mbnavlist
Section:  MB-System 5.0  (l)
Updated:  21 November 2004 
Index


 
NAME

mbnavlist - List navigation data in swath sonar data files.

 
VERSION

Version 5.0

 
SYNOPSIS

mbnavlist [-Byr/mo/da/hr/mn/sc 
-Eyr/mo/da/hr/mn/sc -Fformat -H -Ifile 
-Llonflip -Nnavchannel
-Ooutput_format -Rwest/east/south/north 
-Sspeed -Ttimegap -V -Zsegment]

 
DESCRIPTION

mbnavlist prints the specified contents of navigation records
in a swath sonar data file to stdout. By default, mbnavlist 
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). The output of
mbnavlist can be piped to plotting and data analysis programs. The
option -Ooutput_format can be 
used to control the data types that
are sent to stdout. 
By default, mbnavlist extracts navigation from the 
data record type listed as the "navigation source" for a particular
data format. Swath data formats may contain synchronous navigation
(navigation is included in survey data records), asynchronous navigation
(navigation comes in records separate from and at different times
than the survey data records), or both (survey records contain merged
navigation while the original asynchronous navigation is preserved in
separate navigation records). Some data formats provide for multiple
navigation sources, so that there are more than one channel of
asynchronous data records. In this case one channel is always designated
as the primary or active navigation channel. The -N option allows
the user to specify that mbnavlist outputs navigation from
the primary asynchronous navigation (-N0) or from one
of three auxilliary navigation channels 
(-N1, -N2, or -N3). If the data
format only uses asynchronous navigation, then the default
navigation source will already be the primary asynchronous navigation
and -N need not be used. If -N is used but the data file
does not contain asynchronous navigation or the specified auxilliary
navigation channels, then mbnavlist will output nothing. To
determine if a datafile contains asynchronous navigation and/or auxilliary
navigation, run mbinfo using its -N option to get counts
of all data record types in the file.

 
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





Causes the output to be binary (native double precision floating
point) rather than ASCII. Some
output options cannot be represented as single binary floats (e.g.
time strings and longitude or latitude broken into degrees
and minutes. These values are output as multiple fields as
appropriate.
Default: ASCII output with fields separated by tabs.
-B


yr/mo/da/hr/mn/sc



This option sets the starting time for data allowed in the input data.
The -E option sets the ending time for data. If the 
starting time is before the ending time, then any data
with a time stamp before the starting time or after the
ending time is ignored. If instead the starting time is
after the ending time, then any data between the ending
and starting time will be ignored. This scheme allows time
windowing both inside and outside a specified interval.
Default: yr/mo/da/hr/mn/sc = 1962/2/21/10/30/0.
-E


yr/mo/da/hr/mn/sc



This option sets the ending time for data allowed in the input data.
The -B option sets the starting time for data. If the 
starting time is before the ending time, then any data
with a time stamp before the starting time or after the
ending time is ignored. If instead the starting time is
after the ending time, then any data between the ending
and starting time will be ignored. This scheme allows time
windowing both inside and outside a specified interval.
Default: yr/mo/da/hr/mn/sc = 2062/2/21/10/30/0.
-F


format



Sets the format for the input swath sonar data using 
MBIO integer format identifiers. 
This program uses the MBIO library and will read any swath sonar
format supported by MBIO. A list of the swath sonar data formats
currently supported by MBIO and their identifier values
is given in the MBIO manual page. Default: format = 11.
-H


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


file



Sets the input filename. If format > 0 (set with the 
-F option) then the swath sonar data contained in file 
is read and processed. If format < 0, then file
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 file file, each
data file should be followed by a data format identifier, e.g.:

        datafile1 11


        datafile2 24




This program uses the MBIO library and will read or write any swath sonar
format supported by MBIO. A list of the swath sonar data formats
currently supported by MBIO and their identifier values
is given in the MBIO manual page. 
Default: file = "datalist.mb-1".
-L


lonflip



Sets the range of the longitude values returned.
If lonflip=-1 then the longitude values will be in
the range from -360 to 0 degrees. If lonflip=0 
then the longitude values will be in
the range from -180 to 180 degrees. If lonflip=1 
then the longitude values will be in
the range from 0 to 360 degrees.
Default: lonflip = 0.
-N


navchannel



Sets mbnavlist to look for navigation in navigation records rather
than the record type listed as the "navigation source" for a particular
data format. Swath data formats may contain synchronous navigation
(navigation is included in survey data records), asynchronous navigation
(navigation comes in records separate from and at different times
than the survey data records), or both (survey records contain merged
navigation while the original asynchronous navigation is preserved in
separate navigation records). Some data formats provide for multiple
navigation sources, so that there are more than one channel of
asynchronous data records. In this case one channel is always designated
as the primary or active navigation channel. The -N option allows
the user to specify that mbnavlist outputs navigation from
the primary asynchronous navigation (-N0) or from one
of three auxilliary navigation channels 
(-N1, -N2, or -N3). If -N is
used but the data file
does not contain asynchronous navigation or the specified auxilliary
navigation channels, then mbnavlist will output nothing. To
determine if a datafile contains asynchronous navigation and/or auxilliary
navigation, run mbinfo using its -N option to get counts
of all data record types in the file.
-O


output_format



Determines the form of the output. Output_format is a string composed
of one or more of the following characters:


        c  for sonar depth (meters)


        H  for heading (degrees)


        h  for course made good (degrees)


        J  for a time string (yyyy jd hh mm ss.ssssss) 


                 where jd is the julian day of the year

        j  for a time string (yyyy jd dm ss.ssssss) 


                 where jd is the julian day of the year

                 and dm is the minute of the day

        L  for cumulative along-track distance (km)


        l  for cumulative along-track distance (m)


        M  for unix time in decimal seconds since 1/1/70 00:00:00


        m  for time in decimal seconds since first record


        N  for ping count


        P  for pitch in degrees


        p  for draft in meters


        R  for roll in degrees


        r  for heave in meters


        S  for speed (km/hr)


        s  for speed made good (km/hr)


        T  for a time string (yyyy/mm/dd/hh/mm/ss)


        t  for a time string (yyyy mm dd hh mm ss)


        U  for unix time in integer seconds since 1/1/70 00:00:00


        u  for time in integer seconds since first record


        V  for ping interval (decimal seconds)


        X  for longitude (decimal degrees)


        x  for longitude (degrees + decimal minutes + E/W)


        Y  for latitude (decimal degrees)


        y  for latitude (degrees + decimal minutes + N/S)


Default output_format = tMXYHs (time, unix time, latitude, 
longitude, heading, speed).
-R


west/east/south/north



Sets the longitude and latitude bounds within which swath sonar 
data will be read. Only the data which lies within these bounds will
be read. 
Default: west=-360, east=360, south=-90, north=90.
-S


speed



Sets the minimum speed in km/hr (5.5 kts ~ 10 km/hr) allowed in 
the input data; pings associated with a smaller ship speed will not be
copied. Default: speed = 0.
-T


timegap



Sets the maximum time gap in minutes between adjacent pings allowed before
the data is considered to have a gap. Default: timegap = 1.
-V


Normally, mbnavlist works "silently" without outputting
anything to the stderr stream.  If the
-V flag is given, then mbnavlist works in a "verbose" mode and
outputs the program version being used and all error status messages.
-Z


segment



Causes the ascii output of different input swath files
(e.g. when a datalist is specified with the -I option)
to be separated by lines with segment. If segment
is a single character, then the output is a multiple segment
file of the sort accepted by the GMT program psxy.
This option only works with ascii output, and is thus disabled
when the -A option is specified. The most common usage
is -ZI>.


 
EXAMPLES

Suppose one wishes to obtain a navigation list from a Simrad EM300 data file
in the MBARI format (MBIO id 57) called mbari_1998_107_msn.mb57. To 
obtain a listing with time in unix second forms followed
by longitude and latitude, the following will suffice:


        mbnavlist -F57 -i mbari_1998_107_msn.mb57 -OMXY | more


The output will be as follows:


        889125106.792000        -155.898471       19.979325


        889125108.148000        -155.898586       19.979400


        889125109.496000        -155.898738       19.979454


        889125110.852000        -155.898876       19.979504


        889125112.207000        -155.899020       19.979544


        889125113.571000        -155.899204       19.979591


        889125114.921000        -155.899479       19.979485


        .....


 
SEE ALSO

mbsystem(l), mbinfo(l)

 
BUGS

mbnavlist is not able to list all of the navigation information 
available in some swath data formats.



 
Index

NAME

VERSION

SYNOPSIS

DESCRIPTION

AUTHORSHIP

OPTIONS

EXAMPLES

SEE ALSO

BUGS

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