5.7.9beta57

Mbm_route2mission: Added -T option to embed use of Terrain Relative Navigation in
MBARI Mapping AUV missions.

Format 89 (MBF_RESON7K3): Fixed too small buffer size for broadcast Teledyne s7k
data records, which caused mbtrnpp to crash by seg fault. This was 32K and is now 600K.

Mbnavadjust: Fixed bug in the inversion algorithm.

5.7.9beta56

More changes to the Cmake build system.

5.7.9beta55

Fixed build problem in bsio library regarding the inclusion of #include <stdint.h> in both Autotools and CMake build systems.

5.7.9beta54

Fixed bugs in both Autotools and CMake build systems

5.7.9beta53

Rewrote the CMake build system based on the work of both Tom O'Reilly and Josch. This
build system now works on MacOs Ventura. We will continue to augment and test using
cmake so that this build system also works on Ubuntu and Debian Linux.

Mbtrnpp and related TRN code: Many updates and improvements from Kent Headley

Mbcontour: The navigation line width and color can now be set using the -W argument

Format SOIUSBLN (275): Supports USBL tracking data from R/V Falkor (too) as format 275.

Format SOIROVN (276): Supports ROV SuBastian INS navigation data as format 276.

Mbm_route2mission: Added a depth limit parameter to the -D argument.

Mbgrdviz: Fixed display of vector data.

General: Fixed automated handling of asynchronous nav and attitude data when reading
Kongsberg or Teledyne multibeam data that have not been preprocessed. Changes are in
mbio/mb_navint.c

Format RESON7K3 (89): Fixed counting of valid records in the file catalog.

Mbgetphotocorrection, mbphotomosaic, mbphotogrammetry: Fixed to properly handle embedding
of parameters within recursive imagelist structures, allowing mixing of photographs taken
with difference camera systems or perhaps different camera calibrations.

Mbgetphotocorrection, mbphotogrammetry: enabled multi-threading.

Mbauvloglist: Allow merging attitude data from a separate file. Allow decimation of input.

Mbmosaic: Augmented azimuth priority mode so that the azimuth alone can be specified, in which
case the azimuth priority factor is one.

Mbpreprocess: Now outputs integrated navigation for all sensors producing mapping data.

Formats 56 (MBF_EM300RAW) and 57 (MBF_EM300MBA): Fixed catastrophic bug introduced in
5.7.9beta50 that treated many signed values (like acrosstrack distance) as unsigned.

5.7.9beta52

Formats 56 (MBF_EM300RAW) and 57 (MBF_EM300MBA): Fixed catastrophic bug introduced in
5.7.9beta50 that treated many signed values (like acrosstrack distance) as unsigned.

MBgrdviz: Added ability to export routes as TECDIS LST files for display in a variety of
marine chart display software.

Autotools build system: Altered Makefile.am files in third_party/googlemock and
third_party/googletest to eliminate benign but alarming error messages during make install
and make clean commands.

Mbm_route2mission: Added ability to insert a magnetometer calibration maneuver into an
AUV mission spiral descent using the -Naltitude/mode command, where altitude is the
spiral descent termination altitude and mode = 0 for no start survey behavior, 1 for
start survey behavior alone, and 2 for start survey plus a magnetometer calibration
maneuver.

5.7.9beta51

Removed problematic debug message inadvertently left in 5.7.9beta50.

5.7.9beta50

General: Changed many sprintf() calls to snprintf() calls.

General: Fixed many compiler warnings having to do with unused variables, unitialized
variables, and possible string overflows.

Mbeditviz: Fixed recently introduced bug in applying changed bias parameters in the
3D sounding view.

MBnavadjust: Fixed interface issues for importing multiple reference grids and
selecting those while makeing global ties.

Format 261 (MBF_KEMKMALL): Added code to detect and handle gracefully some
instances of corruption of MRZ datagrams, particularly due to missing bytes.

Format 201 (MBF_HYSWEEP1): Fixed reading of Hysweep multibeam in which beam angles are
stored in spherical coordinates but are not corrected for roll and pitch. Updated
support to handle multibeam data with angles in spherical coordinates that have not
been corrected for roll and pitch, and to be consistent with the most recent Hypack
users manual released February 2023.

5.7.9beta49

Mbm_grdplot, mbm_grd3dplot, mbm_histplot, mbm_plot, mbm_xyplot: Made evince one
of the default Postscript viewers because it is commonly installed on Ubuntu
machines.

General: Addressed compiler warnings due to uninitialized variables, inconsistent
variable typing, and other minor issues.

MBnavadjust: Changed the solution algorithm so that the final stage of LSQR
matrix inversion is done in several steps. As before, the first three stages are
to construct an initial model by interpolating any global ties, then solve for
and apply average offsets for each survey, then conduct an iterative relaxation
towards an additional perturbation solution. Each stage produces a perturbation
solution, that is, a solution to fit the navigation offsets remaining after
applying the existing navigation model. Each perturbation is added to the
navigation model, which is then the starting point for the next stage. These
three stages build up an approximate navigation solution that solves most of the
original mismatch between overlapping and crossing swathes. The final stage is
to build and solve an overdetermined least squares matrix problem constrained by
all crossing and global times, by any surveys with fixed navigation, and also
constrained by a penalty against first and second derivatives of the perturbation.
Now, for multi-survey projects the matrix solution stage consists of first
solving the full matrix problem, then solving for a perturbation to satisfy
the remaining misfit for each of the individual surveys in turn, and finally
redoing the full matrix problem. Again, after each solution step the resulting
perturbation is added to the navigation solution.

Mbnavadjust: Added two new list options for sorted crossing ties. Now the sorted
crossing tie list can be limited to the top 5% or 1% of ties.

Format MBF_MBARIROV (165): Added recognition for new filenaming conventions for
MBARI ROV navigation files.

5.7.9beta48

Mbmosaic: Fixed parsing of the -Ypriority_source option when priority_source is
a filename.

Mbm_grdplot: Fixed handling of image file min max when color_mode == 6.

Mbnavadjust: Added controls allowing the mode of global ties to be changed
interactively.

Mbnavadjust: Changed project file format, adding the the id of the source
reference grid used for each global tie.

Mbview library: Fixed problem where mbview did not render the last row and
column of a grid (the easternmost and northernmost data). Also attempted to
make picking more robust.

Mbnavadjust: Fixed interpolation of global ties to create the starting navigation
model during inversions. Fixed several actions in section and reference grid mode.