrd.c): Added compiler directives insuring
that the GMT header file gmt</em>dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<p>GMT module mbcontour: Added compiler directives insuring
that the GMT header file gmt_dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<p>GMT module mbgrd2obj: Added compiler directives insuring
that the GMT header file gmt_dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<p>GMT module mbgrdtiff: Added compiler directives insuring
that the GMT header file gmt_dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<p>GMT module mbswath: Added compiler directives insuring
that the GMT header file gmt_dev.h does not implicitly include a glib header file not
needed by MB-System.</p>
<p>Programs mbedit, mbeditviz, mbgrdviz, mbnavadjust, mbnavedit, mbvelocitytool: Removed code
ensuring that a message display dialog is displayed when created or updated by processing
all outstanding X11 events, as this causes mbeditviz to get lost in an infinite event
processing loop on Ubuntu 24 installations.</p>
<h4 id="toc_13">5.8.3beta04 (September 18, 2025)</h4>
<p>Many source files: Addressed code style issues raised previously by Kurt Schwehr,
particularly using bool type for logical variables</p>
<p>Program mbinfo: Recast mbinfo to use long options as well as short options. Added a new
capability to list records comprising a data file and the contents of selected records
using the --debug-record-types and --debug-record-contents options, which is so far
implemented for formats 58, 59, and 89.</p>
<p>Program mbpreprocess: Added several new "kluge" options:
--kluge-set-beamwidths
--kluge-set-beamwidth-acrosstrack
--kluge-set-beamwidth-alongtrack
--kluge-ignore-duplicate-pings
--kluge-xducer-depth-from-heave
--kluge-xducer-depth-from-sensordepth
--kluge-xducer-depth-from-heave-and-sensordepth</p>
<p>Macro mbm_route2mission: Fixed end of mission battery behavior to use mode 2 so that the
AUV sonars are only shut off if the batteries are mostly exhausted.</p>
<p>Formats 58 and 59 (MBF<em>EM710RAW and MBF</em>EM710MBA): Recast handling of transducer depth
modes so as to work correctly for more data sets, and added mbpreprocess kluge options
to handle the less common combinations of data record types and sonar settings.</p>
<p>Program mbphotomosaic: Augmented handling of camera types to include monocular cameras
and single camera calibration models.</p>
<h4 id="toc_14">5.8.3beta03 (August 31, 2025)</h4>
<p>Program mbotps: Added long option commands, and altered the manual page to document use
of long options. Fixed the --skip-existing {-M} command so that mbotps actually skips
files that already have tide correction defined.</p>
<p>Program mbnavadjust: Now displays the reference grid used for global ties in data section
and global tie listings.</p>
<h4 id="toc_15">5.8.3beta02 (August 29, 2025)</h4>
<p>Program mbeditviz: Fixed bias parameter optimization when soundings are selected by
navigation.</p>
<p>Program mbnavadjust: changed default section sizes to 0.2 km (200 m) and 400,000 soundings.</p>
<h4 id="toc_16">5.8.3beta01 (August 27, 2025)</h4>
<p>Program mbgrd2gltf: Fixed compile problem that occurs when the draco library is installed.</p>
<h4 id="toc_17">5.8.2 (August 19, 2025)</h4>
<p><strong>Version 5.8.2</strong> is now the current release of MB-System. </p>
<p>The source code distribution can be downloaded from the MB-System Github repository at:<br>
<a href="">https://github.com/dwcaress/MB-System/archive/refs/tags/5.8.2.tar.gz</a></p>
<p>The changes and bug fixes of 5.8.2 relative to the prior stable release (5.8.1) are
listed in the ChangeLog.md file entries for the preliminary releases 5.8.2beta01 through
5.8.2beta24.</p>
<h4 id="toc_18">5.8.2beta24 (July 19, 2025)</h4>
<p>Program mbgrdviz: Added capability to export an MB-System route file in a file format that
can be loaded into a Kongsberg dynamic positioning (DP) system, enabling using the DP to
run the survey lines described by the route file.</p>
<p>Program mbgrdviz: Added capability to export an MB-System route file in a file format that
can be loaded into the Kongsberg multibeam control software called SIS (Seafloor information
System). The route can be imported in two forms: one where each segment between major
waypoints translates to a separate line in SIS, and another that generates a multisegment
line in SIS.</p>
<p>Program mbpreprocess: Altered the --skip-existing options so that previously preprocessed
files are entirely skipped.</p>
<h4 id="toc_19">5.8.2beta23 (June 25, 2025)</h4>
<p>Program mbgrdviz: Fixed capability to export routes in the form of Kongsberg Dynamic
Positioning system waypoints, allowing importation of the MB-System derived survey plans
to the bridge control system on MBARI's R/V David Packard.</p>
<p>Format 89 (Teledyne Reson and Norbit (*.s7k)): Removed an errant debug message.</p>
<p>Program mbnavadjust: Greatly improved picking data sections and global ties from the
model time series plots. Reorganized the List menu so that the choices switching the
data pick mode on the model plot and the map visualization are together. When the list
shows data sections, global ties, or sorted global ties, then picking on the model plot
or on navigation in the visualization will bring up the analysis window with a data section
and potentially a reference grid. Otherwise the picking and the analysis window will be
of crossings and crossing ties. </p>
<p>Program mbpreprocess: Fixed generation of asynchronous navigation, attitude, heading and
sensor depth files for use by mbeditviz.</p>
<h4 id="toc_20">5.8.2beta22 (June 16, 2025)</h4>
<p>Program mbtrnpp: Improved beam decimation and median filtering algorithms and some included
performance analysis plotting tools. Also fixed string construction code that triggered
buffer overflow signals (falsely) when compiled with strict security rules, as is the
default for Ubuntu 24.</p>
<p>Program mbgrdviz: Added capability to export routes in the form of Kongsberg Dynamic
Positioning system waypoints, allowing importation of the MB-System derived survey plans
to the bridge control system on MBARI's R/V David Packard.</p>
<p>Format MBF_3DWISSL2 (234): First work on i/o module for data from the 3D at Depth WiSSL2
(2nd Generation Wide Swath Subsea Lidar) - this is not complete.</p>
<p>Macro mbm_route2mission: Altered the \fB-G\fP option so that instead of causing the AUV
mission to include surfacing at survey line starting and/or ending waypoints, now \fB-G\fP
causes AUV surfacing to occur at the specified waypoint type.</p>
<p>Program mbimagelist: New utility program that parses \fBMB-System\fP imagelist structures
and can also be used to generate metadata files used by other MB-System programs.</p>
<h4 id="toc_21">5.8.2beta21 (March 15, 2025)</h4>
<p>Program mbeditviz: Improved the algorithm used to solve for optimal roll bias, pitch bias,
heading bias, time lag, and Snell factor values using sets of soundings selected by area,
region, and navigation. Previously these optimization problems were solved by a brute
force search for values minimizing the bathymetric variance in the selected soundings.
Now the approach is a more sensible Golden Section Search (e.g. Press et al., Numerical
Recipies in C, 2nd ed., 1992). Also, the shell output when executing these optimizations
is more useful - in particular, the order of the bias parameters now conforms to the order
used by platform files and mbmakeplatform. In fact, this same order is now used for the
bias value sliders in the mbeditviz 3D sounding window.</p>
<p>Library mbview: fix bug that prevented building mbview on Ubuntu because of a missing
include of time.h in src/mbview/mbiew_plot.c tied to X11 event debugging code.</p>
<h4 id="toc_22">5.8.2beta20 (February 22, 2025)</h4>
<p>Program mbpreprocess: Added options --kluge-flipsign-roll and --kluge-flipsign-pitch
which flip the sign of roll or pitch values, respectively, before they are merged and
applied to the swath bathymetry.</p>
<p>Program mbauvloglist: Added support for new phins.log files for Dorado AUVs with a Phins
INS installed.</p>
<p>Program mbm_route2mission: Fixed the -Ggpsmode option so that the AUV mission script will
actually make the AUV surface at survey line starts and/or ends when gpsmode > 0.</p>
<p>Cmake build system: Augmented the places that Cmake will look for Motif headers and library
with /opt/local/include/ and /opt/local/lib/ in the file build-utils/FindMotif.cmake)</p>
<h4 id="toc_23">5.8.2beta19 (January 19, 2025)</h4>
<p>Program mbgrdviz: Fixed bug in which routes might not be exported correctly when multiple
routes are exported to a single route file.</p>
<p>Program mbgrdviz: Fixed error messages indicating failed projection of some soundings.</p>
<p>Program mbpreprocess: Fixed crash when preprocessing third generation Kongsberg
multibeam data (*.all files, formats 58 and 59) using a platform model defined in a
platform file created by mbmakeplatform.</p>
<p>Program mbgrid: Reduced the default verbosity so that the shell output only lists files
with data actually used in the gridding.</p>
<p>Format 121 (Generic Sensor Format (GSF)): Fixed crashes that occurred when processing GSF
files derived from Teledyne Reson multibeam data.</p>
<p>Format 89 (Teledyne Reson and Norbit (*.s7k)): Handles the lack of a FileHeader record in
Norbit multibeam data recorded in the s7k format.</p>
<h4 id="toc_24">5.8.2beta18 (December 8, 2024)</h4>
<p>MBlist: Fixed a critical bug in which mblist would never output from processed files
specified through a datalist using the $PROCESSED tag.</p>
<p>Format MBF_KEMKALL (261): Augmented the i/o module to read and write an undocumented kmall
data record (#MSC) found in EM124 data collected by NERC. Without documentation the record
cannot be parsed, but it is read and rewritten without modification.</p>
<p>Format MBF<em>KEMKMALL (261): Fixed failure to differentiate between #SKM records from different
navigation + heading + attitude systems. If a platform has two navation/attitude systems, then
the first will map to MB</em>DATA<em>NAV1 type data, and the second to MB</em>DATA<em>NAV2. The default for
mbpreprocess will be to interpolate from navigation, heading, and attitude data stored in
MB</em>DATA_NAV1 records, which for this format means #SKM datagrams with system id 0 (as opposed
to system id 1).</p>
<p>Miscellaneous: Removed top level files "NEWS", "NOTES", and "INSTALL.md". These files existed
to conform to GNU expectations for a package structure. We are no longer trying to match the
GNU structure, and so have removed these unnecessary files.</p>
<p>Most SeaBeam Classic formats (MBF<em>SBSIOMRG, MBF</em>SBSIOCEN, MBF<em>SBSIOLSI, MBF</em>SBURICEN, MBF_SBURIVAX): Added code to handle rare condition where the ping timestamp has a seconds value of 60. Now the code will add one to the minutes value, and set the seconds value to 0.</p>
<h4 id="toc_25">5.8.2beta17 (November 7, 2024)</h4>
<p>Libtrnav (src/mbtrnav/): Additional fixes by Kent Headley to enable building on Ubuntu 24.</p>
<h4 id="toc_26">5.8.2beta16 (November 6, 2024)</h4>
<p>Mbm_route2mission: Change so that no edgetech behaviors are output to the mission script
if no sidescan or subbottom is enabled.</p>
<p>Format MBF<em>MBPRONAV (165): code changed so that if a file has records in which the date
fields (yyyy mm dd hh mm ss.ssssss) are all zero, then on reading the data will be set
using the value in the time</em>d (epoch time in seconds) field.</p>
<p>Mbauvloglist: Fixed bug that caused occasional crashes.</p>
<p>Mbphotogrammetry: Now applies CLAHE equalization to images before calculating disparity map.</p>
<p>Libtrnav (src/mbtrnav/): Many fixes by Kent Headley, including casting the code to use
Proj for geodetic transformations when used as part of MB-System while still allowing
use of the old GCTP library when used in other contexts lacking Proj.</p>
<h3 id="toc_27">5.8.2beta15 (October 1, 2024)</h3>
<p>Mbmakeplatform: Fixed problems with handling sensor add and sensor modify modes.</p>
<p>Mbgrdviz, mbeditviz, mbnavadjust: Changed the mbview display of swath bounds for selected
navigation to be optional rather than always displayed.</p>
<p>Formats 58 (MBF<em>EM710RAW) and 59 (MBF</em>EM710MBA): Fixed preprocessing support for the
Kongsberg M3 multibeam. Added capability to use an MB-System platform file in place of
the sensor offsets embedded in the logged multibeam files.</p>
<p>Mbphotogrammetry: Fixed use of range bounds in filtering the photogrammetric bathymetry.</p>
<h4 id="toc_28">5.8.2beta14 (September 6, 2024)</h4>
<p>Mbphotomosaic: Removed unnecessary --correction-file-color option (redundant with --correction-file)</p>
<p>mbm_grdplot: Fixed -G7 option for plotting images with geodetics defined in world files
rather than embedded as in GeoTiffs. Specifically allows use of png images with transparency.</p>
<p>Formats 232 (MBF<em>WISSLR) and 233 (MBF</em>WISSLP): Fixed initial beam flagging by mbpreprocess
for secondary sounding picks (when the lidar was operated in multipick mode)</p>
<h4 id="toc_29">5.8.2beta13 (August 23, 2024)</h4>
<p>Mbphotomosaic: Fixed use of the --dark-image-ignore and --dark-image-multiply options
as parameters embedded in recursive imagelist files.</p>
<h4 id="toc_30">5.8.2beta12 (August 22, 2024)</h4>
<p>Mbnavadjustmerge: Fixed (again, this time hopefully for real) the --reimport-all-files
option so that large projects can be reimported with a single command. Added a
--reimport-survey option.</p>
<h4 id="toc_31">5.8.2beta11 (August 19, 2024)</h4>
<p>Mbnavadjustmerge: Fixed the --reimport-all-files option so that large projects can be
reimported with a single command. Added a --reimport-survey option.</p>
<h4 id="toc_32">5.8.2beta10 (August 16, 2024)</h4>
<p>Mbnavadjustmerge: Added --reimport-file and --reimport-all-files options that reimport
swath files into an mbnavadjust project from the current processed versions of that files.
Each file is broken into the same sections as previously, regardless of any changes to the
settings for the maximum section length or the maximum number of soundings in a section.
The original navigation and attitude data are also preserved, but the bathymetry is changed
to reflect the current processed values. This means that updates to the bathymetry editing
can now be brought into mbnavadjust projects.</p>
<p>Format 71 (MBF<em>MBLDEOIH): Fixed a compression bug that occasionally resulted in corrupting
the acrosstrack values of the outermost beams of pings when changed data are inserted into
records using the mb</em>put<em>all() or mb</em>insert() functions. The only know manifestation of this
bug was in importing swath data into mbnavadjust projects.</p>
<p>Mbtrnpp: Fixed #ifdefs and Makefile.am files so that mbtrnpp can still be built with the
old autoconf build system, albeit using GCTP for projections rather libproj.</p>
<h4 id="toc_33">5.8.2beta09 (August 4, 2024)</h4>
<p>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.</p>
<p>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.</p>
<p>Mbextractsegy: Fixed bug in extracting and plotting envelope function of subbottom data.</p>
<p>General: Added macros to src/mbio/mb<em>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</em>PRINTF<em>BINARY</em>PATTERN<em>INT8"\n", MB</em>PRINTF<em>BYTE</em>TO<em>BINARY</em>INT8(value));
Printing of larger int types has a similar form:
short value;
printf("Bitmask: "MB<em>PRINTF</em>BINARY<em>PATTERN</em>INT16"\n", MB<em>PRINTF</em>BYTE<em>TO</em>BINARY<em>INT16(value));
int value;
printf("Bitmask: "MB</em>PRINTF<em>BINARY</em>PATTERN<em>INT32"\n", MB</em>PRINTF<em>BYTE</em>TO<em>BINARY</em>INT32(value));
long long value;
printf("Bitmask: "MB<em>PRINTF</em>BINARY<em>PATTERN</em>INT64"\n", MB<em>PRINTF</em>BYTE<em>TO</em>BINARY_INT64(value));
These macros are taken from
https://stackoverflow.com/questions/111928/is-there-a-printf-converter-to-print-in-binary-format</p>
<h4 id="toc_34">5.8.2beta08 (July 27, 2024)</h4>
<p>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:</p>
<div><pre><code class="language-none">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</code></pre></div>
<p>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.</p>
<h4 id="toc_35">5.8.2beta07 (June 27, 2024)</h4>
<p>Mbm_trnplot: Added extraction of TRN localization estimates in longitude and latitude.</p>
<p>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).</p>
<p>Mbgrdviz: Fixed importation of non-csv raw site files.</p>
<p>Formats 88 and 89 (MBF<em>RESON7KR and MBF</em>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).</p>
<p>Formats 88 and 89 (MBF<em>RESON7KR and MBF</em>RESON7K3): Fixed problem calculating sample times
for attitude data in s7k 1016 Attitude data records.</p>
<h4 id="toc_36">5.8.2beta06 (June 13, 2024)</h4>
<p>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. </p>
<p>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.</p>
<p>MBtrnpp: and TRN: Changed TerrainNav, supporting libraries, and the program mbtrnpp to
calculate projections using the Proj package rather than the GCTP package.</p>
<p>MBtrnpp: Now works with reference topography models defined in a Local Transverse
Mercator (LTM) projection.</p>
<p>Mbm_trnplot: augmented to allow specifying the CRS of the reference topoography so
that a Local Transverse Mercator (LTM) projection can be used.</p>
<h4 id="toc_37">5.8.2beta05 (May 19, 2024)</h4>
<p>MBextractsegy: changed calculation of section plot bounds to more consistently catch the
seafloor arrival within the plot.</p>
<p>MBpreprocess: fixed initialization of the --kluge-fix-7k-times option.</p>
<p>Docker image: updated documentation in the Docker directory.</p>
<p>Formats 58 (MBF<em>EM710RAW) and 59 (MBF</em>EM710MBA): Removed an errant debug message that
printed out information when reading height datagrams.</p>
<h4 id="toc_38">5.8.2beta04 (May 13, 2024)</h4>
<p>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</p>
<p>Mbroutetime: Now works with the recently changed route file format.</p>
<p>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.</p>
<h4 id="toc_39">5.8.2beta02 (May 1, 2024)</h4>
<p>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).</p>
<h4 id="toc_40">5.8.2beta01 (April 29, 2024)</h4>
<p>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.</p>
<p>MB-System Docker Container: Improved Docker documentation included in the Docker directory.</p>
<h4 id="toc_41">5.8.1 (March 22, 2024)</h4>
<p>CMake build system: Fixed ability to set OTPS location in cmake build system.</p>
<p>CMake build system: Added installation of header files required for external programs to
utilize MB-System libraries.</p>
<p>Format 261 (MBF_KEMKMALL): Updated support for Kongsberg Kmall format to match updated
specification J.</p>
<p>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. </p>
<p>Formats 58 (MBF<em>EM710RAW) and 59 (MBF</em>EM710MBA): Fixed bug in which some bathymetry
edits were applied to the wrong pings. Third generation Kongsberg multibeams produce