5.7.6beta23

-----> 5.7.6beta23 (January 11, 2020)

mbprocess, mbpreprocess, mb_make_info(): Altered mbprocess and mbpreprocess so
that both run about half as slow (twice as fast) as before. This optimization is
accomplished by having mbprocess and mbpreprocess generate fbt and fnv files
directly rather than by system() calls to mbcopy and mblist, and by having the
system() call to mbinfo include the overall area bounds so that mbinfo only
reads the output file once while generating inf files (instead of reading the
data twice).

mbnavadjust: Added GUI elements related to defining a reference bathymetry model.
In the future, it will be possible to tie swath files to a reference bathymetry
imported from a grid file.

mbbackangle: Fixed error in datalist read logic that was preventing it reading
more than the first file (problem created by changing the handling of status and
error values from MBIO calls).

mbextractsegy: Fixed error in the milliseconds of traceheader timestamps.

mblist: Improved calculation and handling of swath bounds values.

mbinfo: Augmented the -M data mask option to allow pre-definition of the file's
area bounds. Previously, the data mask has been requested using -Mmask_nx/mask_ny
where mask_nx/mask_ny are the dimensions of the mask. In this case, the file is
read twice - first to get the area bounds of all data while getting the other
data statistics output by mbinfo, and second to populate the data mask defined
by the area bounds and the dimensions mask_nx and mask_ny. Now, if the the option
is given by -Mmask_nx/mask_ny/lonmin/lonmax/latmin/latmax, then the last four values
define the area bounds and the data need only be read once. Mbprocess now calls
mbinfo in this way, allowing a speedup of the mbprocess execution.

mbgrid: Added data min max values to the per file shell output when verbose > 0

mbsvpselect: This program depends on geodesic calculations that are now part of
the Proj software package (from version 6 onwards). Previously the src/utilities
directory had included the files geodetic.h and geodetic.c to provide this capability;
those are now not included. Consequently, if MB-System is built with Proj versions 4 or 5,
then mbsvpselect will not be built.

Code style: Kurt Schwehr is systematically altering the code to conform to best practices and adding build tests. The tests are performed by running
make check
and are executed automatically by the Travis CI service integrated with Github
whenever commits are made to the Github repository.

src/utilities: All programs in src/utilities have been migrated to C++.

Deprecated programs: Several programs that are no longer part of the current data
processing approach have been declared deprecated and have been moved from
src/utilities to a new directory src/deprecated. These programs are:
mb7k2jstar
mb7k2ss
mb7kpreprocess
mbauvnavusbl
mbhsdump
mbhysweeppreprocess
mbinsreprocess
mbkongsbergpreprocess
mbneptune2esf
mbrollbias
mbrphsbias
mbstripnan
mbswplspreprocess
The deprecated programs have also been converted to C++ and are still built and
installed as part of MB-System. We tentatively plan to remove these programs
entirely from MB-System distributions at the time of the 6.0 release.

5.7.6beta22

-----> 5.7.6beta22 (January 11, 2020)

mbprocess, mbpreprocess, mb_make_info(): Altered mbprocess and mbpreprocess so
that both run about half as slow (twice as fast) as before. This optimization is
accomplished by having mbprocess and mbpreprocess generate fbt and fnv files
directly rather than by system() calls to mbcopy and mblist, and by having the
system() call to mbinfo include the overall area bounds so that mbinfo only
reads the output file once while generating inf files (instead of reading the
data twice).

mbnavadjust: Added GUI elements related to defining a reference bathymetry model.
In the future, it will be possible to tie swath files to a reference bathymetry
imported from a grid file.

mbbackangle: Fixed error in datalist read logic that was preventing it reading
more than the first file (problem created by changing the handling of status and
error values from MBIO calls).

mbextractsegy: Fixed error in the milliseconds of traceheader timestamps.

mblist: Improved calculation and handling of swath bounds values.

mbinfo: Augmented the -M data mask option to allow pre-definition of the file's
area bounds. Previously, the data mask has been requested using -Mmask_nx/mask_ny
where mask_nx/mask_ny are the dimensions of the mask. In this case, the file is
read twice - first to get the area bounds of all data while getting the other
data statistics output by mbinfo, and second to populate the data mask defined
by the area bounds and the dimensions mask_nx and mask_ny. Now, if the the option
is given by -Mmask_nx/mask_ny/lonmin/lonmax/latmin/latmax, then the last four values
define the area bounds and the data need only be read once. Mbprocess now calls
mbinfo in this way, allowing a speedup of the mbprocess execution.

mbgrid: Added data min max values to the per file shell output when verbose > 0

Code style: Kurt Schwehr is systematically altering the code to conform to best practices and adding build tests. The tests are performed by running
make check
and are executed automatically by the Travis CI service integrated with Github
whenever commits are made to the Github repository.

src/utilities: All programs in src/utilities have been migrated to C++.

Deprecated programs: Several programs that are no longer part of the current data
processing approach have been declared deprecated and have been moved from
src/utilities to a new directory src/deprecated. These programs are:
mb7k2jstar
mb7k2ss
mb7kpreprocess
mbauvnavusbl
mbhsdump
mbhysweeppreprocess
mbinsreprocess
mbkongsbergpreprocess
mbneptune2esf
mbrollbias
mbrphsbias
mbstripnan
mbswplspreprocess
The deprecated programs have also been converted to C++ and are still built and
installed as part of MB-System. We tentatively plan to remove these programs
entirely from MB-System distributions at the time of the 6.0 release.

5.7.6beta21

-----> 5.7.6beta21 (December 12, 2019)

GMT modules (mbcontour, mbswath, mbgrdtiff): modified the #ifdefs to allow building with GMT 6.1 and later.

MBnavadjustmerge: augmented --set-tie option to allow changing the z-offset value of an existing tie.

MBprocess: Change behavior when reading grid files for backscatter correction fails - the functions in mb_readwritegrd.c used to wait 1 millisecond before trying to read again; now the code waits for 25 milliseconds.

Code stye: Kurt Schwehr is systematically altering the code to conform to best practices

5.7.6beta20

Mbprocess: Fix to handle temporary failures to read GMT grd files. The GMT grid
reading code will now return with an error rather than causing the program to
exit. This allows the code to keep trying to read the grid file until it succeeds.

Code stye: Kurt Schwehr is systematically altering the code to conform to best
practices regarding header inclusion and reduced variable scope, particularly
for loop indices. Current changes include replacing MB_YES/MB_NO with boolean
true and false, and changing the type of the associated variables from int to
bool.

mbtrnpp: Changes by Kent Headley to mbtrnpp in src/mbtrnutils and supporting
source directories src/mbtrn and src/mbtrnav.

5.7.6beta19

-----> 5.7.6beta19 (November 22, 2019)

Mbprocess: Attempting to fix processing of format 71 files within an mbnavadjust
project.

We have to generate a beta release to test this fix, as the failure only exhibits in homebrew installations, which are built solely from releases made here.

5.7.6beta18

Everything: Now fully compatible with PROJ 6.X. The configure script will detect
the presence or absence of PROJ 6 or later - if the PROJ installation predates
PROJ 6 then the old header files and API are used. PROJ 6 and later include a
comprehensive database of coordinate reference systems (e.g. projected coordinate
systems and/or datums), making the projected coordinate system list kept in the
file src/share/Projections.dat unnecessary. For now this file will continue to
be part of the MB-System distribution to support installation with obsolete
versions of PROJ.

mbtrnpp: Removed some unnecessary test data and code from the src/mbtrnav/gctp/
directory.

mbtrnpp: Fixed a number for formatting and type issues hampering building the
TRN code on MacOs.

5.7.6beta17

-----> 5.7.6beta17 (October 29, 2019)

MBeditviz: Added option to display 3D soundings colored according to the map's
coloring (including selected colortabel and any histogram equalization).

MBeditviz: Added GUI elements to support multiple modes of gridding.

Mbm_route2mission: Modified to output waypoint_bottom behaviors with the
current suite of options specified.

Format 72 (MBF_MBARIMB1): Fixed handling of heading (degrees not radians).

Code stye: Kurt Schwehr is systematically altering the code to conform to best
practices regarding header inclusion and reduced variable scope, particularly
for loop indices. Current changes include replacing MB_YES/MB_NO with boolean
true and false, and changing the type of the associated variables from int to
bool.

mbtrnpp: Many changes by Kent Headley to this in src/mbtrnutils and supporting
source directories src/mbtrn and src/mbtrnav.

5.7.6beta16

MBnavadjust: Fixed bug in calculating the range of contour values and the size
of the memory allocation for contours.

Code stye: Kurt Schwehr is systematically altering the code to conform to best
practices regarding header inclusion and reduced variable scope, particularly
for loop indices. Current changes include replacing MB_YES/MB_NO with boolean
true and false, and changing the type of the associated variables from int to
bool.

5.7.6beta15

-----> 5.7.6beta15 (October 21, 2019)

Format 261 (MBF_KEMKMALL): Fixed preprocessing of Kongsberg multibeam data in the
kmall format, particularly with regard to merging WHOI-NDSF processed navigation
for surveys by AUV Sentry and ROV Jason.

Format 72 (MBF_MBARIMB1): Added support for a format used to store filtered and
decimated multibeam bathymetry as generated by mbtrnpp for use by the terrain
relative navigation module.

Mbpreprocess: Added an option named --kluge-auv-sentry-sensordepth that causes
mbpreprocess to replace the sensor depth value with the antenna height recorded
in the position record. This allows processing of AUV Sentry Kongsberg EM2020
using the embedded navigation, attitude, and sensor depth. At this time the
Kongsberg EM2040 is not accepting the input depth datagrams, and so the sensor
depth field is populated with incorrect values. Once a post-processed navigation,
attitude, and sensor depth model is available for merging, this kluge option is
no longer needed.

Terrain Aided Navigation (TRN) tools: Working towards supporting realtime UDP
based reading of Kongsberg kmall format data into program mbtrnpp. Removed
test data from the gctp projection package embedded within the TRN server
source tree.

mbtrnpp: Augmented this tool to acquire realtime Kongsberg multibeam data over
a UDP port. Note that configure must be invoked with the --enable-mbtrn and
--enable-mbtnav options for the terrain relative navigation tools to be built.
We do encourage general users to avoid building with these options - the TRN
tools are experimental, changing rapidly, and for now specific to MBARI AUVs.

Code stye: Kurt Schwehr is systematically altering the code to conform to best
practices regarding header inclusion and reduced variable scope, particularly
for loop indices. Current changes include replacing MB_YES/MB_NO with boolean
true and false, and changing the type of the associated variables from int to
bool.

5.7.6beta14

-----> 5.7.6beta14 (October 8, 2019)

MBnavadjustmerge: Added options --unset-short-section-ties=min_length and
--skip-short-section-crossings=min_length that allow the deletion or prevention
of ties made using short sections of data. This increases the reliability of the
autopicking of ties. The track length threshold is specified with the
command.

MBnavadjust: Restrict autopicking of ties incorporating short sections of data.
The track length threshold is 1/4 of the target segment track length specified
in the options dialog.

Format 88 (MBF_RESON7KR) and Format 89 (MBF_RESON7K3): Corrected handling of
reverse-mounted receive and/or transmit arrays.

MBpreprocess: Fixed handling of --filter-apply-nav option.

MBclean: Added flagging/unflagging by beam angle as part of the -Y option
-Yangle_left/angle_right/3 to flag outside angle_left to angle_right
-Yangle_left/angle_right/4 to unflag outside angle_left to angle_right

Terrain Aided Navigation (TRN) tools: The TRN related code has been refactored
and reorganized by Kent Headley. There are now three related directories under
src: src/mbtrn src/mbtrnav src/mbtrnutils. The former program mbtrnpreprocess
is now mbtrnpp. The source for mbtrnpp is now in src/mbtrnutils rather than
src/utilities.

Code stye: Kurt Schwehr is systematically altering the code to conform to best
practices regarding header inclusion and reduced variable scope, particularly
for loop indices.