mbpreprocess
Section:  MB-System 5.0  (1)
Updated:  5 November 2022 
Index


 
NAME

mbpreprocess - performs preprocessing of swath sonar data as part of setting
up an MB-System processing structure for a dataset.

 
VERSION

Version 5.0

 
SYNOPSIS

mbpreprocess [



--verbose



--help



--input=FILE



--format=FORMATID



--output-directory=DIRECTORY



--platform-file=FILE



--platform-target-sensor=RECORDID



--output-sensor-fnv



--skip-existing



--nav-file=FILE



--nav-file-format=FORMATID



--nav-async=RECORDTYPE



--nav-sensor=SENSORID



--sensordepth-file=FILE



--sensordepth-file-format=FORMATID



--sensordepth-async=RECORDTYPE



--sensordepth-sensor=SENSORID



--heading-file=FILE



--heading-file-format=FORMATID



--heading-async=RECORDTYPE



--heading-sensor=SENSORID



--altitude-file=FILE



--altitude-file-format=FORMATID



--altitude-async=RECORDTYPE



--altitude-sensor=SENSORID



--attitude-file=FILE



--attitude-file-format=FORMATID



--attitude-async=RECORDTYPE



--attitude-sensor=SENSORID



--soundspeed-file=FILE



--soundspeed-file-format=FORMATID



--soundspeed-async=RECORDTYPE



--soundspeed-sensor=SENSORID



--time-latency-file=FILE



--time-latency-file-format=FORMATID



--time-latency-constant=SECONDS



--time-latency-apply-nav



--time-latency-apply-sensordepth



--time-latency-apply-heading



--time-latency-apply-attitude



--time-latency-apply-altitude



--time-latency-apply-all-ancilliary



--time-latency-apply-survey



--time-latency-apply-all



--filter=SECONDS



--filter-apply-nav



--filter-apply-sensordepth



--filter-apply-heading



--filter-apply-attitude



--filter-apply-altitude



--filter-apply-all-ancilliary



--recalculate-bathymetry



--no-change-survey



--multibeam-sidescan-source=SOURCE



--sounding-amplitude-filter=THRESHOLD



--sounding-altitude-filter=THRESHOLD



--ignore-water-column



--head1-offsets=X/Y/Z/HEADING/ROLL/PITCH



--head2-offsets=X/Y/Z/HEADING/ROLL/PITCH



--kluge-time-jumps=SECONDS



--kluge-ancilliary-time-jumps=SECONDS



--kluge-mbaripressure-time-jumps=THRESHOLD



--kluge-beam-tweak=FACTOR



--kluge-soundspeed-tweak=FACTOR



--kluge-zero-attitude-correction



--kluge-zero-alongtrack-angles



--kluge-fix-wissl-timestamps



--kluge-auv-sentry-sensordepth



--kluge-ignore-snippets



--kluge-sonardepth-from-heave



]

 
DESCRIPTION

MBpreprocess handles preprocessing of swath sonar data as part of setting
up an MB-System processing structure for a dataset. This program replaces
the several format-specific preprocessing programs
found in MB-System version 5 releases with a single program for version 6.
In many cases the preprocessing consists only of creating the ancillary files
parallel to the raw files, but in others the data must be translated to
different formats. The proprocessing step can also be used to merge navigation,
attitude, sound speed, or other ancillary data with the survey data.

 
MB-SYSTEM AUTHORSHIP

David W. Caress




  Monterey Bay Aquarium Research Institute



Dale N. Chayes




  Center for Coastal and Ocean Mapping




  University of New Hampshire



Christian do Santos Ferreira




  MARUM - Center for Marine Environmental Sciences




  University of Bremen

 
OPTIONS


--help


This option causes mbconfig to print out its usage options and exit.
--verbose


By default mbpreprocess outputs minimal information to the shell. This option
causes the program to indicate it's progress as it runs.

--input=FILE


Swath data file from which the input data will be read, or a datalist file
containing a list of input swath data files and/or other datalist files.
If FILE is a datalist file, then mbpreprocess will attempt to preprocess
all data files identified by recursively reading the datalist structure
referenced in FILE.
--format=FORMATID


Sets the MBIO integer format identifier
for the input file FILE specified with the
--input option. By default, mbpreprocess
infers the format from the "*.mbXX" MB-System suffix
convention.
--output-directory=DIRECTORY


By default the output files written by mbpreprocess are located in the same
directory as the input swath files. This options allows the user to specify a
different directory into which the output files are written.
--platform-file=FILE


Causes mbpreprocess to input and utilize an MB-System platform file,
which provides a complete description of the relative geometry of sensors on a
survey platform. Platform files can be constructed using the program mbmakeplatform.
Most datasets do not require the use of a platform file, and only a few data formats
are supported with preprocessing functionality utilizing platform files (e.g. the
Reson 7k format 88, the Teledyne 7k3 format 89, the 3D at Depth lidar formats
232 and 233). Platform files are needed only when survey data have been collected
without integrating the asynchronous navigation and attitude data and when the
positional and angular offsets between the survey sensor (e.g. multibeam sonar,
lidar, stereo camera rig) have not been specified in the data stream. Most often
this situation is associated with survey systems on submerged platforms like
autonomous underwater vehicles (AUVs) or remotely operated vehicles (ROVs).
In cases where the sonar control and data logging software have a full platform
description and apply that to fully correct the survey data in real time, no
platform file is needed for the preprocessing stage in MB-System. Specifically,
all datasets collected using Kongsberg multibeam sonars do not require use of a
platform file (the only exception to this would be if the positional offsets between
sensors were incorrectly specified in the multibeam configuration).
--platform-target-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the survey data being preprocessed. This determines
how lever arm calculations are done. For instance, if sensor 0 is the source of
attitude and lateral position data (e.g. an inertial navigation system), sensor 1
is the source of vertical position data (e.g. a pressure sensor), and sensor 2 is
a multibeam sonar for which the bathymetry data are not initially motion corrected,
then one should use --platform-target-sensor=2 so that the lever arm
calculations produce the position and attitude of the multibeam sonar. The
multibeam bathymetry are then calculated using the corrected position and
attitude data. This option is necessary because in general a platform may have
multiple survey sensors (e.g. multibeam sonar, lidar, stereo camera rig, subbottom
profiler, sidescan sonar), each of which will have a separate data processing
workflow.
--output-sensor-fnv


Causes mbpreprocess to output "fast navigation" or *.fnv files for each
of the sensors described in the platform file specified with the --platform-file
option. These *.fnv files will be corrected for the lever arms specified by the
positional and angular offsets defined in the platform file.
--skip-existing


This option causes mbpreprocess to skip preprocessing when the output files
already exist and are up to date relative to the inputs.



--nav-file=filename





Specifies an external time series file from which to merge sonar position (navigation),
replacing navigation data included in the data stream.
By default mbpreprocess attempts to use navigation values included in the
input data.
--nav-file-format=format_id





Specifies the format of an external navigation time series file from which position values
are derived (as defined with --nav-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d longitude latitude speed

      where time_d is time in decimal epoch seconds (seconds since 1970), longitude

      and latitude are in decimal degrees, and speed is in km/hour (and is optional).

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains.




   2: ASCCI text file with lines of the form:

        year month day hour minute second longitude latitude

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and longitude and latitude are in decimal degrees.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second longitude latitude

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and longitude and latitude are in decimal degrees.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second longitude latitude

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and longitude and latitude are in decimal degrees.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains.




   5: ASCCI text file in the 1990's era L-DEO processed nav format with lines

      of the form:

        yy+jjjhhmmssNddmmmmmmEdddmmmmmm

      where yy is the two digit year (after 1999 the "yy+" was replaced by a four

      digit year "yyyy"), jjj is the julian_day, hh is the hour, mm

      is minutes, and ss is seconds. The latitude is given as

      Nddmmmmmmand where N is 'N' for north and 'S' for south, dd are integer

      degrees, and mmmmmm is minutes * 10000. The longitude is given as

      Edddmmmmmmand where E is 'E' for east and 'W' for west, ddd are integer

      degrees, and mmmmmm is minutes * 10000.




   6 or 7: NMEA 0183 position strings

      Several NMEA and NMEA-like strings containing position are recognized,

      and can be parsed with and without line break characters. These strings

      include ZDA, GLL, GGA, DAT, and UNX.




   8: Simrad 90 format navigation files with lines

      of the form:

        ddmmyy hhmmssss ddmmmmmmmN dddmmmmmmmE

      where dd is day of the month, mm is the month, yy is the two digit year,

      hh is the hour, mm is the minute, and ssss is seconds * 100.

      The latitude is given as ddmmmmmmmN where dd are integer degrees,

      mmmmmmm is minutes * 100000, and N is 'N' for north and 'S' for south latitude.

      The longitude is given as dddmmmmmmmE where ddd are integer degrees,

      mmmmmmm is minutes * 100000, and E is 'E' for east and 'W' for west longitude.



      day_minute values are integers,

      the second value is decimal, and longitude and latitude are in decimal

      degrees. The longitude is given as

      Edddmmmmmmand where E is 'E' for east and 'W' for west, ddd are integer

      degrees, and mmmmm is minutes * 10000.




   9: ASCCI text file with white-space delimited lines of the form:

        yr mon day hour min sec time_d lon lat heading speed sensordepth

      or

        yr mon day hour min sec time_d lon lat heading speed sensordepth roll pitch heave

      where yr is the four digit year, mon is the month, day is the day of the

      month, min is the minute, second is the decimal seconds, time_d is time in

      decimal epoch seconds (seconds since 1970), lon is the longitude

      in decimal degrees, lat is the latitude in decimal degrees, heading is in

      decimal degrees, speed is in km/hour, and sensordepth is in meters.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains. If present, roll and pitch are in

      decimal degrees and heave is in meters.




   10: R2R (Rolling deck to Repository) navigation format with ASCCI text lines

      of the form:

         yyyy-mm-ddThh:mm:ss.sssZ lon lat quality nsat dilution height

      where the lon and lat fields are in decimal degrees with south latitudes

      and west longitudes negative, and the last four quantities relating to

      GPS fix quality.
--nav-async=record_kind





Specifies the type of data records from which position values
are derived (as defined with --nav-file-format). Options for the
record_kind include:




    MB_DATA_DATA:  1 (survey data)

    MB_DATA_NAV:  12 (navigation data)

    MB_DATA_NAV1: 29 (navigation data from navigation system 1)

    MB_DATA_NAV2: 30 (navigation data from navigation system 2)

    MB_DATA_NAV3: 31 (navigation data from navigation system 3)



What types of data records are present is format-dependent, as is the default
choice of which record type is used as the navigation source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--nav-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the navigation data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file. Note that if the external navigation has been calculated to
define the location of the target survey sensor, then the sensor id should be
the same as the survey sensor so that a null lever arm correction is made.



--sensordepth-file=FILE


Specifies an external time series file from which to merge sensor depth,
replacing sensor depth data included in the data stream.
By default mbpreprocess attempts to use sensor depth values included in the
input data.
--sensordepth-file-format=FORMATID





Specifies the format of an external sensor depth time series file from which sensor depth values
are derived (as defined with --sensordepth-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d sensordepth

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      sensordepth values are in meters positive down.




   2: ASCCI text file with lines of the form:

        year month day hour minute second sensordepth

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second sensordepth

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second sensordepth

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   9: ASCCI text file with white-space delimited lines of the form:

        yr mon day hour min sec time_d lon lat heading speed sensordepth

      or

        yr mon day hour min sec time_d lon lat heading speed sensordepth roll pitch heave

      where yr is the four digit year, mon is the month, day is the day of the

      month, min is the minute, second is the decimal seconds, time_d is time in

      decimal epoch seconds (seconds since 1970), lon is the longitude

      in decimal degrees, lat is the latitude in decimal degrees, heading is in

      decimal degrees, speed is in km/hour, and sensordepth is in meters.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains. If present, roll and pitch are in

      decimal degrees and heave is in meters.
--sensordepth-async=RECORDTYPE


Specifies the type of data records from which sensor depth values
are derived (as defined with --sensordepth-file-format). Options for the
record_kind include:




    MB_DATA_DATA:  1 (survey data)

    MB_DATA_NAV:  12 (navigation data)

    MB_DATA_HEIGHT 16 (sensor height data)

    MB_DATA_NAV1: 29 (navigation data from navigation system 1)

    MB_DATA_NAV2: 30 (navigation data from navigation system 2)

    MB_DATA_NAV3: 31 (navigation data from navigation system 3)

    MB_DATA_SONARDEPTH 59 (sensor depth data)



What types of data records are present is format-dependent, as is the default
choice of which record type is used as the sensor depth source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--sensordepth-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the sensor depth data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file. Note that if the external sensor depth data have been calculated to
define the vertical location of the target survey sensor, then the sensor id should be
the same as the survey sensor so that a null lever arm correction is made.



--heading-file=FILE


Specifies an external time series file from which to merge heading,
replacing heading data included in the data stream.
By default mbpreprocess attempts to use heading values included in the
input data.
--heading-file-format=FORMATID


Specifies the format of an external heading time series file from which heading values
are derived (as defined with --heading-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d heading

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      heading values are in degrees positive clockwise from forward.




   2: ASCCI text file with lines of the form:

        year month day hour minute second heading

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and heading values in degrees positive clockwise from forward.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second heading

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and heading values in degrees positive clockwise from forward.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second heading

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and heading values in degrees positive clockwise from forward.




   9: ASCCI text file with white-space delimited lines of the form:

        yr mon day hour min sec time_d lon lat heading speed sensordepth

      or

        yr mon day hour min sec time_d lon lat heading speed sensordepth roll pitch heave

      where yr is the four digit year, mon is the month, day is the day of the

      month, min is the minute, second is the decimal seconds, time_d is time in

      decimal epoch seconds (seconds since 1970), lon is the longitude

      in decimal degrees, lat is the latitude in decimal degrees, heading is in

      decimal degrees, speed is in km/hour, and heading is in meters.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains. If present, roll and pitch are in

      decimal degrees and heave is in meters.
--heading-async=RECORDTYPE


Specifies the type of data records from which heading values
are derived (as defined with --heading-file-format). Options for the
record_kind include:




    MB_DATA_DATA:      1 (survey data)

    MB_DATA_NAV:      12 (navigation data)

    MB_DATA_HEADING:  17 (heading data)

    MB_DATA_NAV1:     29 (navigation data from navigation system 1)

    MB_DATA_NAV2:     30 (navigation data from navigation system 2)

    MB_DATA_NAV3:     31 (navigation data from navigation system 3)



What types of data records are present is format-dependent, as is the default
choice of which record type is used as the heading source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--heading-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the heading data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file.



--altitude-file=FILE


Specifies an external time series file from which to merge altitude data,
replacing altitude data included in the data stream.
By default mbpreprocess attempts to use altitude values included in the
input data. Typically altitude data are critical only for processing sidescan
data in the absence of swath bathymetry.
--altitude-file-format=FORMATID


Specifies the format of an external altitude time series file from which altitude values
are derived (as defined with --altitude-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d altitude

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      altitude values are in meters.




   2: ASCCI text file with lines of the form:

        year month day hour minute second altitude

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and altitude values are in meters.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second altitude

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and altitude values are in meters.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second altitude

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and altitude values are in meters.
--altitude-async=RECORDTYPE


Specifies the type of data records from which heading values
are derived (as defined with --heading-file-format). Options for the
record_kind include:




    MB_DATA_DATA:      1 (survey data)

    MB_DATA_NAV:      12 (navigation data)

    MB_DATA_NAV1:     29 (navigation data from navigation system 1)

    MB_DATA_NAV2:     30 (navigation data from navigation system 2)

    MB_DATA_NAV3:     31 (navigation data from navigation system 3)

    MB_DATA_ALTITUDE: 60 (altitude data)



What types of data records are present is format-dependent, as is the default
choice of which record type is used as the altitude source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--altitude-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the navigation data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file.



--attitude-file=FILE


Specifies an external time series file from which to merge attitude data (roll and pitch, often also heave),
replacing attitude data included in the data stream.
By default mbpreprocess attempts to use attitude values included in the
input data.
--attitude-file-format=FORMATID


Specifies the format of an external attitude time series file from which attitude values
are derived (as defined with --attitude-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d roll pitch heave

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      sensordepth values are in meters positive down.




   2: ASCCI text file with lines of the form:

        year month day hour minute second roll pitch heave

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second roll pitch heave

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second roll pitch heave

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and sensordepth values are in meters positive down.




   9: ASCCI text file with white-space delimited lines of the form:

        yr mon day hour min sec time_d lon lat heading speed sensordepth roll pitch heave

      where yr is the four digit year, mon is the month, day is the day of the

      month, min is the minute, second is the decimal seconds, time_d is time in

      decimal epoch seconds (seconds since 1970), lon is the longitude

      in decimal degrees, lat is the latitude in decimal degrees, heading is in

      decimal degrees, speed is in km/hour, and sensordepth is in meters.

      South latitudes are negative. Longitude may be defined on either the

      -180.0 to +180.0 or 0.0 to 360.0 domains. Roll and pitch are in

      decimal degrees and heave is in meters.
--attitude-async=RECORDTYPE


Specifies the type of data records from which attitude values
are derived (as defined with --attitude-file-format). Options for the
record_kind include:




    MB_DATA_DATA:       1 (survey data)

    MB_DATA_NAV:       12 (navigation data)

    MB_DATA_NAV1:      29 (navigation data from navigation system 1)

    MB_DATA_NAV2:      30 (navigation data from navigation system 2)

    MB_DATA_NAV3:      31 (navigation data from navigation system 3)

    MB_DATA_ATTITUDE:  18 (attitude data)

    MB_DATA_ATTITUDE1: 56 (attitude data from attitude system 1)

    MB_DATA_ATTITUDE2: 57 (attitude data from attitude system 2)

    MB_DATA_ATTITUDE3: 58 (attitude data from attitude system 3)
#.br
What types of data records are present is format-dependent, as is the default
choice of which record type is used as the attitude source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--attitude-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the navigation data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file.



--soundspeed-file=FILE


Specifies an external time series file from which to merge sound speed data,
replacing sound speed data included in the data stream.
By default mbpreprocess attempts to use sound speed values included in the
input data. The sound speed values represent the speed of sound at the survey
sensor (i.e. the sonar arrays); typically these are input only when the
preprocessing includes recalculation of multibeam bathymetry.
--soundspeed-file-format=FORMATID


Specifies the format of an external soundspeed time series file from which soundspeed values
are derived (as defined with --soundspeed-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d soundspeed

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      soundspeed values are in meters positive down.




   2: ASCCI text file with lines of the form:

        year month day hour minute second soundspeed

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and soundspeed values are in meters positive down.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second soundspeed

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and soundspeed values are in meters positive down.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second soundspeed

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and soundspeed values are in meters positive down.
--soundspeed-async=RECORDTYPE


Specifies the type of data records from which sound speed values
are derived (as defined with --soundspeed-file-format). Options for the
record_kind include:




    MB_DATA_DATA:       1 (survey data)

    MB_DATA_SSV:       19 (sound speed data)

    MB_DATA_CTD:       34 (sound speed data)
#.br
What types of data records are present is format-dependent, as is the default
choice of which record type is used as the sound speed source. The
program mbinfo can be used with the -N option to determine the numbers
of different record types present in a data file.
--soundspeed-sensor=SENSORID


If a platform file has been specified, this option defines the id of the sensor
description associated with the navigation data being used, whether that
derives from asynchronous records in the data stream or from an external
navigation file.



--time-latency-file=FILE


Specifies an external time series file from which to read a time latency model to be applied
to some or all of the timestamps in the data stream.
--time-latency-file-format=FORMATID


Specifies the format of an external time latency time series file from which time latency values
are derived (as defined with --time-latency-file). Options for the format_id
value are:




   1: ASCCI text file with lines of the form:

        time_d timeshift

      where time_d is time in decimal epoch seconds (seconds since 1970), and

      timeshift values are in seconds.




   2: ASCCI text file with lines of the form:

        year month day hour minute second timeshift

      where year, month, day, hour, and minute values are integers, the second

      value is decimal, and timeshift values are in seconds.




   3: ASCCI text file with lines of the form:

        year julian_day hour minute second timeshift

      where year, julian_day, hour, and minute values are integers, the second

      value is decimal, and timeshift values are in seconds.




   4: ASCCI text file with lines of the form:

        year julian_day day_minute second timeshift

      where year, julian_day, and day_minute values are integers, the second

      value is decimal, and timeshift values are in seconds.
--time-latency-constant=SECONDS


Specifies a constant time latency value
--time-latency-apply-nav


Specifies that the time latency correction will be applied to the time stamps
associated with the navigation data merged with the survey data.
--time-latency-apply-sensordepth


Specifies that the time latency correction will be applied to the time stamps
associated with the sonar depth data merged with the survey data.
--time-latency-apply-heading


Specifies that the time latency correction will be applied to the time stamps
associated with the heading data merged with the survey data.
--time-latency-apply-attitude


Specifies that the time latency correction will be applied to the time stamps
associated with the attitude data merged with the survey data.
--time-latency-apply-altitude


Specifies that the time latency correction will be applied to the time stamps
associated with the altitude data merged with the survey data.
--time-latency-apply-all-ancilliary


Specifies that the time latency correction will be applied to the time stamps
associated with all of the ancilliary data merged with the survey data (i.e. the
navigation, sensor depth, heading, attitude, and altitude data).
--time-latency-apply-survey


Specifies that the time latency correction will be applied to the time stamps
associated with the survey data.
--time-latency-apply-all


Specifies that the time latency correction will be applied to all time stamps
associated with survey data and ancilliary data.



--filter=SECONDS


Specifies the half width in seconds of a Gaussian smoothing filter that can be applied to
ancilliary time series data prior to merging with the survey data. This includes
the navigation, heading, sensor depth, attitude and altitude data.
--filter-apply-nav


Specifies that the smoothing filtering will be applied to the navigation data
merged with the survey data.
--filter-apply-sensordepth


Specifies that the smoothing filtering will be applied to the sensor depth data
merged with the survey data.
--filter-apply-heading


Specifies that the smoothing filtering will be applied to the heading data
merged with the survey data.
--filter-apply-attitude


Specifies that the smoothing filtering will be applied to the attitude data
merged with the survey data.
--filter-apply-altitude


Specifies that the smoothing filtering will be applied to the altitude data
merged with the survey data.
--filter-apply-all-ancilliary


Specifies that the smoothing filtering will be will be applied to all of the a
ncilliary data merged with the survey data (i.e. the
navigation, sensor depth, heading, attitude, and altitude data).



--recalculate-bathymetry


This option causes the bathymetry in the survey data to be recalculated during
preprocessing. The specifics of the recalculation are format dependent.
--no-change-survey


This option forces mbpreprocess to not modify the survey data.
--multibeam-sidescan-source=SOURCE


This option defines the source type for the backscatter used in calculating
the sidescan imagery associated with multibeam data for multibeam data formats
that have multiple types of backscatter records and may have more that one type
available in a data stream. The relevant formats are Reson 7k (88), Teledyne 7k3 (89),
and Kongsberg kmall (161). If SOURCE = S or s, then uncalibrated snippet
records will be used. If SOURCE = C or c, then the source records will be
calibrated snippets. If SOURCE = B or b, then the source will be wide
beam backscatter that is provided in a sidescan-like port and starboard time
series. Finally, if SOURCE = W or w, then the source records will be
calibrated wide beam backscatter. By default, for the relevant formats
mbpreprocess will attempt to use the best available source, with a
preference order of calibrated snippets, then snippets, then calibrated wide
beam, then wide beam.
--sounding-amplitude-filter=THRESHOLD


This option enables flagging soundings that have amplitude or intensity values
less than the specified threshold value for some data formats. The two relevant
formats are Reson 7k (88) and 3D at Depth lidar (232 and 233).
--sounding-altitude-filter=THRESHOLD


This option enables flagging soundings that have altitude values
less than the specified threshold value for some data formats. The relevant
formats are 3D at Depth lidar (232 and 233).
--head1-offsets=X/Y/Z/HEADING/ROLL/PITCH


This option specifies the positional and angular offsets of optical head 1 relative
to the origin for a dual head lidar system. The only relevant formats are for
3D at Depth lidars (232 and 233).
--head2-offsets=X/Y/Z/HEADING/ROLL/PITCH


This option specifies the positional and angular offsets of optical head 2 relative
to the origin for a dual head lidar system. The only relevant formats are for
3D at Depth lidars (232 and 233).
--kluge-time-jumps=SECONDS


--kluge-ancilliary-time-jumps=SECONDS


--kluge-mbaripressure-time-jumps=SECONDS


--kluge-beam-tweak=FACTOR


--kluge-soundspeed-tweak=FACTOR


--kluge-zero-attitude-correction


--kluge-zero-alongtrack-angles


This option zeroes alongtrack angles used to calculated bathymetry.
--kluge-fix-wissl-timestamps


--kluge-ignore-snippets


This option was created to handle some Kongsberg EM122 data in *.all files (supported
as format 58) in which most, but not all, of the snippet backscatter records are missing.
The i/o module for this format views pings without snippet records as incomplete.
When --kluge-ignore-snippets is specified, mbpreprocess creates an empty
snippet record for each ping, and ignores any snippet records actually in the
input datastream.
--kluge-sonardepth-from-heave


This option causes heave values to be moved to the sonardepth (sometimes sensordepth)
field, leaving the heave value as zero, for each survey ping. This is currently
only relevant to the preprocessing of Imagenex DeltaT multibeam data in the vendor
83P format (191). The output of preprocessing format 191 data are format 192 files.


 
EXAMPLES

To be written.....

 
SEE ALSO

mbsystem(1), mbdatalist(1), mbprocess(1)

 
BUGS

Oh yeah.



 
Index

NAME

VERSION

SYNOPSIS

DESCRIPTION

MB-SYSTEM AUTHORSHIP

OPTIONS

EXAMPLES

SEE ALSO

BUGS