mb7kpreprocess
Section:  MB-System 5.0  (l)
Updated:  13 August 2006 
Index


 
NAME

mb7kpreprocess - performs preprocessing of Reson 7k multibeam data 
in the 7k format (MBIO format 88).

 
VERSION

Version 5.0

 
SYNOPSIS

mb7kpreprocess [-A -B -Doffx/offy -Fformat 
-Ifile -L -Ninsfile -Ooutfile 
-Ttimelag -H -V]

 
DESCRIPTION

mb7kpreprocess reads a Reson 7k (format 88) file, interpolates the
asynchronous navigation and attitude onto the multibeam data,  
and writes a new 7k file with that information correctly embedded
in the multibeam data. This program can also fix various problems
with 7k data (early generations of the 6046 datalogger failed to
to meet the data format specification exactly).

 
AUTHORSHIP

David W. Caress (caress@mbari.org)




  Monterey Bay Aquarium Research Institute



Dale N. Chayes (dale@ldeo.columbia.edu)




  Lamont-Doherty Earth Observatory

 
OPTIONS


-A





This option causes the program to output multibeam records occuring before the first
available navigation and attitude data. Normally, these records are ignored.
-B





This option corrects the bathymetry timetags so they agree with the subbottom profiler timetags. 
-D


offx/offz



This option sets horizontal and vertical.distance offsets between the vehicle's 
depth sensor and the multibeam receive head. If specified, these values are used
in a lever-arm calculation to determine the sonar depth change  associated with
vehicle pitch.
-F


format



Sets the data format used if the input is read from stdin
or from a file. If format < 0, then the input file specified
with the -I option will actually contain a list of input swath sonar
data files. This program only reads Reson 7k format data files (MBIO
format 88).
-H


This "help" flag cause the program to print out a description
of its operation and then exit immediately.
-I


infile



Sets the input file path. If format > 0 (set with the 
-f option or mbdefaults) then the swath sonar data contained in infile 
is read and processed. If format < 0, then infile
is assumed to be an ascii file containing a list of the input swath sonar
data files to be processed and their formats.  The program will read 
the data in each one of these files.
In the infile file, each
data file should be followed by a data format identifier, e.g.:

        datafile1 88


        datafile2 88




This program only reads Reson 7k format data files (MBIO
format 88).
-L





This option causes the program to list the timetags of bathymetry,
sidescan, subbottom, navigation, and attitude data records.
-N


insfile



The program will read navigation and attitude from the MBARI AUV navigation
log file insfile and merge those data with the multibeam, sidescan,
and subbtottom data in the 7k file.If a timelag model is specified using
-Ttimelag, the time lag will be applied to the navigation and
attitude data before merging with the sonar data. The navigation and attitude
data from insfile will also be embedded in asynchronous data records
in the output 7k format data. Any pre-existing navigation data records will
be replaced.
-T


timelag



This option specifies a timelag value in seconds to be applied 
to the navigation and attitude data prior to it being merged with the 
bathymetry. If timelag is a valid path to a file containing time
stamp and time lag pairs, then these data will be read and the time lag
applied to particular records will be interpolated by time.


 
EXAMPLES

Suppose that one has collected a Reson 7k datafile incorporating 
multibeam sonar data, sidescan data, and subbottom profiler data, and
that the filename is:

        20050418_150155.s7k





In order to preprocess the data in a 7k data file, one can use
mb7kpreprocess with no special arguments:

        mb7kpreprocess -I 20040722_152111.s7k


 
SEE ALSO

mbsystem(l), mbformat(l), mbinfo(l)

 
BUGS

Oh yeah.



 
Index

NAME

VERSION

SYNOPSIS

DESCRIPTION

AUTHORSHIP

OPTIONS

EXAMPLES

SEE ALSO

BUGS

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