MB-System Unix Manual Page

mbauvloglist

Section:  MB-System 5.0  (1)
Updated:  2 February 2016 
Index



 

NAME


mbauvloglist - Lists table data from an MBARI AUV mission log file.


 

VERSION


Version 5.0


 

SYNOPSIS


mbauvloglist -Ifile [-Fprintformat -Llonflip
-Mmode -Nnavfile -Olist -P -S -V -H ]


 

DESCRIPTION


MBauvloglist reads an MBARI AUV mission log file and lists specified
fields in tab-delimited text output. MBARI AUV mission logs  are binary
files with an ascii header describing the units, name, and binary size
of each value in a single record. An example of a log file header is:


# binary fastcatlog



# timeTag time %8.8e ,time ,UNKNOWN



# double conductivity %8.8e ,Calculated conductivity ,Siemens/meter



# double temperature %8.8e ,Calculated temperature ,Celsius



# double pressure %8.8e ,Calculated pressure ,Decibars



# double calculated_salinity %8.8e ,Calculated salinity ,Volts



# double cond_frequency %8.8e ,Raw Conductivity frequency ,Hertz



# double temp_counts %8.8e ,Raw Pressure A/D counts ,Unitless



# double pressure_counts %8.8e ,pressure_counts ,Unitless



# double pressure_temp_comp_voltage_reading %8.8e ,Raw pressure temp compensation voltage reading ,Volts



# double calculated_sound_velocity %8.8e ,Calculated sound velocity ,M/s



# begin


Users can extract arbitrary text lists of values in the AUV log files by using the -O
option repeatedly to specify fields by name (e.g. calculated_sound_velocity)
in the order desired. The print formatting statements (e.g. %8.8e) included in the log
header is used by default. However, users can use the -F option to specify
optional formatting for fields specified in following -O commands.


To find out the values contained in any particular log file, use the -P option alone
to print out a list of the contents. Then run mbauvloglist again using the -O option
to specify each of the desired values in the desired order of columns. The -F option
can be used to set the printing format. Otherwise, the default format specified in the
log header will be used.


The -Mmode option sets the output mode. By default, the output will be ASCII
text with tab characters between fields, which is equivalent to -M0. If
fImode = 1, then the output will be ASCII text with comma delimiters. If mode = 1,
then the output will binary values (8-btye double or 4-byte int values) with nothing between
the desired fields.


For log files that do not include navigation, an external navigation file in the "fnv"
format may be specified using the -N option. 


As of August 2009, the contents of the MBARI Mapping AUV missions logs are:


DropWeight.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 short WDTimer %d ,Count Down Timer ,Seconds

 short BWTimer %d ,Burn Wire Timer ,Seconds

 short WDClear %d ,Watch Dog Clear ,Unitless

 short AcommsDN %d ,Acoustic Comms Drop Now ,Unitless

 short WDStatus %d ,Watch Dog Status ,Unknown

 short DWout %d ,Drop Weight Active ,Unitless

 short GulperProxIn %d ,Gulper Proximity Sensor ,Unitless


adam6017.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double chan0 %8.8e ,chan0 ,UNKNOWN

 double chan1 %8.8e ,chan1 ,UNKNOWN

 double chan2 %8.8e ,chan2 ,UNKNOWN

 double chan3 %8.8e ,chan3 ,UNKNOWN

 double chan4 %8.8e ,chan4 ,UNKNOWN

 double chan5 %8.8e ,chan5 ,UNKNOWN

 double chan6 %8.8e ,chan6 ,UNKNOWN

 double chan7 %8.8e ,chan7 ,UNKNOWN


ats.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double AtsDelta %8.8e ,Last ms drift bt Reson and Auv clocks: drift = delta0 - (tReson-tAuv) ,seconds

 double AtsDrift %8.8e ,AtsDrift ,seconds


dvl.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double dvlBotVelx %8.8e ,dvlBotVelx ,UNKNOWN

 double dvlBotVely %8.8e ,dvlBotVely ,UNKNOWN

 double dvlBotVelz %8.8e ,dvlBotVelz ,UNKNOWN

 double dvlBotVele %8.8e ,dvlBotVele ,UNKNOWN

 short dvlBotVelStat %d ,dvlBotVelStat ,UNKNOWN

 double dvlWatVelx %8.8e ,dvlWatVelx ,UNKNOWN

 double dvlWatVely %8.8e ,dvlWatVely ,UNKNOWN

 double dvlWatVelz %8.8e ,dvlWatVelz ,UNKNOWN

 double dvlWatVele %8.8e ,dvlWatVele ,UNKNOWN

 short dvlWatVelStat %d ,dvlWatVelStat ,UNKNOWN

 double dvlTemp %8.8e ,dvlTemp ,UNKNOWN

 double dvlPitch %8.8e ,dvlPitch ,UNKNOWN

 double dvlRoll %8.8e ,dvlRoll ,UNKNOWN

 double dvlHeading %8.8e ,dvlHeading ,UNKNOWN

 double dvlBeam1 %4.6f ,dvlBeam1 ,UNKNOWN

 double dvlBeam2 %4.6f ,dvlBeam2 ,UNKNOWN

 double dvlBeam3 %4.6f ,dvlBeam3 ,UNKNOWN

 double dvlBeam4 %8.8e ,dvlBeam4 ,UNKNOWN

 double dvlRange %8.8e ,dvlRange ,UNKNOWN

 double dvlToping %20.4f ,dvlToping ,UNKNOWN

 double dvlSpdSnd %12.4f ,dvlSpdSnd ,UNKNOWN


dynamicControl.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double myTime %.2f ,myTime ,UNKNOWN

 double xTrackError %8.8e ,xTrackError ,UNKNOWN

 double cPsi %8.8e ,cPsi ,UNKNOWN

 double cDeltaR %8.8e ,cDeltaR ,UNKNOWN

 double tPsi %8.8e ,tPsi ,UNKNOWN

 double psiProp %8.8e ,psiProp ,UNKNOWN

 double psiInt %8.8e ,psiInt ,UNKNOWN

 double psiRate %8.8e ,psiRate ,UNKNOWN

 double xteIntegral %8.8e ,xteIntegral ,UNKNOWN

 double kxte %8.8e ,kxte ,UNKNOWN

 double dPsi %8.8e ,dPsi ,UNKNOWN

 double speedCmd %8.8e ,speedCmd ,UNKNOWN

 double omegaCmd %8.8e ,omegaCmd ,UNKNOWN

 double cDepth %8.8e ,cDepth ,UNKNOWN

 double tDepth %8.8e ,tDepth ,UNKNOWN

 double DepthError %8.8e ,DepthError ,UNKNOWN

 double dIntegral %8.8e ,dIntegral ,UNKNOWN

 double mDepthRateTerm %8.8e ,mDepthRateTerm ,UNKNOWN

 double cTheta %8.8e ,cTheta ,UNKNOWN

 double pitchProp %8.8e ,pitchProp ,UNKNOWN

 double pitchInt %8.8e ,pitchInt ,UNKNOWN

 double pitchRate %8.8e ,pitchRate ,UNKNOWN

 double pitchIntInp %8.8e ,pitchIntInp ,UNKNOWN

 double cDeltaEBL %8.8e ,cDeltaEBL ,UNKNOWN

 double cDeltaE %8.8e ,cDeltaE ,UNKNOWN

 double targetNorthing %13.2f ,targetNorthing ,UNKNOWN

 double targetEasting %13.2f ,targetEasting ,UNKNOWN

 double newBearing %8.8e ,newBearing ,UNKNOWN

 double newNorthing %13.2f ,newNorthing ,UNKNOWN

 double newEasting %13.2f ,newEasting ,UNKNOWN

 short first %d ,first ,UNKNOWN


fastcatlog.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double conductivity %8.8e ,Calculated conductivity ,Siemens/meter

 double temperature %8.8e ,Calculated temperature ,Celsius

 double pressure %8.8e ,Calculated pressure ,Decibars

 double calculated_salinity %8.8e ,Calculated salinity ,Volts

 double cond_frequency %8.8e ,Raw Conductivity frequency ,Hertz

 double temp_counts %8.8e ,Raw Pressure A/D counts ,Unitless

 double pressure_counts %8.8e ,pressure_counts ,Unitless

 double pressure_temp_comp_voltage_reading %8.8e ,Raw pressure temp compensation voltage reading ,Volts

 double calculated_sound_velocity %8.8e ,Calculated sound velocity ,M/s


gps.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 integer hours %d ,Hours ,Hours

 integer minutes %d ,Minutes ,Minutes

 integer seconds %d ,Seconds ,Seconds

 integer centiSeconds %d ,CentiSeconds ,CentiSeconds

 angle latitude %8.8e ,Vehicle latitude ,Degrees

 angle longitude %8.8e ,Vehicle longitude ,Degrees

 short quality %d ,GPS quality code ,Unitless

 short numberOfSatellites %d ,Number of satellites visible ,Unitless

 double hdop %8.8e ,Horizontal dilution of precision ,Unitless

 double antennaHeight %8.8e ,Altitude of GPS antenna above mean sea level ,meters

 double geoHeight %8.8e ,Geoidal separation ,meters

 short dgpsDataAge %d ,Age of differential GPS correction ,seconds

 short dgpsRSID %d ,Differential reference station ID ,Unitless


kearfott.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 integer mCyclesK %d ,mCyclesK ,UNKNOWN

 integer mModeK %d ,mModeK ,UNKNOWN

 integer mMonK %d ,mMonK ,UNKNOWN

 double mLatK %3.8f ,mLatK ,UNKNOWN

 double mLonK %3.8f ,mLonK ,UNKNOWN

 double mNorthK %13.2f ,mNorthK ,UNKNOWN

 double mEastK %13.2f ,mEastK ,UNKNOWN

 double mDepthK %8.8e ,mDepthK ,UNKNOWN

 double mRollK %8.8e ,mRollK ,UNKNOWN

 double mPitchK %8.8e ,mPitchK ,UNKNOWN

 double mHeadK %8.8e ,mHeadK ,UNKNOWN

 double mVbodyxK %8.8e ,mVbodyxK ,UNKNOWN

 double mVbodyyK %8.8e ,mVbodyyK ,UNKNOWN

 double mVbodyzK %8.8e ,mVbodyzK ,UNKNOWN

 double mAccelxK %8.8e ,mAccelxK ,UNKNOWN

 double mAccelyK %8.8e ,mAccelyK ,UNKNOWN

 double mAccelzK %8.8e ,mAccelzK ,UNKNOWN

 double mPrateK %8.8e ,mPrateK ,UNKNOWN

 double mQrateK %8.8e ,mQrateK ,UNKNOWN

 double mRrateK %8.8e ,mRrateK ,UNKNOWN

 double utcTime %8.8e ,utcTime ,UNKNOWN


m3dmgx1.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 angle mRollCB %8.8e ,Roll ,Degrees

 angle mOmega_xCB %8.8e ,Roll rate ,Degrees/second

 angle mPitchCB %8.8e ,Pitch ,Degrees

 angle mOmega_yCB %8.8e ,Pitch rate ,Degrees/second

 angle mYawCB %8.8e ,Yaw ,Degrees

 angle mOmega_zCB %8.8e ,Yaw rate ,Degrees/second

 double mAccel_xCB %8.8e ,Acceleration along vehicle x-axis ,G

 double mAccel_yCB %8.8e ,Acceleration along vehicle y-axis ,G

 double mAccel_zCB %8.8e ,Acceleration along vehicle z-axis ,G

 double mMag_xCB %8.8e ,Magnetic field along vehicle x-axis ,Gauss

 double mMag_yCB %8.8e ,Magnetic field along vehicle y-axis ,Gauss

 double mMag_zCB %8.8e ,Magnetic field along vehicle z-axis ,Gauss

 double mTempCB %8.8e ,Crossbow internal temperature ,Celsius


navigation.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double mPos_x %13.2f ,Vehicle Northing (WGS 84 Zone 10S) ,Meters

 double mPos_y %13.2f ,Vehicle Easting (WGS 84 Zone 10S) ,Meters

 double mDepth %8.8e ,Vehicle Depth ,Meters

 double mGpsNorth %13.2f ,Northing (WGS 84 Zone 10S) based upon GPS fix ,Meters

 double mGpsEast %13.2f ,Easting (WGS 84 Zone 10S) based upon GPS fix ,Meters

 integer mGpsValid %d ,GPS fix Status code ,Unitless

 double mPhi %8.8e ,Vehicle roll ,Degrees

 double mTheta %8.8e ,Vehicle pitch ,Degrees

 double mPsi %8.8e ,Vehicle yaw ,Degrees

 double mOmega_x %8.8e ,Vehicle roll rate ,Degrees/second

 double mOmega_y %8.8e ,Vehicle pitch rate ,Degrees/second

 double mOmega_z %8.8e ,Vehicle yaw rate ,Degrees/second

 double mPsaRange %8.8e ,Altimeter range ,Meters

 double mAltitude %8.8e ,Vehicle altitude above bottom ,Meters

 double mDvlAltitude %8.8e ,mDvlAltitude ,UNKNOWN

 double mWaterSpeed %8.8e ,Current speed based upon DVL data ,Meters/second

 integer mDvlValid %d ,Dvl valid flag in Navigation ,UNKNOWN

 integer mDvlNewData %d ,Navigation thinks the Dvl has new data ,UNKNOWN

 double mDeltaT %8.8e ,Time between Dvl updates ,Seconds

 double nfix %13.2f ,Northing (WGS 84 Zone 10S) based upon baseline fix ,Meters

 double efix %13.2f ,Easting (WGS 84 Zone 10S) based upon baseline fix ,Meters

 double filter_north %13.2f ,Kalman filter northing (WGS 84 Zone 10S) ,Meters

 double filter_east %13.2f ,Kalman filter easting (WGS 84 Zone 10S) ,Meters

 double filter_depth %8.8e ,Kalman filter depth ,Meters

 double north_current %8.8e ,Northward flowing current estimate ,Meters/second

 double east_current %8.8e ,Eastward flowing current estimate ,Meters/second

 double speed_bias %8.8e ,Speed bias based upon long baseline fixes ,Meters/second

 double heading_bias %8.8e ,Heading bias based upon long baseline fixes ,Degrees

 double latitude %5.8f ,latitude ,UNKNOWN

 double longitude %5.8f ,longitude ,UNKNOWN


parosci.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 double depth %8.3lf ,Depth ,Meters

 double temp %8.8e ,Pressure Sensor Internal Temp ,Celsius

 double pressure %8.8lf ,Pressure ,Bars

 double temp_period %8.8lf ,Temperature Period ,Microseconds

 double pres_period %8.8lf ,Pressure Period ,Microseconds


tailCone.log Contents:

 timeTag time %8.8e ,time ,UNKNOWN

 integer status %d ,status ,UNKNOWN

 integer elevatorCurrent %d ,elevatorCurrent ,UNKNOWN

 integer rudderCurrent %d ,rudderCurrent ,UNKNOWN

 float propCurrent1 %f ,propCurrent1 ,UNKNOWN

 integer propCurrent2 %d ,propCurrent2 ,UNKNOWN

 integer propRpm %d ,propRpm ,UNKNOWN

 float elevatorAngle %f ,elevatorAngle ,UNKNOWN

 float rudderAngle %f ,rudderAngle ,UNKNOWN

 integer propPwm %d ,propPwm ,UNKNOWN

 integer propTemp %d ,propTemp ,UNKNOWN


 

AUTHORSHIP


David W. Caress (caress@mbari.org)




  Monterey Bay Aquarium Research Institute



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




  Lamont-Doherty Earth Observatory


 

OPTIONS





-H



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

-F



printformat



Sets the printing format (in fprintf() style) of the next value specified using
the -O option. By default, mbauvloglist uses the print format specified
in the log file header. If the -F option has been used, using it again with
printformat equal to "default" will reset the print format to that specified
in the log file header.

-I



ifile



Sets the input MBARI AUV mission log  filename.

-L



lonflip



Sets the range of the longitude values output.
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: mbauvloglist uses the user default lonflip set using
mbdefaults.

-M



mode



Specifies the output mode. If mode = 0, then the output is
ASCII text with tab delimiters between fields. If mode = 1,
then the output is ASCII text with comma delimiters between fields.
If mode = 2, then the output is binary with no values or breaks
between fields. Default: ASCII text with tab delimiters.

-N



navfile



Specifies a navigation file in the "fnv" format that contains position,
heading, sensor depth, and attitude data. Values merged (interpolated)
from these data can be specified for output using the

     mergeLon

     mergeLat

     mergeHeading

     mergeSpeed

     mergeDraft

     mergeSensordepth

     mergeRoll

     mergePitch

     mergeHeave



valuenames in the -O option.

-O



valuename



Causes mbauvloglist to output the specified value. This option can be
given multiple times, and the values will be output in the order specified.
The valid valuename strings consist of those defined in the header of the
log file being parsed, plus the following:

     zero

     timeTag

     mergeLon

     mergeLat

     mergeHeading

     mergeSpeed

     mergeDraft

     mergeSensordepth

     mergeRoll

     mergePitch

     mergeHeave

     potentialTemperature



All of the special values are double values. Those beginning with "merge"
derive from interpolation of data from an external navigation file
specified using the -N option. The "potentialTemperature" value is defined
only when the input file is fastcatlog.log, which contains temperature, pressure,
and salinity values.



-P






Prints out the log file header.

-S






Scales angular values to be in degrees instead of radians.

-V



The -V option causes the program to be verbose.


 

EXAMPLE


To extract a list of pressure and water sound speed from the CTD log of an
AUV mission, use:

        mbauvloglist -I mvc_logs/2006.224.00/fastcatlog.log \


                -F%f -O pressure -O calculated_sound_velocity




This simple list is ordered as the data were collected, following the ups
and downs of the AUV mission. In order to construct a model of the water
sound speed as a function of depth, one can sort the output of mbauvloglist
(using the program sort) to be ordered with increasing pressure (depth),
and then resampled into uniform increments of pressure using the GMT
program sample1d.

        mbauvloglist -I mvc_logs/2006.224.00/fastcatlog.log \


                -F%f -O pressure -O calculated_sound_velocity \


                | sort -n -u > auv_ssv.txt


        sample1d auv_ssv.txt -Fl -H1 -S0.0 -I10.0 > auv_ssv_bin.txt



 

SEE ALSO


mbsystem(1), sample1d, sort.


 

BUGS


Indubitably.





 
Index




NAME


VERSION


SYNOPSIS


DESCRIPTION


AUTHORSHIP


OPTIONS


EXAMPLE


SEE ALSO


BUGS


Last Updated: 2 February 2016

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