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ChangeLog.html
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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 5.8.2beta20 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">5.8.2beta20 (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_4">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_5">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_6">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_7">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_8">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_9">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_10">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_11">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_12">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_13">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_14">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_15">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_16">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_17">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_18">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_19">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_20">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_21">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_22">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
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.</p>
<p>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.</p>
<p>Mbpreprocess and format MBF<em>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</em>EM710MBA
(59) files.</p>
<p>Mbpreprocess and mbprocess: Now support merging navigation and attitude from Schmidt
Ocean Institute RVDAS format ROV navigation.</p>
<p>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.</p>
<p>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.</p>
<p>Mbphotomosaic: Fixed priority-heading option that allows image prioritization on
the basis of camera heading.</p>
<p>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.</p>
<p>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.</p>
<p>SEGY format data: MB-System now recognizes file suffixes *.sgy and *.SGY in addition
to *.segy *.SEGY *.seg and *.SEG</p>
<p>Mbsegyinfo: Fixed calculation and reporting of trace minimum and maximum values.</p>
<p>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.</p>
<p>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.</p>
<h4 id="toc_23">5.8.1beta09 (March 22, 2024)</h4>
<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
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.</p>
<p>Mbgrid: Improved output to shell so that it shows the min max values from each
contributing input file whether verbose is specified or not.</p>
<h4 id="toc_24">5.8.1beta08 (March 10, 2024)</h4>
<p>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.</p>
<p>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.</p>
<p>SEGY format data: MB-System now recognizes file suffixes *.sgy and *.SGY in addition
to *.segy *.SEGY *.seg and *.SEG</p>
<p>Mbsegyinfo: Fixed calculation and reporting of trace minimum and maximum values.</p>
<p>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.</p>
<p>Mbpreprocess and mbprocess: Now support merging navigation and attitude from Schmidt
Ocean Institute RVDAS format ROV navigation.</p>
<p>Mbpreprocess and format MBF<em>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</em>EM710MBA
(59) files.</p>
<h4 id="toc_25">5.8.1beta07 (February 24, 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>
<h4 id="toc_26">5.8.1beta04 (February 16, 2024)</h4>
<p>Format 261 (MBF_KEMKMALL): Updated support for Kongsberg Kmall format to match updated specification J.</p>
<h4 id="toc_27">5.8.1beta03 (February 8, 2024)</h4>
<p>Mbphotomosaic: Fixed priority-heading option that allows image prioritization on
the basis of camera heading.</p>
<h4 id="toc_28">5.8.1beta02 (February 7, 2024)</h4>
<p>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.</p>
<h4 id="toc_29">5.8.1beta01 (February 1, 2024)</h4>
<p>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.</p>
<p>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.</p>
<h4 id="toc_30">5.8.0 (January 22, 2024)</h4>
<p><strong>Version 5.8.0</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/5.8.0.tar.gz</a></p>
<p>In addition to many bug fixes, the changes of 5.8.0 relative to the prior major release (5.7.8) include:</p>
<p><strong>New build system:</strong><br>
MB-System is now built and installed using the CMake package, rather than GNU Autotools. The old build system is still present and can be used to install MB-System on old operating systems (e.g. Ubuntu 18.04), but all support for building on recent, current and future operating systems will be for use of CMake. See the Download and Install (https://www.mbari.org/technology/mb-system/installation/) instructions page for details.</p>
<p><strong>Global ties to reference grids in MBnavadjust:</strong><br>
MBnavadjust is a toolset used adjust navigation of submerged platform (e.g. AUV or ROV) surveys so that features match where swaths overlap and cross. The primary information comes from measuring the navigation offsets required to match features using cross correlation of the bathymetry data. MBnavadjust now also allows the survey navigation to be tied to reference bathymetry models, typically from GPS-navigated hull mounted surveys, so that the navigation can be tied to the world frame of reference.</p>
<p><strong>Realtime Terrain Relative Navigation:</strong><br>
MB-System now includes a Terrain Relative Navigation (TRN) codebase developed at Stanford and MBARI that uses realtime topography information to where a platform is located on a pre-existing topography map. The MB-System tool mbtrnpp implements TRN in the case of an AUV or ROV equipped with a multibeam sonar. </p>
<p><strong>Photomosaicing tools available:</strong><br>
Tools for generating photomosaics from sets of still seafloor photographs are now built as part of MB-System. Documentation and examples are being developed but are not available at the time of this release.</p>
<hr>
<h3 id="toc_31">MB-System Version 5.7 Releases and Release Notes:</h3>
<hr>
<ul>
<li>Version 5.7.9beta72 January 14, 2024</li>
<li>Version 5.7.9beta71 January 3, 2024</li>
<li>Version 5.7.9beta70 January 2, 2024</li>
<li>Version 5.7.9beta69 December 17, 2023</li>
<li>Version 5.7.9beta68 November 30, 2023</li>
<li>Version 5.7.9beta66 November 18, 2023</li>
<li>Version 5.7.9beta65 November 17, 2023</li>
<li>Version 5.7.9beta64 November 16, 2023</li>
<li>Version 5.7.9beta63 November 10, 2023</li>
<li>Version 5.7.9beta62 November 3, 2023</li>
<li>Version 5.7.9beta61 November 2, 2023</li>
<li>Version 5.7.9beta60 October 22, 2023</li>
<li>Version 5.7.9beta59 September 19, 2023</li>
<li>Version 5.7.9beta58 August 30, 2023</li>
<li>Version 5.7.9beta57 June 27, 2023</li>
<li>Version 5.7.9beta53 June 15, 2023</li>
<li>Version 5.7.9beta52 March 9, 2023</li>
<li>Version 5.7.9beta51 February 14, 2023</li>
<li>Version 5.7.9beta50 February 12, 2023</li>
<li>Version 5.7.9beta49 January 22, 2023</li>
<li>Version 5.7.9beta48 December 16, 2022</li>
<li>Version 5.7.9beta47 November 15, 2022</li>
<li>Version 5.7.9beta46 November 11, 2022</li>
<li>Version 5.7.9beta45 November 6, 2022</li>
<li>Version 5.7.9beta44 August 9, 2022</li>
<li>Version 5.7.9beta43 July 29, 2022</li>
<li>Version 5.7.9beta42 June 26, 2022</li>
<li>Version 5.7.9beta41 June 22, 2022</li>
<li>Version 5.7.9beta40 June 18, 2022</li>
<li>Version 5.7.9beta38 June 18, 2022</li>
<li>Version 5.7.9beta37 June 17, 2022</li>
<li>Version 5.7.9beta36 June 15, 2022</li>
<li>Version 5.7.9beta35 June 13, 2022</li>
<li>Version 5.7.9beta34 June 5, 2022</li>
<li>Version 5.7.9beta33 June 5, 2022</li>
<li>Version 5.7.9beta32 June 4, 2022</li>
<li>Version 5.7.9beta30 June 4, 2022</li>
<li>Version 5.7.9beta29 May 13, 2022</li>
<li>Version 5.7.9beta28 March 21, 2022</li>
<li>Version 5.7.9beta27 February 28, 2022</li>
<li>Version 5.7.9beta26 January 2, 2022</li>
<li>Version 5.7.9beta25 December 29, 2021</li>
<li>Version 5.7.9beta24 December 27, 2021</li>
<li>Version 5.7.9beta23 December 18, 2021</li>
<li>Version 5.7.9beta22 December 5, 2021</li>
<li>Version 5.7.9beta21 December 4, 2021</li>
<li>Version 5.7.9beta20 December 1, 2021</li>
<li>Version 5.7.9beta19 November 6, 2021</li>
<li>Version 5.7.9beta18 October 31, 2021</li>
<li>Version 5.7.9beta17 October 16, 2021</li>
<li>Version 5.7.9beta16 August 27, 2021</li>
<li>Version 5.7.9beta15 August 26, 2021</li>
<li>Version 5.7.9beta14 July 25, 2021</li>
<li>Version 5.7.9beta13 July 18, 2021</li>
<li>Version 5.7.9beta12 July 4, 2021</li>
<li>Version 5.7.9beta11 June 26, 2021</li>
<li>Version 5.7.9beta10 June 16, 2021</li>
<li>Version 5.7.9beta09 June 8, 2021</li>
<li>Version 5.7.9beta07 May 7, 2021</li>
<li>Version 5.7.9beta06 March 24, 2021</li>
<li>Version 5.7.9beta05 March 8, 2021</li>
<li>Version 5.7.9beta04 February 21, 2021</li>
<li>Version 5.7.9beta03 February 7, 2021</li>
<li>Version 5.7.9beta02 January 27, 2021</li>
<li>Version 5.7.9beta01 January 18, 2021</li>
<li><strong>Version 5.7.8 January 17, 2021</strong></li>
<li>Version 5.7.7 January 17, 2021 (flawed, quickly superceded)</li>
<li>Version 5.7.7beta09 January 17, 2021</li>
<li>Version 5.7.7beta08 January 6, 2021</li>
<li>Version 5.7.7beta06 December 30, 2020</li>
<li>Version 5.7.7beta05 December 28, 2020</li>
<li>Version 5.7.7beta04 October 28, 2020</li>
<li>Version 5.7.7beta03 October 27, 2020</li>
<li>Version 5.7.7beta02 October 8, 2020</li>
<li>Version 5.7.7beta01 October 7, 2020</li>
<li><strong>Version 5.7.6 October 5, 2020</strong></li>
<li>Version 5.7.6beta56 September 28, 2020</li>
<li>Version 5.7.6beta55 September 16, 2020</li>
<li>Version 5.7.6beta54 September 14, 2020</li>
<li>Version 5.7.6beta53 September 13, 2020</li>
<li>Version 5.7.6beta52 September 9, 2020</li>
<li>Version 5.7.6beta51 September 4, 2020</li>
<li>Version 5.7.6beta50 September 2, 2020</li>
<li>Version 5.7.6beta49 September 2, 2020</li>
<li>Version 5.7.6beta48 September 1, 2020</li>
<li>Version 5.7.6beta47 September 1, 2020</li>
<li>Version 5.7.6beta46 August 31, 2020</li>
<li>Version 5.7.6beta45 August 26, 2020</li>
<li>Version 5.7.6beta44 August 24, 2020</li>
<li>Version 5.7.6beta43 July 23, 2020</li>
<li>Version 5.7.6beta42 July 21, 2020</li>
<li>Version 5.7.6beta41 July 12, 2020</li>
<li>Version 5.7.6beta40 July 7, 2020</li>
<li>Version 5.7.6beta38 June 8, 2020</li>
<li>Version 5.7.6beta37 May 26, 2020</li>
<li>Version 5.7.6beta36 May 17, 2020</li>
<li>Version 5.7.6beta34 May 14, 2020</li>
<li>Version 5.7.6beta33 May 5, 2020</li>
<li>Version 5.7.6beta32 April 22, 2020</li>
<li>Version 5.7.6beta31 March 2, 2020</li>
<li>Version 5.7.6beta30 February 20, 2020</li>
<li>Version 5.7.6beta29 February 17, 2020</li>
<li>Version 5.7.6beta28 February 13, 2020</li>
<li>Version 5.7.6beta27 February 3, 2020</li>
<li>Version 5.7.6beta26 February 2, 2020</li>
<li>Version 5.7.6beta25 January 20, 2020</li>
<li>Version 5.7.6beta24 January 16, 2020</li>
<li>Version 5.7.6beta23 January 11, 2020</li>
<li>Version 5.7.6beta21 December 12, 2019</li>
<li>Version 5.7.6beta20 November 26, 2019</li>