hsdump
hsdump [ -F format -I infile -O kind -V -H ]
hsdump lists the information contained in data records on Hydrosweep DS data files, including survey, calibrate, water velocity and comment records. The default input stream is stdin.
mbanglecorrect
mbanglecorrect [ -A kind/scale -B yr/mo/da/hr/mn/sc
mbanglecorrect corrects the sidescan data by dividing by a model of the backscatter vs grazing angle function to produce a flat image which shows geology better than the raw data
mbbackangle
mbbackangle [ -A kind
mbbackangle generates tables of the average amplitude and/or sidescan values as a function of the grazing angle with the seafloor. These tables can be used by the program mbprocess to correct the sidescan or amplitude data for the variation with grazing angle.
mbbackangleold
mbbackangleold generates a table of the average amplitude or sidescan values as a function of the grazing angle with the seafloor.This program replicates the functionality of the mbbackangle program included in MB-System version 4 distributions. The current version of mbbackangle generates a series of average sidescan tables in an "amplitude vs grazing angle" or ".aga" file that can be used by mbprocess. See the mbbackangle and mbprocess manual pages for details.
mbbath
mbbath is a utility for recalculating swath bathymetry data using new values for some of the fundamental sonar operational parameters. Users may apply changes to the water sound velocity profile, roll bias, pitch bias, and draft parameters. Static corrections can also be applied to the depth values.
mbclean
mbclean identifies and flags artifacts in swath sonar bathymetry data. Several algorithms are available for identifying artifacts; multiple algorithms can be applied in a single pass. The most commonly used approach is to identify artifacts based on excessive bathymetric slopes.
mbcleanold
mbcleanold identifies and flags artifacts in swath sonar bathymetry data. This program replicates the functionality of the mbclean program included in MB-System version 4 distributions. The input swath data is read into a buffer, processed, and then written directly into an output swath data file. The current version of mbclean generates an "edit save file" like that of mbedit rather than directly outputting a swath file. See the mbclean manual page for details.
mbcontour
mbcontour is a utility for swath contouring of swath bathymetry data using Postscript. Like mbswath, mbcontour is fully compatible with the GMT package version 3.
mbcopy
mbcopy is a utility for copying swath sonar data files which may be used to change formats, average pings, or window in time and space. mbcopy can be used as a filter from STDIN to STDOUT, or it may do i/o to and from files.
mbcut
mbcut removes swath data values that lie in user-specified ranges of beam numbers, pixel numbers, or across track distances.
mbdatalist
mbdatalist is a utility for parsing datalist files. Datalist files, or lists of swath data files and their format ids, are used by a number of MB-System programs. These lists may contain references to other datalists, making them recursive. See the MB-System manual page for details on the format and structure of datalists.
mbdefaults
mbdefaults is a utility for setting or listing the default read parameters used by some MBIO utilities such as mbcopy. If a user wishes to set default parameters different from those set by the MBIO library, then these specialized default values must be stored in the file .mbio_defaults in the users home directory. If any option flag is given in invoking mbdefaults, then a new .mbio_defaults file will be written incorporating the newly set parameters along with any old parameters which have not been reset.
mbedit
mbedit is an interactive editor used to identify and flag artifacts in swath sonar bathymetry data. Once a file has been read in, MBedit displays the bathymetry profiles from several pings, allowing the user to identify and flag anomalous beams.
mbeditold
mbeditold is the old version of an interactive editor used to identify and flag artifacts in swath sonar bathymetry data. The current version of mbedit works in conjunction with the mbprocess utility and uses a different i/o scheme. This version has been retained for compatibility with previous releases of MB-System, but may be dropped from future releases.
mbfilter
mbfilter applies one or more simple filters to the specified swath data (sidescan, beam amplitude, and/or bathymetry).
mbformat
mbformat is a utility which identifies the swath sonar data formats associated with mbio format ids. If no format id or input filename is specified, mbformat lists all of the currently supported formats.
mbgetesf
mbgetesf is a utility to extract swath bathymetry beam flags into tan edit save file such as that produced by mbedit or mbclean.
mbgetmask
mbgetmask and mbmask allow the user to extract the flagging information in the form of a "mask" file from the edited file and then to apply the flagging mask to another file containing a different version of the same data. The first utility, mbgetmask, is used to extract the mask from the edited swath bathymetry file; the output is written to STDOUT. The second utility, mbmask, reads in the mask file and the unedited swath data file and flags or unflags all beams indicated by the mask.
mbgrdtiff
mbgrdtiff generates a TIFF image from a GMT grid. The image generation is similar to that of the GMT program grdimage. In particular, the color map is applied from a GMT CPT file, and shading overlay grids may be applied. The output TIFF file contains information allowing the ArcView and ArcInfo GIS packages to import the image as a geographically located coverage. The image is 8 bits per pixel if the color map is a grayscale, and 24 bits per pixel otherwise. In order to automatically generate a reasonable image of a grid, use the macro mbm_grdtiff.
mbgrid
mbgrid is a utility used to grid bathymetry, amplitude, or sidescan data contained in a set of swath sonar data files. This program uses one of four algorithms to grid regions covered by swath sonar swathes and then can fill in gaps between the swathes (to the degree specified by the user) using a thin plate spline interpolation.
mbhistogram
mbhistogram reads a swath sonar data file and generates a histogram of the bathymetry, amplitude, or sidescan values. Alternatively, mbhistogram can output a list of values which break up the distribution into equal sized regions. These values can be used to construct a color table, producing an image which is histogram equalized.
mbinfo
mbinfo is a utility for reading a swath sonar data file or files and outputting some basic statistics. The table generated shows the filename, the data format id, a brief description of the format, any metadata that have been inserted into the data, 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. The data counts include the total number of bathymetry, amplitude, and sidescan values read. Also reported are the numbers and percentages of good, zero, and flagged data values (good values are those which are neither zero nor flagged as bad).
mblevitus
mblevitus generates a mean water sound velocity profile for a specified location using temperature and salinity data from the 1982 Climatological Atlas of the World Ocean [Levitus, 1982].
mblist
mblist is a utility to list the contents of a swath data file or files to STDOUT. By default, mblist 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).
mbm_arc2grd
mbm_arc2grd is a macro to convert a ArcView ASCII grid to an GMT grid file in the GMT NetCDF grid format. This allows users to import the grid into GMT.
mbmask
mbmask and mbmask allow the user to extract the flagging information in the form of a "mask" file from the edited file and then to apply the flagging mask to another file containing a different version of the same data. The first utility, mbgetmask, is used to extract the mask from the edited swath bathymetry file; the output is written to STDOUT. The second utility, mbmask, reads in the mask file and the unedited swath data file and flags or unflags all beams indicated by the mask.
mbm_dslnavfix
mbm_dslnavfix is a macro to translate WHOI DSL AMS 120 navigation from UTM eastings and northings to longitude and latitude. The WHOI DSL group typically provides processed AMS 120 navigation is files separate from the bathymetry and sidescan data. Moreover, the navigation is generally sampled less frequently than the sonar pings, and is reported in UTM easting and northing meters. The mbm_dslnavfix macro is used to translate the eastings and northings into the geographic coordinates (longitude and latitude) used by MB-System programs. The program mbmerge can be used to merge the translated navigation in with the bathymetry and sidescan.
mbmerge
mbmerge is a utility for merging navigation with swath sonar echosounder data.Many data formats include the navigation information in the same data records as the ping or survey data. In this case, mbmerge replaces the position values in the file by interpolation of the values in the navigation file. Some data formats use asynchronous navigation, which means that the navigation is contained in data records separate from the data records containing sonar ping data. The time stamps and frequency of the navigation records are in general different from those of the ping data records. Examples include all of the Simrad vendor data formats and all of the "UNB" formats for Reson SeaBat and Elac Bottomchart sonars. For data formats with asynchronous navigation, MB-System programs calculate the positions of ping data by interpolation and/or extrapolation of the navigation data.
mbm_fmtvel
mbm_fmtvel is a macro that scans a Hydrosweep swath sonar data file using the program hsdump and generates a list in columnar format with time, date, latitude, longitude, C mean, and C keel entries.
mbm_grd2arc
mbm_grd2arc is a macro to convert a GMT grid file in the GMT NetCDF grid format to an ArcView ASCII grid. This allows users to import the grid into Arc/Info and ArcView.
mbm_grd2geovrml
mbm_grd2geovrml is a macro that takes as input a GMT geographic coordinate bathymetry grid file (bath_file) and from it generates a shaded image which is paired with the elevation data in the grid file to create a TerraVision tile set. This tile set is then used to generate a GeoVRML quadtree multi resolution set of files.
mbm_grd3dplot
mbm_grd3dplot is a macro to generate a shellscript of GMT commands which, when executed, will generate a 3D perspective Postscript plot of gridded data. Several styles of plots can be generated, including color fill views, color shaded relief views, mesh plot views, and text labels.
mbm_grdcut
mbm_grdcut is a macro to painlessly cut out a region from a GMT GRD grid file. The GMT program grdcut requires that one specify bounds which exactly match grid cell boundaries. Frequently, one just wants to extract an approximate region quickly, without calculating grid cell sizes and boundary locations. This macro does the the calculations and extracts the subregion closest to that specified by the user.
mbm_grdinfo
mbm_grdinfo is a macro to get information regarding a GMT GRD file when the region of interest is a subset of the area covered in the input file. If no bounds are specified, the program grdinfo is called directly. If longitude and latitude bounds are specified, then the specified region is cut from the input file using the macro mbm_grdinfo, and the information is obtained from the subset temporary GRD file using grdinfo.
mbm_grdplot
mbm_grdplot is a macro that generates a shellscript of GMT commands which, when executed, will generate a Postscript plot of gridded data. Several styles of plots can be generated, including color fill maps, contour maps, color fill maps overlaid with contours, shaded relief color maps, slope magnitude maps, coastline maps, text labels, and xy data in lines or symbols.
mbm_grdtiff
mbm_grdtiff is a macro to generate a shellscript which, when executed, will generate a geographically located TIFF image of gridded data. The primary purpose of this macro is to allow the simple, semi-automated production of a nice looking image with a few command line arguments. This image can be loaded into the ArcInfo and ArcView GIS packages as geographically located coverages.
mbm_grid
mbm_grid is a macro to generate a shellscript of MB-System commands which, when executed, will generate a grid or mosaic of the specified swath sonar data. The primary purpose of this macro is to allow the simple, semi-automated production of grids and mosaics with a few command line arguments.
mbmosaic
mbmosaic is a utility used to mosaic amplitude or sidescan data contained in a set of swath sonar data files. This program allows users to prioritize data according to the associated grazing angle and according to look azimuth. Individual mosaic bin values can be either the value of the highest priority sample in the bin or the Gaussian weighted mean of the highest priority samples in the neighborhood of the bin (the samples used here are those with priorities within a specified range of the highest priority sample found). Users can thus construct mosaics which are dominantly from a particular part of the swath (e.g. prioritize the outer swath higher than the inner swath) or which are dominantly from a particular look azimuth (e.g. construct an east looking mosaic by specifying a preferred look azimuth of 90 degrees).
mbm_plot
mbm_plot is a macro to generate a shellscript of MB-System and GMT commands which, when executed, will generate a Postscript plot of the specified swath sonar data. The plot may include bathymetry color fill, bathymetry color shaded relief, bathymetry shaded with amplitudes, greyshade fill amplitude, greyshade fill sidescan, contoured bathymetry, or annotated navigation. The plot may also include text labels, xy data in lines or symbols, and coastlines.
mbm_rollerror
mbm_rollerroris a macro which generates cross track slope corrections from the apparent vertical reference noise of swath sonar data.
mbm_stat
mbm_stat mbm_stat is a Perl shellscript that extracts beam statistics from the output of mbinfo. The output of contains the base name of the data file, then number of hours of data in the data file, and the percentage of dropped and flagged beams. One line of output for each run of mbinfo is generated. This allows mbm_stat to be run on accumulated data such as might be generated by logging the daily mail statistics. Columns are tab delimited.
mbm_utm
mbm_utm is a macro to perform forward and inverse UTM projections of ASCII data triples using the GMT program mapproject.
mbm_vrefcheck
mbm_vrefcheck is a macro which generates a plot of high pass filtered apparent cross track seafloor slope.
mbm_xbt
mbm_xbt is a Perl shellscript to translate various XBT data sets from depth and temperature into depth and sound velocity.
mbm_xyplot
mbm_xyplot is a macro to generate a shellscript of GMT commands which, when executed, will generate a Postscript plot of xy data. Axes may be linear, log, or any of several geographic projections. Data may be plotted as symbols or lines. The plot will be scaled to fit on the specified page size or, if the scale is user defined, the page size will be chosen in accordance with the plot size. The primary purpose of this macro is to allow the simple, semi-automated production of nice looking plots with a few command line arguments.
mbnavadjust
mbnavadjust is an interactive graphical program used to adjust swath data navigation by matching bathymetric features in overlapping and crossing swathes. The primary purpose of mbnavadjust is to eliminate relative navigational errors in swath data obtained from poorly navigated sonars.
mbnavedit
mbnavedit is an interactive editor used to identify and fix problems with the navigation of swath sonar data. In the default mode the edited navigation is output to a file with the suffix ".nve" appended to the input swath data filename. The program can also be operated in a "browse" mode where no navigation is output. If saved, the edited navigation can be merged with the swath data using the program mbprocess, which outputs a processed swath data file.
mbnaveditold
mbnaveditold is an interactive editor used to identify and fix problems with the navigation of swath sonar data. The current version of mbnavedit works in conjunction with the mbprocess utility and uses a different i/o scheme. This version has been retained for compatibility with previous releases of MB-System, but may be dropped from future releases.
mbnavlist
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.
mbprocess
mbprocess is a tool for processing swath sonar bathymetry data. This program can perform a variety of swath data processing functions in a single step (producing a single output swath data file), including:
Merge edited navigation generated by mbnavedit.
Apply bathymetry edit flags from mbedit and mbclean
Recalculate bathymetry from raw travel time and angle data by ray tracing 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).
Apply corrections to sidescan based on amplitude vs grazing angle tables obtained with mbbackangle.
Insert metadata.
mbps
mbps is a utility to generate an (almost correct) perspective view of a piece of swath sonar data. It is especially useful to get a detailed view of the quality of the data (which is not very well assessed in a contour plot) and to make pretty pictures of features that fit within a swath.
mbrollbias
mbrollbias is a utility used to assess roll bias of swath sonar sonar systems using bathymetry data from two swathes covering the same seafloor in opposite directions. The program takes two input files and calculates best fitting planes for each dataset. The roll bias is calculated by solving for a common roll bias factor which explains the difference between the seafloor slopes observed on the two swathes.
mbset
mbset is a utility for creating and modifying mbprocess parameter files.
mbsimradmakess
mbsimradmakess is a utility for regenerating sidescan imagery from the raw amplitude samples contained in data from Simrad EM300 and EM3000 multibeam sonars. This program ignores amplitude data associated with flagged (bad) bathymetry data, thus removing one important source of noise in the sidescan data.
mbsmooth
mbsmooth applies a spatial domain Gaussian filter to swath sonar bathymetry data in order to smooth out noise in the data. The width of the filter can be varied as a function of beam number. The default input and output streams are STDIN and STDOUT.
mbstripnan
mbstripnan is a utility for removing NaN nodes that are produced by the GMT utilities grd2xyz and blockmean with the bo option. The standard output of mbstripNaN may be fed into the standard input of surface with the bi option. This is used by the mbm_grd2geovrml utility in order to spline fill areas of no data so that irregular bathymetry may be effectively visualized using GeoVRML which has no concept of NaN.
mbsvplist
mbsvplist lists all water sound velocity profiles (SVPs) within swath data files. Swath bathymetry is calculated from raw angles and travel times by ray tracing through a model of the speed of sound in water. Many swath data formats allow SVPs to be embedded in the data, and often the SVPs used to calculate the data will be included.
mbswath
mbswath is a utility for plotting swath sonar data in color fill or color shaded relief using Postscript. Like mbcontour, mbswath is fully compatible with the GMT package version 3, including the use of GMT style color palette (cpt) files to control the color table.
mbtide
mbtide is a utility for correcting swath bathymetry for tides. The input tide data can be in one of several ASCII table formats. A simple spline interpolation of the tide values is used to calculate the tide correction for each ping.
mbunclean
mbunclean is a utility for reversing previous attempts to edit swath sonar bathymetry data. Bad data is conventionally flagged by setting depth values negative; mbunclean sets negative depths positive. All flagged depths will be unflagged unless depth range checking is specified and the depth value in question is outside the acceptable range. The default input and output streams are STDIN and STDOUT.
mbvelocitytool
mbvelocitytool is an interactive water sound velocity profile (SVP) editor used to examine multiple SVPs, to create new SVPs, and to model the impact of SVP modification on swath bathymetry data. SVPs created using MBvelocitytool can be used by the program mbprocess to recalculate swath bathymetry from raw travel time and angle data.