dwcaress/MB-System: 5.7.9beta45

FNV files: The fast navigation or .fnv files are created as ancillary files allowing navigation to be read without reading the full swath files. The .fnv files are in the MBF_MBPRONAV (166) format. Format 166 has always supported comment records as lines beginning with the '#' character, but fnv files have always been created without any comment records. Many MB-System programs read fnv files directly without using the MBF_MBPRONAV i/o module. Now all format 166 files will be written with a first record documenting the contents of the file: fprintf(mb_io_ptr->mbfp, "## <yyyy mm dd hh mm ss.ssssss> <epoch seconds> " "<longitude (deg)> <latitude (deg)> <heading (deg)> <speed (km/hr)> " "<draft (m)> <roll (deg)> <pitch (deg)> <heave (m)> <portlon (deg)> " "<portlat (deg)> <stbdlon (deg)> <stbdlat (deg)>\n"); whether they are written by the MBF_MBPRONAV i/o module or by functions in applications like mbprocess or mbpreprocess. All instances reading these files will ignore these file header records.

Mbgrdviz: augmented and corrected the headers of route and site files output by mbgrdviz, better self documenting the formats of these files.

Mbnavadjust: Added ability to import a reference bathymetry grid that can be used to define global ties. Also modified so that when the main display list mode limits what is shown to "with selected survey" or other modifiers, these constraints also limit what navigation is shown in the project visualization. So, if one selects a survey and then sets the list mode to show only the selected survey, then the visualization will also only display the navigation from that survey, the crossing ties or global ties from that survey, and only allow picking on that survey's navigation.

Mbareaclean: Fixed issue in which mbareaclean does not apply filters for files without pre-existing *.esf files.

Mbbackangle: Plots of the backscatter vs grazing angle distribution are no longer histogram equalized.

Mbprocess: Modified the threaded processing function process_file() so that each instance carries a thread id that can be checked during debugging.