MB-SYSTEM VERSION 5.1.0 README FILE: ---------------------------------------- This file is located at the top of the MB-System directory structure. This directory structure contains the version 5.1.0 release of the MB-System software package for processing and display of swath sonar data. 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 VERSION 5 RELEASE DATES: ----------------------------------------- Version 5.1.0 November 26, 2006 Version 5.1.0beta4 October 5, 2006 Version 5.1.0beta3 September 11, 2006 Version 5.1.0beta2 August 9, 2006 Version 5.1.0beta July 5, 2006 Version 5.0.9 February 20, 2006 Version 5.0.8 February 8, 2006 Version 5.0.8beta5 February 3, 2006 Version 5.0.8beta4 February 1, 2006 Version 5.0.8beta3 February 1, 2006 Version 5.0.8beta2 January 27, 2006 Version 5.0.8beta January 24, 2006 Version 5.0.7 April 7, 2005 Version 5.0.6 February 19, 2005 Version 5.0.5 October 6, 2004 Version 5.0.4 May 22, 2004 Version 5.0.3 February 27, 2004 Version 5.0.2 December 24, 2003 Version 5.0.1 December 12, 2003 Version 5.0.0 December 5, 2003 MB-SYSTEM VERSION 5 BETA RELEASE DATES: ----------------------------------------- Version 5.0.beta31 April 29, 2003 Version 5.0.beta30 April 25, 2003 Version 5.0.beta29 March 10, 2003 Version 5.0.beta28 January 14, 2003 Version 5.0.beta27 November 13, 2002 Version 5.0.beta26 November 3, 2002 Version 5.0.beta25 October 15, 2002 Version 5.0.beta24 October 4, 2002 Version 5.0.beta23 September 20, 2002 Version 5.0.beta22 August 30, 2002 Version 5.0.beta21 July 25, 2002 Version 5.0.beta20 July 20, 2002 Version 5.0.beta18 May 31, 2002 Version 5.0.beta17 May 1, 2002 Version 5.0.beta16 April 5, 2002 Version 5.0.beta15 March 26, 2002 Version 5.0.beta14 February 25, 2002 Version 5.0.beta13 February 22, 2002 Version 5.0.beta12 January 2, 2002 Version 5.0.beta11 December 20, 2001 Version 5.0.beta10 November 20, 2001 Version 5.0.beta09 November 6, 2001 Version 5.0.beta08 October 19, 2001 Version 5.0.beta07 August 10, 2001 Version 5.0.beta06 July 30, 2001 Version 5.0.beta05 July 23, 2001 Version 5.0.beta04 July 20, 2001 Version 5.0.beta03 July 19, 2001 Version 5.0.beta02 June 30, 2001 Version 5.0.beta01 June 8, 2001 Version 5.0.beta00 April 6, 2001 MB-SYSTEM AUTHORS: ----------------- David W. Caress (caress@mbari.org) Monterey Bay Aquarium Research Institute 7700 Sandholdt Road Moss Landing, CA 95039 Dale N. Chayes (dale@ldeo.columbia.edu) Lamont-Doherty Earth Observatory of Columbia University Rte 9W Palisades, NY 10964 MB-SYSTEM COPYRIGHT, LICENSING AND CAVEAT: ----------------------------------------- MB-System Copyright (C) 1993-2006 by David W. Caress (caress@mbari.org) Monterey Bay Aquarium Research Institute Moss Landing, CA 95039 Dale N. Chayes (dale@ldeo.columbia.edu) Lamont-Doherty Earth Observatory Palisades, NY 10964mbbackangle.manl All Rights Reserved All Wrongs Remembered The MB-System source code is distributed under the GNU General Public License as formulated by the GNU Project. Previous MB-System distributions have been described as "public domain", which meant there was no restrictions whatsoever on the use of the code. We have now adopted the more restrictive GNU GPL license in order to insure that anyone who distributes software based in whole or in part on MB-System also distributes the modified MB-System source code and any additional source code. The GNU GPL also prohibits the distribution of proprietary executables linked with MB-System libraries unless the source code is also distributed. We waive this restriction on distributing proprietary compiled programs for specific software products if and only if those software products meet the following two conditions: 1) The software product was created, sold, and delivered to customers using source code derived from MB- System release 4.6 distributions. 2) The software product was sold and delivered to customers prior to January 1, 2001. The MB-System does not come with any warranties, nor is it guarenteed to work on your computer or to do anything useful. The user assumes full responsibility for the use of this system. In particular, David W. Caress, Dale N. Chayes, the Lamont-Doherty Earth Observatory of Columbia University, the Monterey Bay Aquarium Research Institute, or any other individuals or organizations involved in the design and maintenance of the MB-System software package are NOT responsible for any damage that may follow from correct or incorrect use of these programs. MB-SYSTEM VERSION 5.1.0 RELEASE NOTES: ------------------------------------------ The version 5.1.0 release of MB-System contains both bug fixes and new capabilities relative to the 5.0.9 release. A typo in the mbgrid man page was fixed. A catastrophic error in the i/o module for the MBF_ASCIIYXZ format was fixed. The proj library was updated to use code from the Proj 4.4.9 release. The proj and GSF libraries internal to MB-System have been renamed libmbproj and libmbgsf to avoid name conflicts with proj and gsf in package managers like fink for MacOsX. Fixed mbprocess problem with per-beam heave values when applying rotational bathymetry correction - previously did not initialize heave values for non-null but flagged beams. A minor change to mbbackangle to output the slope correction status (-Q) in the coments in the output file. Altered mbbackangle so that it outputs at least one table, even if there are no survey pings in a file. This prevents mbprocess from failing on data files with no survey pings. Also altered mbbackangle so that it outputs a single global correction table based on all of the input data. This can be used for uniform correction of sidescan and amplitude data.s A new program mbrolltimelag calculates the cross-correlation between roll data and the difference between the seafloor slope and the roll. If there is a time lag in the roll data, then the two series should have a cross correlation maximum at a nonzero time lag. New macro mbm_histplot for simple histogram plots. MBgrdviz now has a profile display capability. Profiles can be displayed and exported from two point picks, selected routes, and selected navigation. The profile view is enabled from the view menu. Fixed problems with output of ESRI ARC ascii grids from mbgrid and mbmosiac. Added interactive control over the target of precision of the navigation inversion in MBnavadjust. Added output of Winfrog pts file to mbm_route2mission. Added output of Winfrog pts file to mbgrdviz. MBedit now automatically chooses appropriate acrosstrack and vertical annotation intervals when files are opened. MBextractsegy now will extract subbottom data to segy files in sequential line files based on waypoints in a route file. The program generates a plotting shellscript that will in turn generate profile plots of the segy data. Long lines will be broken up into multiple plots. Updated manual page for mbm_route2mission. A bug in mbgrdtiff has been fixed that mislocated the geoTIFF images by 1/2 pixel, thanks to Gordon Keith. The plotting macros mbm_plot, mbm_grdplot, mbm_xyplot, mbm_3dgrdplot, and mbm_histplot all now use the current GMT default parameter PLOT_DEGREE_FORMAT rather than the old DEGREE_FORMAT. Upgraded the mbsystem/gsf code to GSF version 2.0.4. Since the libgsf code now has #ifdef statements allowing compilation under MacOSX, the code contained in MB-System no longer has modifications relative to the generic GSF releases. Added support for Simrad EM710 data in formats 56 and 57. Fixed byte count problem with comment records in format 94 (XSE data). Added GMT_end() calls to all programs calling gmtlib and pslib functions so that GMT "advisory file locking" does not system() calls to GMT programs. Put (void *) casts into qsort() calls to avoid compiler warnings. The macro mbm_grdplot now handles calls for a linear plot with decreasing x values (e.g. using -Jx-0.01/20 to specify the projection). A new edit mode called "grab" has been added to MBedit. In this mode, the user drags a rectangle on the ping display. When the mouse is released, all unflagged beams within that rectangle are flagged. All MB-System programs that read or write grids have been altered so that they will work with GMT 4.1.3 built in the default fashion (i.e. GMT built with "advisory file locking" enabled). Fixed mbgrdtiff so that it creates geographic GeoTIFF images with the longitude bounds consistent with the user's default or specified lonflip value. MBlist can now print out values associated with the port-most and starboard-most non-null beams and pixels. Use the special '=' or '+' characters in the -O option. Support was added for a new MBARI ROV navigation format (format id 170) Support was added for SEGY seismic data as single beam format (id = 160). Heading values are stored in an unused space in the trace header - this is an MB-System specific modification that will only be found in segy files generated by mbextractsegy. Ping number, and more importantly for seismic data, shot number annotation of navigation tracks is now supported by mbcontour and mbm_plot. Fixed problem reading some Simrad multibeam data with slightly broken bathymetry records. MB-SYSTEM VERSION 5.0.9 RELEASE NOTES: ------------------------------------------ The version 5.0.9 release of MB-System is purely a bug fix release, and includes only a few changes relative to the 5.0.8 release. The macros mbm_grdtiff, mbm_grd2arc, mbm_grd3dplot, mbm_grdinfo, mbm_grdtiff, mbm_grd2geovrml, and mbm_grdcut have been fixed to work properly with the output of the GMT 4.1 version of grdinfo. The code in src/mbio/mb_swap.c has been fixed so it will compile using the Solaris cc compiler. MBprocess had been fixed so that it will read navigation formats using julian days properly. MBnavedit has been altered so that speed and acceleration weighting values in the smooth inversion function can be less than 1.0. MB-SYSTEM VERSION 5.0.8 RELEASE NOTES: ------------------------------------------ The version 5.0.8 release of MB-System includes several changes relative to the 5.0.7 release. MB-System 5.0.8 requires GMT 4.1 in order to build successfully. The format 75 (MBF_MBNETCDF) i/o module has been altered to handle multiple pings with the same time stamp without breaking the beam edit (edit save file) scheme, which depends upon unique time stamps. When multiple pings with the same time stamp are encountered, the subsequent pings have multiples of 2 msec added so that each has a detectably unique time stamp. This issue relates to Thompson Seafalcon II multibeam data; this sonar collects five simultaneous acrosstrack swathes. Since this is a deep water sonar, the maximum 10 msec time addition should not introduce excessive error in navigation or other aspects of the data. The Edgetech Jstar format is now supported through the new MB-System formats 132 and 133. The Jstar format is relevant to Edgetech FSDW systems (and related sonar products). The FSDW systems include chirp subbottom profiler and dual frequency chirp sidescan sonar. Format 132 treats the low frequency sidescan as survey data, and format 133 treats the high frequency sidescan as survey data. Incorrect trace scaling of subbottom and sidescan data in the Reson 7k format (format 88) has been fixed. A new program called mb7k2jstar has been added that extracts Edgetech subbottom and sidescan data from Reson 7k format (88) files and writes that data in Edgetech Jstar (132/133) format files. The comments in the install_makefiles script has been updated to show the correct parameters needed to build MB-System on a current Solaris system. A feature to apply longitude and latitude offsets to navigation data has been added to MBnavedit. The program mbextractsegy can now extract subbottom profiler data in segy format from both Reson 7k files (format 88) and Edgetech Jstar files (formats 132 and 133). MBprocess kluge005 has been defined to cause survey data timestamps to be replaced by the timestamps of the corresponding merged navigation records. This allows timestamps fixed using MBnavedit to be inserted into processed data. The program mbsegygrid can now apply a simple time-varying gain to traces before gridding. This gain may begin at either the start of each trace or at the seafloor arrival time. The user may also set the length of time the gain is applied; samples after the end of the gain window are zeroed. The method for determining the best altitude value to be used in correcting amplitude and sidescan data has been improved in programs mbbackangle and mbbprocess. The program mbgrid once again uses the Zgrid algorithm for thin plate spline interpolation. The code allows for the GMT Surface algorithm to be used instead by compiling with a -DUSESURFACE compile flag. The macros mbm_grdplot and mbm_grd3dplot have been altered so that histogram equalization will work even if grdhisteq returns a smaller number of valid intervals than requested. The capability of plotting amplitude vs. grazing angle histograms from mbbackangle results has been fixed for sidescan data. A further significant architectural change was implemented for release 5.0.8 in order to support data formats that have no explicit maximum number of beams or pixels. The memory management of arrays used to hold bathymetry, amplitude, and sidescan data has been made dynamic. Now, when data records are encountered that include larger numbers of beams or pixels than will fit in the arrays previously allocated, those arrays are reallocated to the required size. This is handled automati- cally for all of the internal arrays used by MBIO functions. Of course, applications using MBIO must allocate arrays that are passed into functions like mb_read, mb_get_all, and mb_get to be populated by the desired data. In order for these arrays to be managed dynamically, the application must first register each array by passing the location of the array pointer to a new function called mb_register_array. The program MBgrdtiff has been altered so that the geoTiff images produced are more generally portable. A program called mbrolltimelag has been written to analyze attitude time lag. This macro extracts raw attitude and apparent slope values from multibeam data, and then calculates the cross correlation between roll and apparent slope over a specified range of time lags. If there is a an attitude time lag, then the bathymetry collected over a planar bottom should be dominated by a jitter that is correlated, with a time lag, with the roll signal. The format 56 (vendor Simrad multibeam format) i/o module has been altered to support data logged on byteswapped platforms (e.g. Windows Intel PC's.). The Simrad multibeam formats 56 and 57 now support recently introduced raw angle/range and water column imagery datagrams. These i/o modules also now handle cases where the beams listed in a sidescan datagram do not exactly match the beams listed in the corresponding bathymetry datagram differently than before. Previously the entire ping would have been dropped. Now, the ping is preserved but the raw sidescan samples are not used to generate binned sidescan. The program mbdatalist has been augmented to allow users to easily identify some problems with swath data files and the processing parameters specified in parameter files. The -n and -o options are used to generate ancillary files for all swath files referenced through a recursive datalist structure. These options now invoke mbinfo with the -n option, causing the "inf" files to include listings of easily identified data problems. The -q option of mbdatalist now extracts and lists these data problems as well as problems with the processing parameters.The possible data problems include: No survey data found Zero longitude or latitude in survey data Instantaneous speed exceeds 25 km/hr Average speed exceeds 25 km/hr Sounding depth exceeds 11000 m Unsupported Simrad datagram To populate the "inf" files of existing datalist structures with data problem notices, use mbdatalist with the -n option. The program mbvelocitytool now allows users to interactively set the center as well as the range of the water sound speed model plot window. Fixed mbm_plot so that it calculates reasonable plot bounds at high latitudes. The program mbset now accepts '=' as well as ':' as separators between parameter names and values in -P option arguments (as suggested by Bob Covill). The install_makefiles script has been altered so that the editable parameters are located towards the top of the file rather than below the documentation of example settings for different operating systems. The program mbareaclean now incorporates a mean filter as well as a median filter (contributed by Gordon Keith). The program mbmosaic will now mosaic grazing angle or acrosstrack slope as well as amplitude or sidescan data (contributed by Gordon Keith). The program mblist will now output some format specific values from Simrad multibeams (formats 56 and 57). In particular, some system parameters, raw amplitude values, and raw sidescan samples may now be output (Contributed by Gordon Keith). A new macro called mbm_makedatalist can easily generate a datalist referencing all identifiable swath files in a specified directory. There is a known but not understood bug in MBnavedit. When built on SUSE 10 systems, use of the smooth inversion function causes the first line of the output edited navigation to have NaN values for the longitude and lattitude. MB-SYSTEM VERSION 5.0.7 RELEASE NOTES: ------------------------------------------ The version 5.0.7 release of MB-System includes several changes relative to the 5.0.6 release. MBprocess and MBset now support merging sonar depth (or draft) from separate time series files. This is controlled by the SONARDEPTHMODE, SONARDEPTHFILE, and SONARDEPTHFORMAT mbprocess parameters. A bug in mbgrid has been fixed that affected the footprint gridding algorithm used with bathymetry from sonars on submerged platforms. MBedit has new view options. The default is the the traditional waterfall view. Users may now also view the soundings from an alongtrack view perspective and an acrosstrack view perspective without static vertical offsets between pings. The view mode is controlled from the View menu and from keyboard macros (characters '2', '3', and '4'). The 5.0.6 release mistakenly left the code in mbr_em300raw.c in debug mode, causing copious stderr output when reading raw Simrad data (format 56). This has been corrected. Problems with the output in debug mode of mbr_em300raw.c and mbr_em300mba.c have been fixed. The handling of the tickinfo string in the plot macros mbm_plot, mbm_grdplot, mbm_grd3dplot, and mbm_xyplot have been fixed. The orientation of the filename annotation by mbcontour has been fixed, and control over that orientation has been added to mbcontour and mbm_plot. Fixed problem of uninitialized data in mbr_mbpronav.c. Fixed problem with occasional incorrect scaling of sonar depth in mbldeoih format (71) data. Fixed problem in which sonar depth could be calculated from implausible pressure values in some single beam or navigation formats. Improved handling of interpolated asynchronous data, especially sonar depth, in Reson 7k data (format 88). A capability to interpolate over repeated values was added to mbnavedit. Fixed a problem with the beam footprint gridding algorithm in mbgrid that caused beam footprints to be miscalculated for submerged sonars. Fixed MBgrdviz crashes related to route data by fixing problem with allocation and deallocation of route arrays in the mbview library. Moved tide correction to end of processing tasks so that it doesn't mess up grazing angle calculations for amplitude and sidescan correction. Added option to mbm_grdplot allowing the user to specify a separate grid file to be contoured. This code was contributed by Gordon Keith. MB-SYSTEM VERSION 5.0.6 RELEASE NOTES: ------------------------------------------ The version 5.0.6 release of MB-System includes several changes relative to the 5.0.5 release. The man page for mbprocess has been updated with full documentation of the navigation formats supported for merging by mbprocess. The merging of heading and attitude data from navigation files has been fixed. The ability to merge attitude data from a separate file has been added to mbprocess, and the mbprocess and mbset man pages have been updated. A problem producing ascii grids from mbgrid and mbmosaic has been identified, and a fix suggested by Gordon Keith adopted. A problem with the -D option of mblist has been identified, and a fix suggested by Gordon Keith adopted. A new program called mbneptune2esf has been contributed by Gordon Keith. MBneptune2esf imports manual data flagging performed using Simrad's NEPTUNE software and flags those beams in the corresponding MB-System files. A new program called mbauvnavusbl has been added to the distribution. MBauvnavusbl reads a primary navigation file (usually from a submerged platform swath survey) and also reads secondary navigation (e.g. USBL fixes). The program calculates position offsets between the raw survey navigation and the secondary navigation every 3600 seconds (10 minutes), and then linearly interpolates and applies this adjustment vector for each primary navigation position. The adjusted navigation is output. The ability to annotate tracklines on swath plots with the swath filenames has been added to mbm_plot and mbcontour. The annotation occurs at the beginning of the data associated with each file. This option can be used most simply by specifying -NF in mbm_plot. The suggestion and initial implementation were contributed by Gordon Keith. A problem with setting file paths in parameter files in the different directories associated with recursive datalists has been fixed. The nature of and fix to this bug were determined by Gordon Keith. Fixed makefiles to link libpsl.a with all programs making libgmt.a calls. This was necessitated by changes to the GMT4.0 release relative to the GMT4.0beta release. Implemented latest GSF release (2.0.3). Fixed, but not satisfactorily, a problem reading some older EM3000 data with the current format 56 i/o module. Added release version of simple grid visualization demo mbgrdviz. Improved the ability of mbgrid to embed background datasets. MB-SYSTEM VERSION 5.0.5 RELEASE NOTES: ------------------------------------------ The version 5.0.5 release of MB-System includes several changes relative to the 5.0.4 release. The program mbgrid can now obtain background data from GMT grid files using grd2xyz as well as through raster databases using grdraster. See the -Kbackground option documentation in the mbgrid manual page. The macro mbm_xbt has been substantially updated. The -G option of mbinfo now avoids reporting zero starting positions (it always ignored zero positions for the reported data bounds). Provides read-only support for Edgetech sidescan and subbottom profiler data in the new Reson 6046 format (format id 88). A new program mbextractsegy allows for the extraction of subbottom profiler data into separate files in the SEGY format (this can apply only to data formats that incorporate subbottom data in with swath sonar data, and at present only supports format 88). A new program mbsegyinfo is a utility for reading a segy format seismic data file and outputting some basic statistics. The table generated shows the filename, data counts, navigation totals, time and navigation of the first and last data records, minimum and maximum data values, and the geographic bounding box of the data. A new program mbsegylist is a utility to output specified header values from segy seismic data files to stdout. The option -Ooutput_format is used to control the type and order of values output. By default, mbsegylist produces ASCII files in spreadsheet style, with data columns separated by tabs. Alternatively, the output can be binary, with each field represented as a double precision float (-A option). A new program mbsegygrid generates grids from subbottom profiler data (and seismic reflection data, and potentially other seismic data) in the SEGY format. These grids can then be displayed using GMT (through mbm_grdplot if desired). The program mbm_plot now works properly when start and end times are specified using the -MMB and -MME options. A bug involving the handling of edit save filenames by mbset and mbprocess has been fixed. Errors in handling Simrad datagrams and edit save files on byteswapped machines (e.g. Intel or AMD processors) have been fixed. The program mbdatalist has a new option -Z which causes a standard "datalistp.mb-1" file to be created. This is a convenience file that applies the $PROCESSED flag to be applied to the swath files referenced in a datalist named "datalist.mb-1". Problems with the creation of amplitude vs. grazing angle correction tables using mbbackangle, and the use of those tables by mbprocess, have been fixed. The default settings for mbbackangle and amplitude vs. grazing angle correction by mbprocess have been changed. The default angle mode for raytracing has been changed so that starting angles are adjusted using Snell's Law for the difference between the SSV and the initial depth in the SVP. This change affects mbvelocitytool, mbsvplist, mbset, and mbprocess. The program mbsvplist now has an option -P that not only outputs SVPs in a swath file to individual ancillary SVP files (as with the -O option), but also sets the first SVP output file to be used by mbprocess to recalculate the bathymetry. Problems with the MGD77 format i/o module have been fixed according to suggestions from Bob Covill. MB-SYSTEM VERSION 5.0.4 RELEASE NOTES: ------------------------------------------ The version 5.0.4 release of MB-System includes several changes relative to the 5.0.3 release. All of the interactive tools (MBedit, MBnavedit, MBvelocitytool, MBnavadjust) have been changed to require linking with the Motif 2.0 or later library (or compatible open source versions such as OpenMotif or LessTif). The MB-System distribution is now compatible with GMT 4.0b. There have been minor changes to the pslib and gmtlib APIs, so it is necessary to specify the linked version of GMT in the mbsystem/install_makefiles script. Set: $GMTVERSION = "4.0"; if you are using GMT 4.0b, or set: $GMTVERSION = "3.4"; if you are still using GMT 3.4 MBnavadjust has a significant new feature in which the contours displayed by the Nav Err window can be pre-generated. This greatly increases the speed with which the bathymetry crossings can be analyzed. A "Flag View" feature has been added to MBedit, allowing users to flag all of the beams in the current display. Key macros have also been defined for both the "Flag View" and "Unflag View" buttons. The raw Hydrosweep DS format (format 21) i/o module now estimates travel times from the bathymetry when data files lacking travel time records are read. This allows users to recalculate bathymetry by raytracing even if the travel times are not recorded. MB-SYSTEM VERSION 5.0.3 RELEASE NOTES: ------------------------------------------ The version 5.0.3 release of MB-System includes two bug fixes relative to the 5.0.2 release. We have fixed a bug in the i/o modules for Simrad multibeam data (formats 56 and 57) that caused a failure to gracefully handle unsupported datagrams on byteswapped systems (e.g. Intel processors running Linux). We have fixed a bug that caused edit save files to be incorrectly read on byteswapped systems (e.g. Intel processors running Linux). We have fixed a bug in the i/o modules for binary SeaBeam 2100 data (formats 42 and 43) that caused data to be written incorrectly on byteswapped systems (e.g. Intel processors running Linux). MB-SYSTEM VERSION 5.0.2 RELEASE NOTES: ------------------------------------------ The version 5.0.2 release of MB-System includes two bug fixes relative to the 5.0.1 release. We have fixed a bug in the i/o module for Elac Bottomchart data in the XSE format (94) in which the sonar depth was added to bathymetry values when new data files were written. We have also fixed problems related to reading and writing SeaBeam 2100 data in the binary formats 42 and 43. MB-SYSTEM VERSION 5.0.1 RELEASE NOTES: ------------------------------------------ The version 5.0.1 release of MB-System includes two bug fixes relative to the 5.0.0 release. The program mbgrid has been fixed so that it compiles correctly under Red Hat Linux. The program mbcopy has been fixed so that time and space bounds are successfully applied to pings with a time gap error. Also, the distribution now has a top directory name of mbsystem-5.0.1 rather than just mbsystem. This will allow users to unpack the distribution in the target location without overwriting an existing older MB-System installation. Users can then rename the directory to mbsystem or create a soft link to mbsystem-5.0.1 named mbsystem (e.g. ln -s mbsystem-5.0.1 mbsystem). MB-SYSTEM VERSION 5.0.0 RELEASE NOTES: ------------------------------------------ The version 5.0 release of MB-System includes a number of changes and improvements relative to the version 4 releases. The most significant changes include: A new approach to managing data processing. - Many tools - one output file. In previous versions of MB-System, each processing program read an input swath data file and produced an output swath data file. This "serial" processing scheme generally produced a large number of intermediate data files. MB-System version 5.0 features the integration of the editing and analysis tools with a single program, mbprocess, that outputs processed data files. The new "parallel" processing scheme covers bathymetry data processing, but does not yet incorporate the sidescan processing capabilities. All of the old tools and capabilities are still part of the distribution. - Recursive datalists. The lists of data files used by gridding and plotting programs can now be recursive, making it simpler to manage data from many different surveys. - Automatic format identification. MB-System programs will now attempt to automatically identify the swath data format based on the filename suffix. - Extended inf files. Users can generate inf files by directing the output of mbinfo to a file named by adding an ".inf" suffix to the swath data file name. Several programs can parse inf files, if they exist, to quickly obtain data locations or ranges. This feature speeds operations such as gridding, mosaicing, and automated plotting. New tools. - mbnavadjust. This new tool allows users to adjust poorly navigated surveys by matching features in overlapping swathes. It is particularly useful for processing surveys conducted from submerged platforms. - mbprocess. This new tool performs a variety of processing tasks and produces a single output processed swath data file. The program mbprocess can apply bathymetry edits from mbedit and mbclean, navigation edits from mbnavedit, sound velocity profile changes from mbvelocitytool, and a variety of other corrections. - mbset. This new tool allows users to create and modify the parameter files used to control the operation of mbprocess. - mbdatalist. This new tool allows users to list the files referenced by a recursive datalist structure. It can also be used to create the ancillary ".inf", ".fbt", and ".fnv" files for all of the data files referenced in a recursive datalist structure. - mbsvplist. This new tool lists water sound velocity profiles embedded in swath data files, creating secondary files that can be read into MBvelocitytool. - mbareaclean. This new tool identifies and flags artifacts in swath sonar bathymetry data within a specified area of interest. The area is divided into a grid with square cells or bins, and the data are grouped according to these bins. Once all of data are read, statistical tests are applied to the soundings within each bin. Improved bathymetry and navigation editors. - MBedit and MBnavedit now swallow data files whole rather than reading in limited size buffers. - MBedit now outputs beam edit events rather than an entire swath file. The edits are applied by MBprocess. - MBnavedit now outputs the edited navigation rather than an entire swath file. The edited navigation is merged using MBprocess. - Both editors show the position of the currently displayed data within the entire data file. - MBnavedit has two navigation modeling modes relevant to swath data collected using poorly navigated ROVs and towfishes. One mode applies a dead reckoning model with interactively set drifts, and the other involves inverting for an optimally smooth navigation by penalizing speed and acceleration. Support for Projected Coordinate Systems - MB-System now incorporates the source code for the PROJ.4 Cartographic Projections library, providing support for (apparently) all commonly used geodetic coordinate systems. PROJ.4 was developed by Gerald Evenden (then of the USGS), and was obtained from the www.remotesensing.org website. - A large number of commonly used projected coordinate systems (e.g. UTM) are defined in a file (mbsystem/share/projections.dat) distributed with MB-System. These include all of the standard UTM zones, all of the standard state plate coordinate systems, and most of the European Petroleum Survey Group (EPSG) coordinate systems (also including UTM). - MB-System can now handle swath data that is navigated in a supported projected coordinate system. In particular, data files that are navigated with UTM eastings and northings instead of longitude and latitude can now be plotted and processed with MB-System. - The programs mbgrid and mbmosaic can now output grids and mosaics in any of the projected coordinate systems specified in mbsystem/share/projections.dat. - The TIFF images generated with mbm_grdtiff and mbgrdtiff now fully conform to the GeoTIFF standard, providing that the source grids or mosaics were generated using mbgrid or mbmosaic in either Geographic coordinates, UTM coordinates, or any of the EPSG coordinate systems specified in the projections.dat file. This means, for instance, that GeoTIFF images generated with mbgrdtiff will be properly georeferenced when they are imported into ESRI ArcGIS or other GIS packages. Restructuring the code. - All of the C code now conforms to the ANSI C standard. - The underlying input/output library (MBIO) has been substantially rewritten. The structure has been streamlined, simplifying both future development and support of the existing code. The MBIO API has been greatly modified. Handling of old Simrad multibeam data. - Vendor format data from the old Simrad multibeams (pre- 1997 sonars) are now supported by a single format id (51) rather than a separate format id for each sonar model. The old format id's are automatically aliased to 51, so existing shellscripts will continue to work. - Sidescan data from old Simrad multibeams (pre-1997 sonars) are now handled in the same manner as data from the newer sonars (e.g. EM3000, EM3000, EM120). The raw samples in the vendor data format are binned, averaged, and interpolated into a 1024 pixel sidescan swath. This binned sidescan is not saved in the vendor format, so it is recommended that the data be copied to an extended format (57) that stores both bathymetry beam flags and processed sidescan. Format 57 is also used for processing data from the current Simrad multibeam sonars. Streamlining of MB-System Default Parameters. - Prior to version 5.0, the MB-System defaults set by mbdefaults included the format id, a control for ping averaging, longitude and latitude bounds for windowing by area, and begin and end times for windowing in time. These values are no longer set in the .mbio_defaults file or controlled by mbdefaults. As noted above, the format id is automatically identified from the filename when possible. When filenames do not match one of the recognized structures, users must specify the format using the relevant programs -Fformat option. The controls for ping averaging and windowing in time and space are rarely used, and must now be explicitly set in command line arguments. New Data Formats - Furuno HS10 multibeam bathymetry is supported as format 171. - SeaBeam 2120 multibeam data in the L3 Communications XSE format are supported as format 94 (already used to support Elac Bottomchart MkII XSE data). - Raw STN Atlas multibeam data generated by the upgraded Hydrosweep DS2 multibeam on the R/V Ewing are supported by read-only format 182. Processing is supported using the augmented read-write format 183. - The IFREMER netCDF multibeam archiving data format is supported as format 75. Similarly, the IFREMER netCDF navigation archiving data format is supported as format 167. - The STN Atlas processing data format SURF is supported as format 181. At present, SURF is supported as a read-only format. This allows plotting and gridding of the SURF data, but not processing. Writing or translating the SURF data to allow processing will be supported in a later version. - The Hawaii Mapping Research Group's new MR1 format is supported as format 64. This format is used to disseminate data from both the HMRG interferometric sonars (e.g. MR1) and the WHOI DSL 120 deep-towed inteferometric sonar. This format has been supported by including the code for the HMRG library libmr1pr in the MB-System library. Thanks to Roger Davis and HMRG for making the code available under the GPL. ------------------------------------------- THE NEW VERSION 5 DATA PROCESSING STRUCTURE ------------------------------------------- Previous versions of MB-System have emphasized processing utilities that operate serially, that is, that read in an input swath data file, modify it, and then output a second swath data file. Serial processing utilities do allow for great flexibility in processing because one uses only the programs required and, in general, the order in which the programs are used does matter. However, one consequence of serial processing has been that processing data frequently results in a large number of intermediate data files. For instance, if an EM300 data file called "mbari_1998_524.mb57" has spikes in the bathymetry, outliers in the navigation, a strong high amplitude peak in the central sidescan swath, and the bathymetry has been calculated using an incorrect model for the water sound speed structure, users of MB- System would previously have processed it with a sequence something like this: 1) Run mbclean to automatically flag the obvious bathymetric artifacts. Input: mbari_1998_524.mb57 Output: mbari_1998_524_c.mb57 2) Run mbedit to interactively flag bathymetric artifacts. Input: mbari_1998_524_c.mb57 Output: mbari_1998_524_ce.mb57 3) Run mbnavedit to interactively clean the navigation. Input: mbari_1998_524_ce.mb57 Output: mbari_1998_524_cen.mb57 4) Run mbvelocitytool to generate an appropriate sound velocity profile (SVP) for recalculating the bathymetry. Input: mbari_1998_524_cen.mb57 Output: good.svp 5) Run mbbath to recalculate the bathymetry using the SVP file generated using mbvelocitytool. Input: mbari_1998_524_cen.mb57 Input: good.svp Output: mbari_1998_524_cenb.mb57 6) Run mbsimradmakess to recalculate the sidescan while ignoring sidescan samples from beams now flagged as bad. Input: mbari_1998_524_cenb.mb57 Output: mbari_1998_524_cenbs.mb57 7) Run mbbackangle to calculate an amplitude vs grazing angle table for correcting sidescan. Input: mbari_1998_524_cenbs.mb57 Output: ampvsga.dat 8) Run mbanglecorrect to correct the sidescan. Input: mbari_1998_524_cenbs.mb57 Input: ampvsga.dat Output: mbari_1998_524_cenbsc.mb57 The result of this processing includes the input swath data file, the final swath data file, and five intermediate swath data files. The impact of this approach on data storage requirements is obvious (though some users have ameliorated the issue by working with scripts that automatically delete unneeded data files or by piping data from one non-graphical process to another to avoid making intermediate files). The serial processing approach also presents data management problems because data files frequently have different processing requirements, even within a single survey. We have found that working with very large datasets can be awkward when only a minority of data files require navigation editing or bathymetric recalculation, or when some data files require multiple episodes of bathymetry and navigation editing. MB-System version 5 includes new 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. The same processing steps described above as a serial processing scheme can be accomplished with the new parallel processing scheme as follows: 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. All of the old, serial processing utilities are still distributed with MB-System. However, some of the serial tools have been replaced by new versions of the same name (e.g. mbedit, mbclean, mbbackangle, and mbnavedit). In these cases, the old versions are preserved as programs with "old" added to their names (e.g. mbeditold, mbcleanold, mbbackangleold, and mbnaveditold). 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 4l.1.4 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 Univeristy of Hawaii) and Dr. Walter H. F. Smith of NOAA. The GMT source code is available from the GMT web page. - NetCDF version 2.3r2 or later: Both GMT and MB-System require the NCAR netCDF library. - Perl version 4.0r19 or later: Perl is a fast, well documented scripting language used widely in the 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 Project software archive of the Free Software Foundation. - Motif 2.0 or later: The interactive graphical utilities in MB-System (e.g. data editors) use the Motif 2 widget set, and Motif-compatible libraries or equivalent are required for these utilities to be built and to run. Most current Unix operating systems include the required Motif libraries. If you do not have these libraries, you can obtain the OpenMotif source code distribution from http://www.motifzone.net Another open source Motif-compatible distribution called LessTif (http://www.lesstif.org) has been available for some time, and also works well with MB-System. - Levitus Database: The MB-System program mblevitus depends on a 16 MByte data file that is not included in the MB-System tarfile. Be sure to uncompress the file and to set the "LEVITUS" flag in the install_makefiles appropriately, as described below in the installation section. 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 the Ghostscript package from the Free Software Foundation. - ghostview: open source screen Postscript viewer. The source code can be obtained from the GNU Project software archive of the Free Software Foundation. - gv: better open source screen Postscript viewer. The source code can be obtained from the GNU Project software archive of the Free Software Foundation. HOW TO INSTALL MB-SYSTEM: ------------------------ The MB-System source code is extracted by first uncompressing the tar file and then running tar: % uncompress MB-System.tar.gz % tar xvf MB-System.tar This will create a directory structure called mbsystem. In order to configure your installation, you must edit the shellscript mbsystem/install_makefiles. This is perl script will read template makefiles in the MB-System source directories and create makefiles with the correct attributes. This enables users to install MB-System without having to edit the makefiles. Instead of editing the makefiles directly, the installer should edit this script so that the locations of important libraries and include files are accurate and so that the compile and link flags are correct. The important parameters to be set in install_makefiles are: MBSYSTEM_HOME - Absolute path to the directory containing this file. OS Operating system - (e.g. SUN, IRIX, HPUX, LINUX, LYNX). BYTESWAPPED - If set to "YES" will enable byte swapping of input and output binary data. Otherwise byte swapping is disabled. Byte swapping needs to be enabled when installing on "little endian" machines such as PCs or VAXs. CC - C compiler to be used (usually either cc or gcc) CFLAGS - Compile flags for C source files. LFLAGS - Load flags for all object files. GRAPHICAL - If set to "YES" will enable the installation of the Motif based graphical utilities mbedit, mbnavedit, and mbvelocitytool. If Motif is not available but the nongraphical utilities are desired then disable with "NO" (optional, default is "YES"). MOTIFINCDIR - Location of Motif include files. MOTIFLIBS - X and Motif libraries required for graphical tools. GMTLIBDIR - Location of GMT libraries libgmt.a and libpsl.a GMTINCDIR - Location of GMT include files gmt.h, grd.h, and pslib.h NETCDFDIR - Location of NetCDF library libnetcdf.a LEVITUS - Path for Levitus data file annual. Examples of appropriate values for several different installations (e.g. Sun, SGI, PC) are included in the comments in install_makefiles. To execute install_makefiles, do the following: % cd mbsystem % install_makefiles Because install_makefiles is a perl script, the executable perl must be available in the installer's path. Once install_makefiles has been correctly configured and run, give the command "make all" to generate the executable programs: % make all The make command will descend recursively down through the directory structure, compiling source files, linking object files, and copying executables and manual pages to the appropriate directories. The executables will be placed in mbsystem/bin, the libraries in mbsystem/lib, and the manual pages in mbsystem/man/man1. Naturally, in order for users to use the MB-System utilities, the directory containing the executables must be included in their path (usually this is done by editing the .cshrc file in the user's home directory). The executable perl must also be available in the user's path for most of the macros to work. Most users will also wish to specify which program they generally use to view Postscript plots on their screen. This parameter can be set either with the mbdefaults program or using the PS_VIEWER environment variable - the former is recommended (see the mbdefaults manual page for details). On Sun workstations pageview is a popular Postscript viewer; on Silicon Graphics machines xpsview is commonly used. A popular generic alternative to these platform specific programs is ghostview. WEB BASED DOCUMENTATION: ------------------------ The html documentation consists of a number of html documents and images in the directory mbsystem/html. This documentation also comprises the MB-System web page 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/html/mbsystem_home.html (here it is assumed that MB-System has been installed in /usr/local). Currently, 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. In the future we will add increasing amounts of information including examples of using MB-System. CONTINUED SUPPORT: ----------------- We are pleased to have received an additional five years (2001-2005) of NSF funding for the support and development of MB-System. This project is also supported by the Monterey Bay Aquarium Research Institute. CONTRIBUTIONS: -------------- We are actively soliciting contributions for inclusion in the MB-System. In particular support for additional data formats in the mbio.a library would be helpful, as would new, clever tools for data manipulation and processing. We thank those who have already contributed to MB-System. SUGGESTIONS: ------------ We are interested in your suggestions. 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 forseeable future. ACKNOWLEDGMENTS: ---------------- The MB-System Cookbook was written by Val Schmidt, formerly of L-DEO and now with CCOM/JHC at the University of New Hampshire. A number of people have made contributions to the code included in MB-System. These include: Bob Covill (Tekmap Consulting) Gordon Keith (CSIRO) Val Schmidt (CCOM/JHC, University of New Hampshire) Suzanne O'Hara (Lamont-Doherty Earth Observatory) Mike McCann (MBARI) Daniel Scheirer (Brown University) Paul Cohen (SeaBeam Instruments, now Fidelity Investments) Steve Dzurenko (SeaBeam Instruments, now University of Texas) Peter Lemmond (Woods Hole Oceanographic Institution) David Brock (formerly with Antarctic Support Associates) Alberto Malinverno (Lamont-Doherty Earth Observatory, later at Schlumberger-Doll) Russ Alexander (formerly with UCSB) Numerous users and vendors have provided information regarding data file formats and sonar system specific characteristics. Good mapping!! Dave Caress caress@mbari.org Dale Chayes dale@ldeo.columbia.edu ------------------------------------------------------------------------ RCS ID: $Id: README,v 5.92 2006/11/26 16:15:16 caress Exp $ Revision History: $Log: README,v $ Revision 5.92 2006/11/26 16:15:16 caress Release 5.1.0 Revision 5.91 2006/11/26 09:35:55 caress Making distribution 5.1.0. Revision 5.90 2006/11/10 22:36:04 caress Working towards release 5.1.0 Revision 5.89 2006/10/05 18:58:28 caress Changes for 5.1.0beta4 Revision 5.88 2006/09/11 19:04:41 caress Setting up release 5.1.0beta3. Revision 5.87 2006/08/10 00:08:10 caress Working towards 5.0.0beta2 Revision 5.86 2006/08/09 22:37:33 caress Working towards 5.1.0beta2 Revision 5.85 2006/08/04 03:56:41 caress Working towards 5.1.0 release. Revision 5.84 2006/07/27 18:42:24 caress Working towards 5.1.0 Revision 5.83 2006/07/06 05:30:57 caress Working more towards 5.1.0beta Revision 5.82 2006/07/05 19:50:21 caress Working towards 5.1.0beta Revision 5.81 2006/06/22 04:45:42 caress Working towards 5.1.0 Revision 5.80 2006/06/16 19:24:47 caress Check in after the Santa Monica Basin Mapping AUV Expedition. Revision 5.79 2006/03/06 21:33:42 caress Working towards 5.0.10 Revision 5.78 2006/02/20 05:25:09 caress Release 5.0.9 Revision 5.77 2006/02/16 21:24:25 caress Release 5.0.9 Revision 5.76 2006/02/08 19:15:27 caress Release 5.0.8. Really. Revision 5.75 2006/02/08 17:59:25 caress Release 5.0.8. Finally. Revision 5.74 2006/02/03 22:45:30 caress Release 5.0.8beta5 Revision 5.73 2006/02/01 18:32:47 caress Release 5.0.8beta4. Revision 5.72 2006/02/01 07:52:09 caress Modifications suggested by Gordon Keith Revision 5.71 2006/01/27 19:08:27 caress Version 5.0.8beta2 Revision 5.70 2006/01/24 22:06:42 caress 5.0.8beta. Revision 5.69 2006/01/24 19:04:07 caress Version 5.0.8 beta. Revision 5.68 2006/01/20 19:40:55 caress Working towards 5.0.8 Revision 5.67 2006/01/15 05:25:45 caress Working on 5.0.8. Revision 5.66 2006/01/11 07:22:23 caress Working towards 5.0.8 Revision 5.65 2006/01/06 18:18:25 caress Working towards 5.0.8 Revision 5.64 2005/11/05 01:43:16 caress Update. Revision 5.63 2005/06/15 15:05:42 caress Some new fixes noted. Revision 5.62 2005/06/04 03:32:27 caress Updates during 5.0.8 development. Revision 5.61 2005/04/07 04:32:19 caress 5.0.7 Release. Revision 5.60 2005/03/26 23:58:34 caress Release 5.0.7. Revision 5.59 2005/03/25 04:51:21 caress Updated with recent changes. Revision 5.58 2005/03/25 04:01:01 caress Fixes to 5.0.6. Revision 5.57 2005/02/19 07:09:22 caress Release 5.0.6 Revision 5.56 2005/02/17 07:33:26 caress Moving towards 5.0.6 release. Revision 5.55 2005/02/08 22:37:37 caress Heading towards 5.0.6 release. Revision 5.54 2005/01/04 18:36:59 caress Working towards release 5.0.6 Revision 5.53 2004/12/18 01:23:24 caress Working towards 5.0.6 release. Revision 5.52 2004/10/06 21:30:50 caress Release 5.0.5 Revision 5.51 2004/09/16 21:49:59 caress More changes leading up to 5.0.5 release. Revision 5.50 2004/06/18 02:58:15 caress Added first notes for 5.0.5 release. Revision 5.49 2004/05/22 05:58:18 caress Release 5.0.4 Revision 5.48 2004/05/22 04:22:02 caress Release 5.0.4 Revision 5.47 2004/05/21 23:59:31 caress Getting ready for release 5.0.4 Revision 5.46 2004/04/27 00:29:25 caress Updated with recent changes. Revision 5.45 2004/02/27 18:12:49 caress Release 5.0.3 Revision 5.44 2004/02/26 22:41:02 caress Release 5.0.3 Revision 5.43 2004/02/25 17:48:49 caress Release 5.0.3 Revision 5.42 2003/12/24 08:51:05 caress 5.0.2 release. Revision 5.41 2003/12/12 08:06:00 caress Release 5.0.1 Revision 5.40 2003/12/05 08:21:22 caress *** empty log message *** Revision 5.39 2003/12/01 20:32:47 caress Trying to get real 5.0.0 release out. Revision 5.38 2003/07/27 13:14:12 caress Release 5.0.0 Revision 5.37 2003/07/02 18:10:47 caress Release 5.0.0 Revision 5.36 2003/04/29 20:31:08 caress Release 5.0.beta31 Revision 5.35 2003/04/25 23:18:57 caress Release 5.0.beta30 Revision 5.34 2003/04/23 06:26:52 caress Release 5.0.beta30 Revision 5.33 2003/03/10 22:42:28 caress Release 5.0.beta29 Revision 5.32 2003/01/15 21:15:01 caress Release 5.0.beta28 Revision 5.31 2002/11/04 19:15:01 caress Release 5.0.beta26 Revision 5.30 2002/10/15 19:22:24 caress Release 5.0.beta25 Revision 5.29 2002/10/04 21:29:40 caress Release 5.0.beta24 Revision 5.28 2002/10/02 23:51:50 caress Release 5.0.beta24 Revision 5.27 2002/09/20 22:39:48 caress Real release 5.0.beta23 Revision 5.26 2002/09/19 22:24:55 caress Release 5.0.beta23 Revision 5.25 2002/09/19 17:31:21 caress Release 5.0.beta23 Revision 5.24 2002/08/30 19:37:35 caress Release 5.0.beta22 Revision 5.23 2002/08/28 01:43:27 caress Release 5.0.beta22 Revision 5.22 2002/08/21 01:10:37 caress Release 5.0.beta22 ./ Revision 5.21 2002/07/25 19:11:35 caress Release 5.0.beta21 Revision 5.20 2002/07/20 21:08:07 caress Release 5.0.beta20 Revision 5.19 2002/05/31 19:58:28 caress Release 5.0.beta18 Revision 5.18 2002/05/29 20:43:56 caress Release 5.0.beta18 Revision 5.17 2002/04/06 03:10:12 caress Release 5.0.beta16 Revision 5.16 2002/03/26 07:40:25 caress Release 5.0.beta15 Revision 5.15 2002/02/26 07:59:33 caress Release 5.0.beta15 Revision 5.14 2002/01/02 20:33:36 caress Set real data of 5.0.beta12 # Revision 5.13 2001/12/30 20:31:31 caress # Release 5.0.beta12 # Revision 5.12 2001/11/20 22:11:20 caress Release 5.0.beta09 # Revision 5.11 2001/11/16 20:14:47 caress # Release 5.0.beta10 # Revision 5.10 2001/11/07 01:57:54 caress Fixed for release 5.0.beta09 # Revision 5.9 2001/11/07 01:15:08 caress # Release 5.0.beta09 # # Revision 5.8 2001/10/19 19:49:08 caress # Release 5.0.beta08 # # Revision 5.7 2001/08/10 23:10:08 dcaress # Release 5.0.beta07 # Revision 5.6 2001-07-30 17:51:15-07 caress Release 5.0.beta06 # Revision 5.5 2001/07/27 19:28:38 caress # Release 5.0.beta06. # # Revision 5.4 2001/07/20 16:48:26 caress # Release 5.0.beta04 # # Revision 5.3 2001/06/08 21:39:07 caress # Version 5.0.beta01 # # Revision 4.22 2000/09/26 20:32:27 caress # Fixed reference to ftp site. # # Revision 4.21 2000/03/08 01:19:08 caress # Release 4.6.10 # # Revision 4.20 1999/09/16 23:09:54 caress # Real version 4.6.6 release notes # # Revision 4.19 1999/09/15 21:29:37 caress # Version 4.6.6 Release Notes # # Revision 4.18 1999/05/07 00:30:38 caress # Version 4.6a release # # Revision 4.17 1999/04/16 00:26:05 caress # Final 4.6 release? # # Revision 4.16 1998/12/17 23:09:42 caress # MB-System version 4.6beta4 # # Revision 4.15 1998/10/05 22:12:48 caress # MB-System version 4.6beta # # Revision 4.14 1997/09/15 21:33:33 caress # Fixed typo. # # Revision 4.13 1997/09/15 19:02:15 caress # Real Version 4.5 # # Revision 4.12 1997/04/21 16:51:19 caress # MB-System 4.5 Beta Release. # # Revision 4.12 1997/04/17 17:37:59 caress # MB-System 4.5 Beta Release. # # Revision 4.11 1996/09/05 12:57:11 caress # Actual V4.4 release. # # Revision 4.10 1996/08/26 15:38:28 caress # Release 4.4 revision. # # Revision 4.9 1996/01/26 21:32:53 caress # Revision for real version 4.3 release. # # Revision 4.8 1995/08/17 16:34:39 caress # Revision for release 4.3. # # Revision 4.7 1995/02/14 22:25:56 caress # Version 4.2 Release # # Revision 4.6 1994/11/18 16:37:15 caress # *** empty log message *** # # Revision 4.5 1994/10/21 21:54:24 caress # Release V4.0 # # Revision 4.4 1994/10/21 17:42:43 caress # Release V4.0 # # Revision 4.3 1994/10/21 13:29:54 caress # Release V4.0 # # Revision 4.2 1994/10/20 21:30:31 caress # Release V4.0 # # Revision 4.1 1994/08/03 21:00:43 dale # Update for Beta issues...... # # Revision 4.0 1994/03/05 23:06:24 caress # Changes for release 4.0. # # Revision 3.7 1993/12/14 22:15:56 caress # Changed for release version 3.4 # # Revision 3.6 1993/11/06 21:24:39 caress # Added discussion of src/realtime directory. # # Revision 3.5 1993/11/05 21:25:02 caress # Added discussion of how to run make to generate the executables. # # Revision 3.4 1993/11/05 14:59:04 caress # Some small changes by Dale. # # Revision 3.3 1993/11/04 17:46:36 caress # Updated for version 3.3. Added where to get required # software packages and what Makefile to change to fit # local environments. # # Revision 3.2 1993/08/25 14:41:41 dale # Add porting, and requirements, and bugs and stuff for 3.2 # # Revision 3.1 1993/04/22 16:09:21 dale # Update and clarify the text, add third reason # # Revision 3.0 1993/04/22 16:04:29 dale # *** empty log message *** #