mbmakeplatform
Section:  MB-System 5.0  (1)
Updated:  30 September 2024 
Index


 
NAME

mbmakeplatform - creates or modifies an MB-System platform file.

 
VERSION

Version 5.0

 
SYNOPSIS

mbmakeplatform



--output=plffile



[



--verbose



--help



--input=plffile



--swath=datalist



--swath=swathfile



--swath-format=value



--platform-type-surface-vessel



--platform-type-tow-body



--platform-type-rov



--platform-type-auv



--platform-type-aircraft



--platform-type-satellite



--platform-name=string



--platform-organization=string



--platform-documentation-url=string



--platform-start-time=yyyy/mm/dd/hh/mm/ss.ssssss



--platform-end-time=yyyy/mm/dd/hh/mm/ss.ssssss



--add-sensor-sonar-echosounder



--add-sensor-sonar-multiechosounder



--add-sensor-sonar-sidescan



--add-sensor-sonar-interferometry



--add-sensor-sonar-multibeam



--add-sensor-sonar-multibeam-twohead



--add-sensor-sonar-subbottom



--add-sensor-camera-mono



--add-sensor-camera-stereo



--add-sensor-camera-video



--add-sensor-lidar-scan



--add-sensor-lidar-swath



--add-sensor-position



--add-sensor-compass



--add-sensor-vru



--add-sensor-imu



--add-sensor-ins



--add-sensor-ins-with-pressure



--add-sensor-ctd



--add-sensor-pressure



--add-sensor-soundspeed



--modify-sensor=sensorid



--modify-sensor-bathymetry



--modify-sensor-bathymetry1



--modify-sensor-bathymetry2



--modify-sensor-bathymetry3



--modify-sensor-backscatter



--modify-sensor-backscatter1



--modify-sensor-backscatter2



--modify-sensor-backscatter3



--modify-sensor-subbottom



--modify-sensor-subbottom1



--modify-sensor-subbottom2



--modify-sensor-subbottom3



--modify-sensor-position



--modify-sensor-position1



--modify-sensor-position2



--modify-sensor-position3



--modify-sensor-depth



--modify-sensor-depth1



--modify-sensor-depth2



--modify-sensor-depth3



--modify-sensor-heading



--modify-sensor-heading1



--modify-sensor-heading2



--modify-sensor-heading3



--modify-sensor-rollpitch



--modify-sensor-rollpitch1



--modify-sensor-rollpitch2



--modify-sensor-rollpitch3



--modify-sensor-heave



--modify-sensor-heave1



--modify-sensor-heave2



--modify-sensor-heave3



--sensor-model=string



--sensor-manufacturer=string



--sensor-serialnumber=string



--sensor-capability-position



--sensor-capability-depth



--sensor-capability-altitude



--sensor-capability-velocity



--sensor-capability-acceleration



--sensor-capability-pressure



--sensor-capability-rollpitch



--sensor-capability-heading



--sensor-capability-magneticfield



--sensor-capability-temperature



--sensor-capability-conductivity



--sensor-capability-salinity



--sensor-capability-soundspeed



--sensor-capability-gravity



--sensor-capability-topography-echosounder



--sensor-capability-topography-interferometry



--sensor-capability-topography-sass



--sensor-capability-topography-multibeam



--sensor-capability-topography-photogrammetry



--sensor-capability-topography-structurefrommotion



--sensor-capability-topography-lidar



--sensor-capability-topography-structuredlight



--sensor-capability-topography-laserscanner



--sensor-capability-backscatter-echosounder



--sensor-capability-backscatter-sidescan



--sensor-capability-backscatter-interferometry



--sensor-capability-backscatter-sass



--sensor-capability-backscatter-multibeam



--sensor-capability-backscatter-lidar



--sensor-capability-backscatter-structuredlight



--sensor-capability-backscatter-laserscanner



--sensor-capability-photography



--sensor-capability-stereophotography



--sensor-capability-video



--sensor-capability-stereovideo



--sensor-capability1=value



--sensor-capability2=value



--sensor-offsets=x/y/z/azimuth/roll/pitch



--sensor-offset-positions=x/y/z



--sensor-offset-angles=azimuth/roll/pitch



--sensor-time-latency=value



--sensor-time-latency-model=file



--sensor-source-bathymetry



--sensor-source-bathymetry1



--sensor-source-bathymetry2



--sensor-source-bathymetry3



--sensor-source-backscatter



--sensor-source-backscatter1



--sensor-source-backscatter2



--sensor-source-backscatter3



--sensor-source-subbottom



--sensor-source-subbottom1



--sensor-source-subbottom2



--sensor-source-subbottom3



--sensor-source-position



--sensor-source-position1



--sensor-source-position2



--sensor-source-position3



--sensor-source-depth



--sensor-source-depth1



--sensor-source-depth2



--sensor-source-depth3



--sensor-source-heading



--sensor-source-heading1



--sensor-source-heading2



--sensor-source-heading3



--sensor-source-rollpitch



--sensor-source-rollpitch1



--sensor-source-rollpitch2



--sensor-source-rollpitch3



--sensor-source-heave



--sensor-source-heave1



--sensor-source-heave2



--sensor-source-heave3



--modify-offsets=ioff/x/y/z/azimuth/roll/pitch



--modify-offset-positions=ioff/x/y/z



--modify-offset-angles=ioff/azimuth/roll/pitch



--modify-time-latency=value



--modify-time-latency-model=file



--end-sensor



--set-source-bathymetry=sensorid



--set-source-bathymetry1=sensorid



--set-source-bathymetry2=sensorid



--set-source-bathymetry3=sensorid



--set-source-backscatter=sensorid



--set-source-backscatter1=sensorid



--set-source-backscatter2=sensorid



--set-source-backscatter3=sensorid



--set-source-subbottom=sensorid



--set-source-subbottom1=sensorid



--set-source-subbottom2=sensorid



--set-source-subbottom3=sensorid



--set-source-camera=sensorid



--set-source-camera1=sensorid



--set-source-camera2=sensorid



--set-source-camera3=sensorid



--set-source-position=sensorid



--set-source-position1=sensorid



--set-source-position2=sensorid



--set-source-position3=sensorid



--set-source-depth=sensorid



--set-source-depth1=sensorid



--set-source-depth2=sensorid



--set-source-depth3=sensorid



--set-source-heading=sensorid



--set-source-heading1=sensorid



--set-source-heading2=sensorid



--set-source-heading3=sensorid



--set-source-rollpitch=sensorid



--set-source-rollpitch1=sensorid



--set-source-rollpitch2=sensorid



--set-source-rollpitch3=sensorid



--set-source-heave=sensorid



--set-source-heave1=sensorid



--set-source-heave2=sensorid



--set-source-heave3=sensorid
]

 
DESCRIPTION

Mbmakeplatform is used to create an MB-System platform file, 
which provides a complete description of the geometry 
of sensors on a survey platform, including the relative positional and angular offsets. Platform
files are used by mbpreprocess to set up an MB-System processing structure for swath
data. 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 preprocessing step can also be used to merge navigation, attitude, sound speed, or 
other ancillary data with the survey data. 

Platform files are needed for preprocessing 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 various data streams. 
Most often this situation 
is associated with custom survey systems on submerged platforms
like autonomous underwater vehicles (AUVs) or remotely operated vehicles (ROVs).  
The few data formats supported with preprocessing functionality utilizing 
platform files include the Reson 7k format 88, the Teledyne 7k3
format 89, and the 3D at Depth lidar formats 232 and 233. 

Generally platform files are created by a single execution of Mbmakeplatform with a
long series of command line arguments that add sensors, set sensor capabilities, and set sensor
positional and angular offsets. For some data formats Mbmakeplatform can initialize 
a platform structure by  extracting the sensor offset values from swath data files. 
In most cases the source of position data is set as the
platform origin with zero positional and angular offset values.

No platform file is needed for preprocessing when the logged datastream includes
a full platform description. 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).

Two examples are presented below, both of which are custom submerged survey platforms
combining a number of both mapping and ancillary sensors, including an inertial navigation
system producing navigation and attitude.

 
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


--output=plffile

Specifies the path of the output platform file.
[

--verbose


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

Lists the available command options.
--input=plffile

Specify an existing platform file to read and then modify with subsequent commands.
--swath=[]datalist or swathfile]

Specify a swath data input (a datalist file or an individual data file) from which
mbmakeplatform will attempt to extract a starting platform structure, including
the list of sensors and the sensor positional and angular offsets. If the input path
name follows the MB-System convention (e.g. *.mb59 for format 59) or is otherwise 
recognized as associated with a known format, then the format need not be specified
separately with --swath-format. Only the first available definition of the platform
structure will be parsed, typically from the beginning of the first file referenced.
This option only works for recent Kongsberg or Teledyne data formats (e.g. Kongsberg 
formats 58 & 59 and Teledyne formats 88 & 89).
--swath-format=value

Specify the format of the swath file or datalist from which a starting platform structure
should be extracted.
--platform-type-surface-vessel

Set the platform type to be a surface vessel.
--platform-type-tow-body

Set the platform type to be a towed body.
--platform-type-rov

Set the platform type to be an ROV (remotely operated vehicle).
--platform-type-auv

Set the platform type to be an AUV (autonomous underwater vehicle).
--platform-type-aircraft

Set the platform type to be an aircraft.
--platform-type-satellite

Set the platform type to be a satellite.
--platform-name=string

Set the platform name.
--platform-organization=string

Set the name of the platform operating organization.
--platform-documentation-url=string

Set the name of the platform documentation website url.
--platform-start-time=yyyy/mm/dd/hh/mm/ss.ssssss

Set the starting time for the time interval that this platform description is valid.
--platform-end-time=yyyy/mm/dd/hh/mm/ss.ssssss

Set the ending time for the time interval that this platform description is valid.
--add-sensor-sonar-echosounder

Initiate adding a new sensor of type echosounder (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-multiechosounder

Initiate adding a new sensor of type multiechosounder (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-sidescan

Initiate adding a new sensor of type sidescan (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-interferometry

Initiate adding a new sensor of type interferometry sidescan (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-multibeam

Initiate adding a new sensor of type multibeam (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-multibeam-twohead

Initiate adding a new sensor of type two-head multibeam (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-sonar-subbottom

Initiate adding a new sensor of type subbottom (sonar). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-camera-mono

Initiate adding a new sensor of type single still camera. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-camera-stereo

Initiate adding a new sensor of type stereo still camera rig. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-camera-video

Initiate adding a new sensor of type video camera. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-lidar-scan

Initiate adding a new sensor of type 2D scanning lidar. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-lidar-swath

Initiate adding a new sensor of type swath lidar. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-position

Initiate adding a new sensor of type position. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-compass

Initiate adding a new sensor of type compass. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-vru

Initiate adding a new sensor of type vertical reference unit (VRU). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-imu

Initiate adding a new sensor of type inertial motion unit (IMU). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-ins

Initiate adding a new sensor of type inertial navigation system (INS). All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-ins-with-pressure

Initiate adding a new sensor of type inertial navigation system (INS) with pressure. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-ctd

Initiate adding a new sensor of type CTD. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-pressure

Initiate adding a new sensor of type pressure. All commands will pertain to this sensor
until the command end-sensor is given.
--add-sensor-soundspeed

Initiate adding a new sensor of type sound speed. All commands will pertain to this sensor
until the command end-sensor is given.
--modify-sensor=sensorid

Initiate modifying the existing sensor sensorid (where sensors ids count from 0). All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-bathymetry

Initiate modifying the existing sensor that is identified as the source for bathymetry. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-bathymetry1

Initiate modifying the existing sensor that is identified as the source for bathymetry1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-bathymetry2

Initiate modifying the existing sensor that is identified as the source for bathymetry2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-bathymetry3

Initiate modifying the existing sensor that is identified as the source for bathymetry3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-backscatter

Initiate modifying the existing sensor that is identified as the source for backscatter. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-backscatter1

Initiate modifying the existing sensor that is identified as the source for backscatter1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-backscatter2

Initiate modifying the existing sensor that is identified as the source for backscatter2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-backscatter3

Initiate modifying the existing sensor that is identified as the source for backscatter3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-subbottom

Initiate modifying the existing sensor that is identified as the source for subbottom. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-subbottom1

Initiate modifying the existing sensor that is identified as the source for subbottom1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-subbottom2

Initiate modifying the existing sensor that is identified as the source for subbottom2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-subbottom3

Initiate modifying the existing sensor that is identified as the source for subbottom3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-position

Initiate modifying the existing sensor that is identified as the source for position. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-position1

Initiate modifying the existing sensor that is identified as the source for position1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-position2

Initiate modifying the existing sensor that is identified as the source for position2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-position3

Initiate modifying the existing sensor that is identified as the source for position3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-depth

Initiate modifying the existing sensor that is identified as the source for depth. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-depth1

Initiate modifying the existing sensor that is identified as the source for depth1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-depth2

Initiate modifying the existing sensor that is identified as the source for depth2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-depth3

Initiate modifying the existing sensor that is identified as the source for depth3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heading

Initiate modifying the existing sensor that is identified as the source for heading. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heading1

Initiate modifying the existing sensor that is identified as the source for heading1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heading2

Initiate modifying the existing sensor that is identified as the source for heading2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heading3

Initiate modifying the existing sensor that is identified as the source for heading3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-rollpitch

Initiate modifying the existing sensor that is identified as the source for rollpitch. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-rollpitch1

Initiate modifying the existing sensor that is identified as the source for rollpitch1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-rollpitch2

Initiate modifying the existing sensor that is identified as the source for rollpitch2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-rollpitch3

Initiate modifying the existing sensor that is identified as the source for rollpitch3. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heave

Initiate modifying the existing sensor that is identified as the source for heave. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heave1

Initiate modifying the existing sensor that is identified as the source for heave1. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heave2

Initiate modifying the existing sensor that is identified as the source for heave2. All
commands will pertain to this sensor until the command end-sensor is given.
--modify-sensor-heave3

Initiate modifying the existing sensor that is identified as the source for heave3. All
commands will pertain to this sensor until the command end-sensor is given.
--sensor-model=string

Set sensor model string.
--sensor-manufacturer=string

Set sensor manufacturer string.
--sensor-serialnumber=string

Set sensor serial number string.
--sensor-capability-position

Add position to list of sensor's measurement capabilities.
--sensor-capability-depth

Add depth (typically from pressure) to list of sensor's measurement capabilities.
--sensor-capability-altitude

Add altitude to list of sensor's measurement capabilities.
--sensor-capability-velocity

Add velocity of motion to list of sensor's measurement capabilities.
--sensor-capability-acceleration

Add acceleration of motion to list of sensor's measurement capabilities.
--sensor-capability-pressure

Add pressure to list of sensor's measurement capabilities.
--sensor-capability-rollpitch

Add roll and pitch to list of sensor's measurement capabilities.
--sensor-capability-heading

Add heading to list of sensor's measurement capabilities.
--sensor-capability-magneticfield

Add magnetic field to list of sensor's measurement capabilities.
--sensor-capability-temperature

Add temperature to list of sensor's measurement capabilities.
--sensor-capability-conductivity

Add conductivity to list of sensor's measurement capabilities.
--sensor-capability-salinity

Add salinity to list of sensor's measurement capabilities.
--sensor-capability-soundspeed

Add sound speed to list of sensor's measurement capabilities.
--sensor-capability-gravity

Add gravity to list of sensor's measurement capabilities.
--sensor-capability-topography-echosounder

Add topography from echosounder to list of sensor's measurement capabilities.
--sensor-capability-topography-interferometry

Add topography from interferometric sidescan sonar to list of sensor's measurement capabilities.
--sensor-capability-topography-sass

Add topography from synthetic aperture sidescan (SASS) sonar to list of sensor's measurement capabilities.
--sensor-capability-topography-multibeam

Add topography from multibeam sonar to list of sensor's measurement capabilities.
--sensor-capability-topography-photogrammetry

Add topography from photogrammetry to list of sensor's measurement capabilities.
--sensor-capability-topography-structurefrommotion

Add topography from structure from motion to list of sensor's measurement capabilities.
--sensor-capability-topography-lidar

Add topography from lidar to list of sensor's measurement capabilities.
--sensor-capability-topography-structuredlight

Add topography from structured light to list of sensor's measurement capabilities.
--sensor-capability-topography-laserscanner

Add topography from laser scanner to list of sensor's measurement capabilities.
--sensor-capability-backscatter-echosounder

Add backscatter from echosounder to list of sensor's measurement capabilities.
--sensor-capability-backscatter-sidescan

Add backscatter from sidescan sonar to list of sensor's measurement capabilities.
--sensor-capability-backscatter-interferometry

Add backscatter from interferometric sidescan sonar to list of sensor's measurement capabilities.
--sensor-capability-backscatter-sass

Add backscatter from synthetic aperture sidescan (SASS) sonar to list of sensor's measurement capabilities.
--sensor-capability-backscatter-multibeam

Add backscatter from multibeam sonar to list of sensor's measurement capabilities.
--sensor-capability-backscatter-lidar

Add backscatter from lidar to list of sensor's measurement capabilities.
--sensor-capability-backscatter-structuredlight

Add backscatter from structured light to list of sensor's measurement capabilities.
--sensor-capability-backscatter-laserscanner

Add backscatter from laser scanner to list of sensor's measurement capabilities.
--sensor-capability-photography

Add single camera still photography to list of sensor's measurement capabilities.
--sensor-capability-stereophotography

Add stereo camera still photography to list of sensor's measurement capabilities.
--sensor-capability-video

Add video to list of sensor's measurement capabilities.
--sensor-capability-stereovideo

Add stereo video to list of sensor's measurement capabilities.
--sensor-capability1=value

Set the first of two sensor capability 4 byte bitmasks directly. The usage of the bits
in this mask are:



       MB_SENSOR_CAPABILITY1_NONE                                              0x00000000      All bits = 0




       MB_SENSOR_CAPABILITY1_POSITION                                  0x00000001      Bit 0 = 1




       MB_SENSOR_CAPABILITY1_DEPTH                                             0x00000002      Bit 1 = 2




       MB_SENSOR_CAPABILITY1_ALTITUDE                                  0x00000004      Bit 2 = 4




       MB_SENSOR_CAPABILITY1_VELOCITY                                  0x00000008      Bit 3 = 8




       MB_SENSOR_CAPABILITY1_ACCELERATION                              0x00000010      Bit 4 = 16




       MB_SENSOR_CAPABILITY1_PRESSURE                                  0x00000020      Bit 5 = 32




       MB_SENSOR_CAPABILITY1_ROLLPITCH                                         0x00000040      Bit 6 = 64




       MB_SENSOR_CAPABILITY1_HEADING                                   0x00000080      Bit 7 = 128




       MB_SENSOR_CAPABILITY1_HEAVE                                             0x00000100      Bit 8 = 256




       MB_SENSOR_CAPABILITY1_UNUSED09                                  0x00000200      Bit 9 = 512




       MB_SENSOR_CAPABILITY1_UNUSED10                                  0x00000400      Bit 10 = 1024




       MB_SENSOR_CAPABILITY1_UNUSED11                                  0x00000800      Bit 11 = 2048




       MB_SENSOR_CAPABILITY1_UNUSED12                                  0x00001000      Bit 12 = 4096




       MB_SENSOR_CAPABILITY1_TEMPERATURE                                       0x00002000      Bit 13 = 8192




       MB_SENSOR_CAPABILITY1_CONDUCTIVITY                              0x00004000      Bit 14 = 16384




       MB_SENSOR_CAPABILITY1_SALINITY                                  0x00008000      Bit 15 = 32768




       MB_SENSOR_CAPABILITY1_SOUNDSPEED                                        0x00010000      Bit 16 = 65536




       MB_SENSOR_CAPABILITY1_UNUSED17                                  0x00020000      Bit 17= 131072




       MB_SENSOR_CAPABILITY1_UNUSED18                                  0x00040000      Bit 18 = 262144




       MB_SENSOR_CAPABILITY1_UNUSED19                                  0x00080000      Bit 19 = 524288




       MB_SENSOR_CAPABILITY1_GRAVITY                                   0x00100000      Bit 20 = 1048576




       MB_SENSOR_CAPABILITY1_UNUSED21                                  0x00200000      Bit 21 = 2097152




       MB_SENSOR_CAPABILITY1_UNUSED22                                  0x00400000      Bit 22 = 4194304




       MB_SENSOR_CAPABILITY1_UNUSED23                                  0x00800000      Bit 23 = 8388608




       MB_SENSOR_CAPABILITY1_MAGNETICFIELD                             0x01000000      Bit 24 = 16777216




       MB_SENSOR_CAPABILITY1_UNUSED25                                  0x02000000      Bit 25 = 33554432




       MB_SENSOR_CAPABILITY1_UNUSED26                                  0x04000000      Bit 26 = 67108864




       MB_SENSOR_CAPABILITY1_UNUSED27                                  0x08000000      Bit 27 = 134217728




       MB_SENSOR_CAPABILITY1_UNUSED28                                  0x10000000      Bit 28 = 268435456




       MB_SENSOR_CAPABILITY1_UNUSED29                                  0x20000000      Bit 29 = 536870912




       MB_SENSOR_CAPABILITY1_UNUSED30                                  0x40000000      Bit 30 = 1073741824




       MB_SENSOR_CAPABILITY1_UNUSED31                                  0x80000000      Bit 31 = 2147483648


--sensor-capability2=value

Set the second of two sensor capability 4 byte bitmasks directly. The usage of the bits
in this mask are:



       MB_SENSOR_CAPABILITY2_NONE                                              0x00000000      All bits = 0




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_ECHOSOUNDER            0x00000001      Bit 0 = 1




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_INTERFEROMETRY                 0x00000002      Bit 1 = 2




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_SASS                           0x00000004      Bit 2 = 4




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_MULTIBEAM                      0x00000008      Bit 3 = 8




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_PHOTOGRAMMETRY                 0x00000010      Bit 4 = 16




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_STRUCTUREFROMMOTION    0x00000020      Bit 5 = 32




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_LIDAR                          0x00000040      Bit 6 = 64




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_STRUCTUREDLIGHT                0x00000080      Bit 7 = 128




       MB_SENSOR_CAPABILITY2_TOPOGRAPHY_LASERSCANNER           0x00000100      Bit 8 = 256




       MB_SENSOR_CAPABILITY2_UNUSED09                                  0x00000200      Bit 9 = 512




       MB_SENSOR_CAPABILITY2_UNUSED10                                  0x00000400      Bit 10 = 1024




       MB_SENSOR_CAPABILITY2_UNUSED11                                  0x00000800      Bit 11 = 2048




       MB_SENSOR_CAPABILITY2_BACKSCATTER_ECHOSOUNDER           0x00001000      Bit 12 = 4096




       MB_SENSOR_CAPABILITY2_BACKSCATTER_SIDESCAN                      0x00002000      Bit 13 = 8192




       MB_SENSOR_CAPABILITY2_BACKSCATTER_INTERFEROMETRY                0x00004000      Bit 14 = 16384




       MB_SENSOR_CAPABILITY2_BACKSCATTER_SASS                          0x00008000      Bit 15 = 32768




       MB_SENSOR_CAPABILITY2_BACKSCATTER_MULTIBEAM                     0x00010000      Bit 16 = 65536




       MB_SENSOR_CAPABILITY2_BACKSCATTER_LIDAR                         0x00020000      Bit 17= 131072




       MB_SENSOR_CAPABILITY2_BACKSCATTER_STRUCTUREDLIGHT       0x00040000      Bit 18 = 262144




       MB_SENSOR_CAPABILITY2_BACKSCATTER_LASERSCANNER          0x00080000      Bit 19 = 524288




       MB_SENSOR_CAPABILITY2_UNUSED20                                  0x00100000      Bit 20 = 1048576




       MB_SENSOR_CAPABILITY2_SUBBOTTOM_ECHOSOUNDER                     0x00200000      Bit 21 = 2097152




       MB_SENSOR_CAPABILITY2_SUBBOTTOM_CHIRP                           0x00400000      Bit 22 = 4194304




       MB_SENSOR_CAPABILITY2_UNUSED23                                  0x00800000      Bit 23 = 8388608




       MB_SENSOR_CAPABILITY2_PHOTOGRAPHY                                       0x01000000      Bit 24 = 16777216




       MB_SENSOR_CAPABILITY2_STEREOPHOTOGRAPHY                         0x02000000      Bit 25 = 33554432




       MB_SENSOR_CAPABILITY2_VIDEO                                             0x04000000      Bit 26 = 67108864




       MB_SENSOR_CAPABILITY2_STEREOVIDEO                                       0x08000000      Bit 27 = 134217728




       MB_SENSOR_CAPABILITY2_UNUSED28                                  0x10000000      Bit 28 = 268435456




       MB_SENSOR_CAPABILITY2_UNUSED29                                  0x20000000      Bit 29 = 536870912




       MB_SENSOR_CAPABILITY2_UNUSED30                                  0x40000000      Bit 30 = 1073741824




       MB_SENSOR_CAPABILITY2_UNUSED31                                  0x80000000      Bit 31 = 2147483648

--sensor-offsets=x/y/z/azimuth/roll/pitch

Used to set the positional (x, y, and z) and angular (azimuth, roll, and pitch) offsets
for the sensor currently being added. 
To modify offsets of an existing sensor use --modify-offsets.
Here x is positive to starboard,
y is positive forward, and z is positive up. Roll is positive starboard up, pitch is 
positive forward up, and azimuth is positive clockwise from forward. Generally one sensor
has zero offsets and thus serves as the platform origin. For sensors with two elements
(e.g. bistatic multibeam sonars with separate transmit and receive arrays, or stereo
camera rigs with two cameras), two --sensor_offsets calls are made. In the case
of a multibeam the first set of offsets is for the transmit array, and in the case of a
stereo camera rig the first offsets are for the left camera.
--sensor-offset-positions=x/y/z

Used to set the positional (x, y, and z) offsets
for the sensor currently being added. 
To modify positional offsets of an existing sensor use --modify-offset-positions.
Here x is positive to starboard,
y is positive forward, and z is positive up. Generally one sensor
has zero offsets and thus serves as the platform origin. This command is used for sensors
that do not make measurements dependent on orientation, and so do not have angular
offsets (e.g. sound speed, pressure, or CTD sensors).
--sensor-offset-angles=azimuth/roll/pitch

Used to set the angular (azimuth, roll, and pitch) offsets
for the sensor currently being added. 
To modify angular offsets of an existing sensor use --modify-offset-angles.
Here roll is positive starboard up, pitch is 
positive forward up, and azimuth is positive clockwise from forward. Generally one sensor
has zero offsets and thus serves as the platform origin. This command is used for sensors
that do not make measurements dependent on position, and so do not have positional
offsets (e.g. vertical reference units (VRUs) that measure orientation only).
--sensor-time-latency=value

Sets a static time latency in seconds for the sensor currently being added.
--sensor-time-latency-model=file

Specifies a file containing a time latency model time series for the sensor currently 
being added. The file is in the form of two white-space delimited 
columns with the first column being times in epoch seconds (seconds since the start of
1970) and the second being the time latency in seconds.
--sensor-source-bathymetry

Sets the sensor currently being either added or modified to be the source for bathymetry.
--sensor-source-bathymetry1

Sets the sensor currently being either added or modified to be the source for bathymetry1.
--sensor-source-bathymetry2

Sets the sensor currently being either added or modified to be the source for bathymetry2.
--sensor-source-bathymetry3

Sets the sensor currently being either added or modified to be the source for bathymetry3.
--sensor-source-backscatter

Sets the sensor currently being either added or modified to be the source for backscatter.
--sensor-source-backscatter1

Sets the sensor currently being either added or modified to be the source for backscatter1.
--sensor-source-backscatter2

Sets the sensor currently being either added or modified to be the source for backscatter2.
--sensor-source-backscatter3

Sets the sensor currently being either added or modified to be the source for backscatter3.
--sensor-source-subbottom

Sets the sensor currently being either added or modified to be the source for subbottom.
--sensor-source-subbottom1

Sets the sensor currently being either added or modified to be the source for subbottom1.
--sensor-source-subbottom2

Sets the sensor currently being either added or modified to be the source for subbottom2.
--sensor-source-subbottom3

Sets the sensor currently being either added or modified to be the source for subbottom3.
--sensor-source-position

Sets the sensor currently being either added or modified to be the source for position.
--sensor-source-position1

Sets the sensor currently being either added or modified to be the source for position1.
--sensor-source-position2

Sets the sensor currently being either added or modified to be the source for position2.
--sensor-source-position3

Sets the sensor currently being either added or modified to be the source for position3.
--sensor-source-depth

Sets the sensor currently being either added or modified to be the source for depth.
--sensor-source-depth1

Sets the sensor currently being either added or modified to be the source for depth1.
--sensor-source-depth2

Sets the sensor currently being either added or modified to be the source for depth2.
--sensor-source-depth3

Sets the sensor currently being either added or modified to be the source for depth3.
--sensor-source-heading

Sets the sensor currently being either added or modified to be the source for heading.
--sensor-source-heading1

Sets the sensor currently being either added or modified to be the source for heading1.
--sensor-source-heading2

Sets the sensor currently being either added or modified to be the source for heading2.
--sensor-source-heading3

Sets the sensor currently being either added or modified to be the source for heading3.
--sensor-source-rollpitch

Sets the sensor currently being either added or modified to be the source for rollpitch.
--sensor-source-rollpitch1

Sets the sensor currently being either added or modified to be the source for rollpitch1.
--sensor-source-rollpitch2

Sets the sensor currently being either added or modified to be the source for rollpitch2.
--sensor-source-rollpitch3

Sets the sensor currently being either added or modified to be the source for rollpitch3.
--sensor-source-heave

Sets the sensor currently being either added or modified to be the source for heave.
--sensor-source-heave1

Sets the sensor currently being either added or modified to be the source for heave1.
--sensor-source-heave2

Sets the sensor currently being either added or modified to be the source for heave2.
--sensor-source-heave3

Sets the sensor currently being either added or modified to be the source for heave3.
--end-sensor

Ends the commands for adding or modifying a sensor.
--modify-offsets=ioff/x/y/z/azimuth/roll/pitch

Used to set the positional (x, y, and z) and angular (azimuth, roll, and pitch) offsets
for the sensor currently being modified. 
To add offsets to a new sensor use --sensor-offsets.
Here x is positive to starboard,
y is positive forward, and z is positive up. Roll is positive starboard up, pitch is 
positive forward up, and azimuth is positive clockwise from forward. Generally one sensor
has zero offsets and thus serves as the platform origin. For sensors with two elements
(e.g. bistatic multibeam sonars with separate transmit and receive arrays, or stereo
camera rigs with two cameras), two --sensor_offsets calls are made. In the case
of a multibeam the first set of offsets is for the transmit array, and in the case of a
stereo camera rig the first offsets are for the left camera.
--modify-offset-positions=ioff/x/y/z

Used to set the positional (x, y, and z) offsets
for the sensor currently being modified. 
To add positional offsets to a new sensor use --sensor-offset-positions.
Here x is positive to starboard,
y is positive forward, and z is positive up. Generally one sensor
has zero offsets and thus serves as the platform origin. This command is used for sensors
that do not make measurements dependent on orientation, and so do not have angular
offsets (e.g. sound speed, pressure, or CTD sensors).
--modify-offset-angles=ioff/azimuth/roll/pitch

Used to set the angular (azimuth, roll, and pitch) offsets
for the sensor currently being modified. 
To add angular offsets to a new sensor use --sensor-offset-angles.
Here roll is positive starboard up, pitch is 
positive forward up, and azimuth is positive clockwise from forward. Generally one sensor
has zero offsets and thus serves as the platform origin. This command is used for sensors
that do not make measurements dependent on position, and so do not have positional
offsets (e.g. vertical reference units (VRUs) that measure orientation only).
--modify-time-latency=value

Sets a static time latency in seconds for the sensor currently being modified.
--modify-time-latency-model=file

Specifies a file containing a time latency model time series for the sensor currently 
being modified. The file is in the form of two white-space delimited 
columns with the first column being times in epoch seconds (seconds since the start of
1970) and the second being the time latency in seconds.
--set-source-bathymetry=sensorid

Set the specified sensor to be a source for bathymetry.
--set-source-bathymetry1=sensorid

Set the specified sensor to be a source for bathymetry1.
--set-source-bathymetry2=sensorid

Set the specified sensor to be a source for bathymetry2.
--set-source-bathymetry3=sensorid

Set the specified sensor to be a source for bathymetry3.
--set-source-backscatter=sensorid

Set the specified sensor to be a source for backscatter.
--set-source-backscatter1=sensorid

Set the specified sensor to be a source for backscatter1.
--set-source-backscatter2=sensorid

Set the specified sensor to be a source for backscatter2.
--set-source-backscatter3=sensorid

Set the specified sensor to be a source for backscatter2.
--set-source-subbottom=sensorid

Set the specified sensor to be a source for subbottom.
--set-source-subbottom1=sensorid

Set the specified sensor to be a source for subbottom1.
--set-source-subbottom2=sensorid

Set the specified sensor to be a source for subbottom2.
--set-source-subbottom3=sensorid

Set the specified sensor to be a source for subbottom3.
--set-source-camera=sensorid

Set the specified sensor to be a source for camera.
--set-source-camera1=sensorid

Set the specified sensor to be a source for camera1.
--set-source-camera2=sensorid

Set the specified sensor to be a source for camera2.
--set-source-camera3=sensorid

Set the specified sensor to be a source for camera3.
--set-source-position=sensorid

Set the specified sensor to be a source for position.
--set-source-position1=sensorid

Set the specified sensor to be a source for position1.
--set-source-position2=sensorid

Set the specified sensor to be a source for position2.
--set-source-position3=sensorid

Set the specified sensor to be a source for position3.
--set-source-depth=sensorid

Set the specified sensor to be a source for depth.
--set-source-depth1=sensorid

Set the specified sensor to be a source for depth1.
--set-source-depth2=sensorid

Set the specified sensor to be a source for depth2.
--set-source-depth3=sensorid

Set the specified sensor to be a source for depth3.
--set-source-heading=sensorid

Set the specified sensor to be a source for heading.
--set-source-heading1=sensorid

Set the specified sensor to be a source for heading1.
--set-source-heading2=sensorid

Set the specified sensor to be a source for heading2.
--set-source-heading3=sensorid

Set the specified sensor to be a source for heading3.
--set-source-rollpitch=sensorid

Set the specified sensor to be a source for rollpitch.
--set-source-rollpitch1=sensorid

Set the specified sensor to be a source for rollpitch1.
--set-source-rollpitch2=sensorid

Set the specified sensor to be a source for rollpitch2.
--set-source-rollpitch3=sensorid

Set the specified sensor to be a source for rollpitch3.
--set-source-heave=sensorid

Set the specified sensor to be a source for heave.
--set-source-heave1=sensorid

Set the specified sensor to be a source for heave1.
--set-source-heave2=sensorid

Set the specified sensor to be a source for heave2.
--set-source-heave3=sensorid

Set the specified sensor to be a source for heave3.
]



 
EXAMPLES


The Monterey Bay Aquarium Research Institute operates a Low Altitude Survey System (LASS)
that is mounted on Remotely Operated Vehicles (ROVs) and used for 1-cm-scale surveys of
the seafloor. The LASS combines the following sensors:



       Kearfott SeaDevil inertial navigation system (INS)




       Paroscientific Digiquartz pressure sensor




       Teledyne Reson T50 400 kHz multibeam sonar




       3D at Depth Wide Swath Subsea Lidar (WiSSL)




       Stereo camera rig with two Allied Vision Prosilica GX1920 color cameras




       VectorNav VN100 inertial measurement unit (IMU) and attitude heading reference system (AHRS)





MB-System processing of the various datasets collected by the LASS depend upon the
platform model for the LASS, which is created by the following set of commands to 
mbmakeplatform:

mbmakeplatform --output=20240829ROVVentana.plf \

                --platform-type-rov \

                --platform-name="Ventana" \

                --platform-organization="Monterey Bay Aquarium Research Institute" \

                --add-sensor-ins \

                    --sensor-model="SeaDeViL" \

                    --sensor-manufacturer="Kearfott" \

                    --sensor-serialnumber="2" \

                    --sensor-capability-position \

                    --sensor-capability-heading \

                    --sensor-capability-rollpitch \

                    --sensor-offsets=0.0/0.0/0.0/0.0/0.0/0.0 \

                    --sensor-time-latency=0.0 \

                    --sensor-source-position \

                    --sensor-source-heading \

                    --sensor-source-rollpitch \

                    --sensor-source-heave \

                --end-sensor \

                --add-sensor-pressure \

                    --sensor-model="Digiquartz" \

                    --sensor-manufacturer="Paroscientific" \

                    --sensor-serialnumber="Unknown" \

                    --sensor-capability-depth \

                    --sensor-offset-positions=-0.2164694/-0.076170/-0.069085 \

                    --sensor-time-latency=0.0 \

                    --sensor-source-depth \

                --end-sensor \

                --add-sensor-sonar-multibeam \

                    --sensor-model="T50 400 kHz" \

                    --sensor-manufacturer="Reson" \

                    --sensor-serialnumber="Unknown" \

                    --sensor-capability-topography-multibeam \

                    --sensor-capability-backscatter-multibeam \

                    --sensor-offsets=-0.459100/0.246774/-0.180388/0.07/0.07/0.16 \

                    --sensor-offsets=-0.459100/0.442174/-0.211386/0.07/0.07/0.16 \

                    --sensor-source-bathymetry \

                    --sensor-source-bathymetry1 \

                    --sensor-source-backscatter \

                    --sensor-source-backscatter1 \

                --end-sensor \

                --add-sensor-lidar-swath \

                    --sensor-model="WiSSL" \

                    --sensor-manufacturer="3DatDepth" \

                    --sensor-serialnumber="1" \

                    --sensor-capability-topography-lidar \

                    --sensor-capability-backscatter-lidar \

                    --sensor-offsets=-0.4653/0.0160/-0.0952/0.0/0.0/0.0 \

                    --sensor-source-bathymetry2 \

                    --sensor-source-backscatter2 \

                --end-sensor \

                --add-sensor-camera-stereo \

                    --sensor-model="Prosilica GX1920" \

                    --sensor-manufacturer="Allied Vision" \

                    --sensor-serialnumber="Unknown" \

                    --sensor-capability-stereophotography \

                    --sensor-offsets=-0.559430/-0.106901/-0.136561/0.0/0.0/0.0 \

                    --sensor-offsets=-0.559430/-0.106901/-0.136561/0.0/0.0/0.0 \

                    --sensor-source-bathymetry3 \

                    --sensor-source-backscatter3 \

                --end-sensor \

                --add-sensor-ins \

                    --sensor-model="VN-100" \

                    --sensor-manufacturer="VectorNav" \

                    --sensor-serialnumber="Unknown" \

                    --sensor-capability-position \

                    --sensor-capability-heading \

                    --sensor-capability-rollpitch \

                    --sensor-offsets=--0.255900/0.231999/-0.004164/0.0/0.0/0.0 \

                    --sensor-time-latency=0.0 \

                    --sensor-source-position \

                    --sensor-source-heading \

                    --sensor-source-rollpitch \

                    --sensor-source-heave \

                --end-sensor

Executing the above command produces a platform file named 20240829ROVVentana.plf, which
has the following contents:

        ## MB-System Platform Definition File




       MB-SYSTEM_VERSION        5.8.2beta13




       FILE_VERSION             1.00




       ORIGIN                   Generated by user <seafloor> on cpu <Morgan.local> at <Thu Aug 29 14:33:58 2024>




       ##




       PLATFORM_TYPE            3  ## ROV




       PLATFORM_NAME            Ventana




       PLATFORM_ORGANIZATION    Monterey Bay Aquarium Research Institute




       DOCUMENTATION_URL        




       ##




       START_TIME_D             0.000000  ## 0000/00/00 00:00:00.000000




       END_TIME_D             0.000000  ## 0000/00/00 00:00:00.000000




       ##




       PLATFORM_NUM_SENSORS     6




       ##




       ## Defined data source sensors:




       SOURCE_BATHYMETRY        2




       SOURCE_BATHYMETRY1       2




       SOURCE_BATHYMETRY2       3




       SOURCE_BATHYMETRY3       4




       SOURCE_BACKSCATTER       2




       SOURCE_BACKSCATTER1      2




       SOURCE_BACKSCATTER2      3




       SOURCE_BACKSCATTER3      4




       SOURCE_POSITION          5




       SOURCE_DEPTH             1




       SOURCE_HEADING           5




       SOURCE_ROLLPITCH         5




       SOURCE_HEAVE             5




       ##




       ## Undefined data sources:




         ## SOURCE_SUBBOTTOM




         ## SOURCE_SUBBOTTOM1




         ## SOURCE_SUBBOTTOM2




         ## SOURCE_SUBBOTTOM3




         ## SOURCE_CAMERA




         ## SOURCE_CAMERA1




         ## SOURCE_CAMERA2




         ## SOURCE_CAMERA3




         ## SOURCE_POSITION1




         ## SOURCE_POSITION2




         ## SOURCE_POSITION3




         ## SOURCE_DEPTH1




         ## SOURCE_DEPTH2




         ## SOURCE_DEPTH3




         ## SOURCE_HEADING1




         ## SOURCE_HEADING2




         ## SOURCE_HEADING3




         ## SOURCE_ROLLPITCH1




         ## SOURCE_ROLLPITCH2




         ## SOURCE_ROLLPITCH3




         ## SOURCE_HEAVE1




         ## SOURCE_HEAVE2




         ## SOURCE_HEAVE3




       ##




       ## Sensor list:




       ##




       SENSOR_TYPE                0  101  ## INS




       SENSOR_MODEL                 0  SeaDeViL




       SENSOR_MANUFACTURER          0  Kearfott




       SENSOR_SERIALNUMBER          0  2




       SENSOR_CAPABILITY1           0         193  ## position rollpitch heading heading




       SENSOR_CAPABILITY2           0           0  ##




       SENSOR_NUM_OFFSETS           0   1




       OFFSET_POSITION              0       0    0.000000    0.000000    0.000000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              0       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       SENSOR_TIME_LATENCY_STATIC   0        0.000000  ## Seconds




       ##




       SENSOR_TYPE                1  111  ## Pressure




       SENSOR_MODEL                 1  Digiquartz




       SENSOR_MANUFACTURER          1  Paroscientific




       SENSOR_SERIALNUMBER          1  Unknown




       SENSOR_CAPABILITY1           1           2  ## depth




       SENSOR_CAPABILITY2           1           0  ##




       SENSOR_NUM_OFFSETS           1   1




       OFFSET_POSITION              1       0   -0.216469   -0.076170   -0.069085 ## Starboard, Forward, Up (meters)




       SENSOR_TIME_LATENCY_STATIC   1        0.000000  ## Seconds




       ##




       SENSOR_TYPE                2   30  ## Sonar multibeam




       SENSOR_MODEL                 2  T50 400 kHz




       SENSOR_MANUFACTURER          2  Reson




       SENSOR_SERIALNUMBER          2  Unknown




       SENSOR_CAPABILITY1           2           0  ##




       SENSOR_CAPABILITY2           2       65544  ## topography_multibeam backscatter_multibeam




       SENSOR_NUM_OFFSETS           2   2




       OFFSET_POSITION              2       0   -0.459100    0.246774   -0.180388 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              2       0    0.070000    0.070000    0.160000 ## Heading, Roll, Pitch (degrees)




       OFFSET_POSITION              2       1   -0.459100    0.442174   -0.211386 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              2       1    0.070000    0.070000    0.160000 ## Heading, Roll, Pitch (degrees)




       ##




       SENSOR_TYPE                3   61  ## Lidar swath




       SENSOR_MODEL                 3  WiSSL




       SENSOR_MANUFACTURER          3  3DatDepth




       SENSOR_SERIALNUMBER          3  1




       SENSOR_CAPABILITY1           3           0  ##




       SENSOR_CAPABILITY2           3      131136  ## topography_lidar backscatter_lidar




       SENSOR_NUM_OFFSETS           3   1




       OFFSET_POSITION              3       0   -0.465300    0.016000   -0.095200 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              3       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       ##




       SENSOR_TYPE                4   51  ## Camera stereo




       SENSOR_MODEL                 4  Prosilica GX1920




       SENSOR_MANUFACTURER          4  Allied Vision




       SENSOR_SERIALNUMBER          4  Unknown




       SENSOR_CAPABILITY1           4           0  ##




       SENSOR_CAPABILITY2           4    33554432  ## stereophotography




       SENSOR_NUM_OFFSETS           4   2




       OFFSET_POSITION              4       0   -0.559430   -0.106901   -0.136561 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              4       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       OFFSET_POSITION              4       1   -0.559430   -0.106901   -0.136561 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              4       1    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       ##




       SENSOR_TYPE                5  101  ## INS




       SENSOR_MODEL                 5  VN-100




       SENSOR_MANUFACTURER          5  VectorNav




       SENSOR_SERIALNUMBER          5  Unknown




       SENSOR_CAPABILITY1           5         193  ## position rollpitch heading heading




       SENSOR_CAPABILITY2           5           0  ##




       SENSOR_NUM_OFFSETS           5   1




       OFFSET_POSITION              5       0    0.000000    0.000000    0.000000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              5       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       SENSOR_TIME_LATENCY_STATIC   5        0.000000  ## Seconds




       ##





The Monterey Bay Aquarium Research Institute operates two Dorado class autonomous 
underwater vehicles (AUVs) optimized for seafloor mapping in the deep ocean.
These Mapping AUVs field the following sensors:



       Kearfott SeaDevil inertial navigation system (INS)




       Paroscientific Digiquartz pressure sensor




       Teledyne Reson T50 400 kHz multibeam sonar




       Edgetech 110 kHz chirp sidescan sonar




       Edgetech 1-6 kHz chirp subbottom profiler





MB-System processing of the various datasets collected by the Mapping AUVs depend upon the
platform models for these vehicles, which are created by the following set of commands to 
mbmakeplatform:

mbmakeplatform --output=20240510m1_MAUV2.plf \




               --platform-type-auv \




               --platform-name="MAUV2 MBARI Dorado Class Mapping AUV" \




               --platform-organization="Monterey Bay Aquarium Research Institute" \




               --add-sensor-ins \




                   --sensor-model="SeaDeViL" \




                   --sensor-manufacturer="Kearfott" \




                   --sensor-serialnumber="2" \




                   --sensor-capability-position \




                   --sensor-capability-heading \




                   --sensor-capability-rollpitch \




                   --sensor-offsets=0.0/0.0/0.0/0.0/0.0/0.0 \




                   --sensor-time-latency=0.0 \




                   --sensor-source-position \




                   --sensor-source-heading \




                   --sensor-source-rollpitch \




                   --sensor-source-heave \




               --end-sensor \




               --add-sensor-pressure \




                   --sensor-model="Digiquartz" \




                   --sensor-manufacturer="Paroscientific" \




                   --sensor-serialnumber="Unknown" \




                   --sensor-capability-depth \




                   --sensor-offset-positions=0.0/-0.6/0.0 \




                   --sensor-time-latency=0.0\




                   --sensor-source-depth \




               --end-sensor \




               --add-sensor-sonar-multibeam \




                   --sensor-model="7125 400 kHz" \




                   --sensor-manufacturer="Reson" \




                   --sensor-serialnumber="Unknown" \




                   --sensor-capability-topography-multibeam \




                   --sensor-capability-backscatter-multibeam \




                   --sensor-offsets=0.0/0.353/-0.18/0.50/-0.16/+0.34 \




                  --sensor-offsets=0.0/0.153/+0.00/0.50/-0.16/+0.34 \




                   --sensor-source-bathymetry \




                   --sensor-source-bathymetry1 \




                   --sensor-source-backscatter \




                   --sensor-source-backscatter1 \




               --end-sensor \




               --add-sensor-sonar-sidescan \




                   --sensor-model="FSAU chirp 110 kHz" \




                   --sensor-manufacturer="Edgetech" \




                   --sensor-serialnumber="Unknown" \




                   --sensor-capability-backscatter-sidescan \




                   --sensor-offsets=0.0/1.353/-0.10/0.0/0.0/0.0 \




                   --sensor-source-backscatter2 \




               --end-sensor \




               --add-sensor-sonar-subbottom \




                   --sensor-model="FSAU chirp 1-6 kHz" \




                   --sensor-manufacturer="Edgetech" \




                   --sensor-serialnumber="Unknown" \




                   --sensor-capability-backscatter-sidescan \




                   --sensor-offsets=0.0/1.353/-0.10/0.0/0.0/0.0 \




                   --sensor-source-backscatter2 \




               --end-sensor


Executing the above command produces a platform file named 20240510m1_MAUV2.plf, which
has the following contents:

        ## MB-System Platform Definition File




       MB-SYSTEM_VERSION        5.8.2beta02




       FILE_VERSION             1.00




       ORIGIN                   Generated by user <caress> on cpu <auvrouter.rc.mbari.org> at <Sun May 12 20:48:01 2024>




       ##




       PLATFORM_TYPE            4  ## AUV




       PLATFORM_NAME            MAUV2 MBARI Dorado Class Mapping AUV




       PLATFORM_ORGANIZATION    Monterey Bay Aquarium Research Institute




       DOCUMENTATION_URL        




       ##




       START_TIME_D             0.000000  ## 0000/00/00 00:00:00.000000




       END_TIME_D             0.000000  ## 0000/00/00 00:00:00.000000




       ##




       PLATFORM_NUM_SENSORS     5




       ##




       ## Defined data source sensors:




       SOURCE_BATHYMETRY        2




       SOURCE_BATHYMETRY1       2




       SOURCE_BACKSCATTER       2




       SOURCE_BACKSCATTER1      2




       SOURCE_BACKSCATTER2      4




       SOURCE_POSITION          0




       SOURCE_DEPTH             1




       SOURCE_HEADING           0




       SOURCE_ROLLPITCH         0




       SOURCE_HEAVE             0




       ##




       ## Undefined data sources:




         ## SOURCE_BATHYMETRY2




         ## SOURCE_BATHYMETRY3




         ## SOURCE_BACKSCATTER3




         ## SOURCE_SUBBOTTOM




         ## SOURCE_SUBBOTTOM1




         ## SOURCE_SUBBOTTOM2




         ## SOURCE_SUBBOTTOM3




         ## SOURCE_CAMERA




         ## SOURCE_CAMERA1




         ## SOURCE_CAMERA2




         ## SOURCE_CAMERA3




         ## SOURCE_POSITION1




         ## SOURCE_POSITION2




         ## SOURCE_POSITION3




         ## SOURCE_DEPTH1




         ## SOURCE_DEPTH2




         ## SOURCE_DEPTH3




         ## SOURCE_HEADING1




         ## SOURCE_HEADING2




         ## SOURCE_HEADING3




         ## SOURCE_ROLLPITCH1




         ## SOURCE_ROLLPITCH2




         ## SOURCE_ROLLPITCH3




         ## SOURCE_HEAVE1




         ## SOURCE_HEAVE2




         ## SOURCE_HEAVE3




       ##




       ## Sensor list:




       ##




       SENSOR_TYPE                0  101  ## INS




       SENSOR_MODEL                 0  SeaDeViL




       SENSOR_MANUFACTURER          0  Kearfott




       SENSOR_SERIALNUMBER          0  2




       SENSOR_CAPABILITY1           0         193  ## position rollpitch heading heading




       SENSOR_CAPABILITY2           0           0  ##




       SENSOR_NUM_OFFSETS           0   1




       OFFSET_POSITION              0       0    0.000000    0.000000    0.000000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              0       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       SENSOR_TIME_LATENCY_STATIC   0        0.000000  ## Seconds




       ##




       SENSOR_TYPE                1  111  ## Pressure




       SENSOR_MODEL                 1  Digiquartz




       SENSOR_MANUFACTURER          1  Paroscientific




       SENSOR_SERIALNUMBER          1  Unknown




       SENSOR_CAPABILITY1           1           2  ## depth




       SENSOR_CAPABILITY2           1           0  ##




       SENSOR_NUM_OFFSETS           1   1




       OFFSET_POSITION              1       0    0.000000   -0.600000    0.000000 ## Starboard, Forward, Up (meters)




       SENSOR_TIME_LATENCY_STATIC   1        0.000000  ## Seconds




       ##




       SENSOR_TYPE                2   30  ## Sonar multibeam




       SENSOR_MODEL                 2  7125 400 kHz




       SENSOR_MANUFACTURER          2  Reson




       SENSOR_SERIALNUMBER          2  Unknown




       SENSOR_CAPABILITY1           2           0  ##




       SENSOR_CAPABILITY2           2       65544  ## topography_multibeam backscatter_multibeam




       SENSOR_NUM_OFFSETS           2   2




       OFFSET_POSITION              2       0    0.000000    0.353000   -0.180000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              2       0    0.500000   -0.160000    0.340000 ## Heading, Roll, Pitch (degrees)




       OFFSET_POSITION              2       1    0.000000    0.153000    0.000000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              2       1    0.500000   -0.160000    0.340000 ## Heading, Roll, Pitch (degrees)




       ##




       SENSOR_TYPE                3   20  ## Sonar sidescan




       SENSOR_MODEL                 3  FSAU chirp 110 kHz




       SENSOR_MANUFACTURER          3  Edgetech




       SENSOR_SERIALNUMBER          3  Unknown




       SENSOR_CAPABILITY1           3           0  ##




       SENSOR_CAPABILITY2           3        8192  ## backscatter_sidescan




       SENSOR_NUM_OFFSETS           3   1




       OFFSET_POSITION              3       0    0.000000    1.353000   -0.100000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              3       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       ##




       SENSOR_TYPE                4   40  ## Sonar subbottom




       SENSOR_MODEL                 4  FSAU chirp 1-6 kHz




       SENSOR_MANUFACTURER          4  Edgetech




       SENSOR_SERIALNUMBER          4  Unknown




       SENSOR_CAPABILITY1           4           0  ##




       SENSOR_CAPABILITY2           4        8192  ## backscatter_sidescan




       SENSOR_NUM_OFFSETS           4   1




       OFFSET_POSITION              4       0    0.000000    1.353000   -0.100000 ## Starboard, Forward, Up (meters)




       OFFSET_ATTITUDE              4       0    0.000000    0.000000    0.000000 ## Heading, Roll, Pitch (degrees)




       ##






 
SEE ALSO

mbsystem(1), mbpreprocess(1), mbprocess(1)

 
BUGS

Platform files are complicated, yet inscrutable.



 
Index

NAME

VERSION

SYNOPSIS

DESCRIPTION

MB-SYSTEM AUTHORSHIP

OPTIONS

EXAMPLES

SEE ALSO

BUGS