MB-System Unix Manual Page: mbkongsbergpreprocess

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    mbkongsbergpreprocess
    Section:  MB-System 5.0  (1)
    Updated:  12 November 2014
    Index

    NAME

    mbkongsbergpreprocess - performs preprocessing of data from third generation
    Kongsberg multibeam sonars (e.g. EM122, EM302, EM710, EM2040, M3).

    VERSION

    Version 5.0

    SYNOPSIS

    mbkongsbergpreprocess [-C -Doutputdirectory
    -Eoffx/offy[/offdepth]
    -Fformat
    -Ifile -Ooutfile -Pfilterlength/filterdepth
    -Sdatatype/source
    -Ttimelag -W -H -V]

    DESCRIPTION

    mbkongsbergpreprocess reads data from a third generation
    Kongsberg multibeam sonar (e.g. EM122, EM302, EM710, EM2040, M3), interpolates the
    asynchronous navigation, heading, and attitude onto the multibeam data,
    and writes a new file with that information correctly embedded
    in the multibeam survey data. The input files may be in the vendor format
    MBF_EM710RAW (format id 58) or the MB-System extended format
    MBF_EM710MBA (format id 59); the output files will always be in
    the MB-System extended format MBF_EM710MBA (format id 59).

    Like most modern swath survey data streams, Kongsberg multibeam data
    includes navigation, attitude, and heading data logged in separate
    data records as output by the respective sensors. Since each of these
    values is time stamped according to its origin rather than synced with
    multibeam pings, these values are asynchronous relative to the survey
    ping data. When multiple sources
    of navigation, heading, and/or attitude have been recorded in
    a data stream, mbkongsbergpreprocess allows the user to specify
    which asynchronous data are extracted and interpolated onto the
    survey data using the -S option.

    This program allows the correction of a time latency
    (or time lag)  error between the sonar data and the attitude and
    navigation data using the -T option.

    The format 58 files This program also creates four ancilliary files containing the full
    asynchronous attitude, sonar depth, and heading data and the synchronous
    attitude data in parallel with each output format 59 file.
    These files are used,
    when present, by mbeditviz to facillitate interactive analysis
    of time lag issues. Each of these are
    text files with white-space delimited columns; the first column
    is always time in decimal unix seconds. These have the following
    suffixes:

        asynchronous attitude (roll and pitch):     *.ata

        asynchronous heading:                       *.ath

        asynchronous sonar depth:                   *.ats

        synchronous attitude (roll and pitch):      *.sta

    By default, mbkongsbergpreprocess ignores water column records and does
    not pass these large records into the output format 59 files. The -W1
    option causes the water column records to be written in the output files.

    AUTHORSHIP

    David W. Caress (caress@mbari.org)

      Monterey Bay Aquarium Research Institute

    Dale N. Chayes (dale@ldeo.columbia.edu)

      Lamont-Doherty Earth Observatory

    OPTIONS

    -C

    This option causes mbkongsbergpreprocess to print counts of the many
    different data record types compising a Kongsberg data stream. The data record
    counts are output for each file and as totals from all files processed.
    -D

    outputdirectory

    This option causes all format 59 output files to be placed in the specified directory
    outputdirectory rather than parallel to the original "raw" files.
    -E

    offx/offz[/offdepth]

    This option is for data from submerged platforms such as ROVs or AUVs.
    This sets horizontal and vertical.distance offsets between the vehicle's
    depth sensor and the multibeam receive head. If specified, these values are used
    in a lever-arm calculation to determine the sonar depth change  associated with
    vehicle pitch. The offdepth value, if specified, is a static depth offset to be
    applied to the vehicle depth data.
    -F

    format

    Sets the data format used if the input is read from stdin
    or from a file. If format < 0, then the input file specified
    with the -I option will actually contain a list of input swath sonar
    data files. This program only reads third generation Kongsberg multibeam
    format data files (MBIO formats 58 and 59).
    -H

    This "help" flag cause the program to print out a description
    of its operation and then exit immediately.
    -I

    infile

    Sets the input file path. If format > 0 (set with the
    -f option or mbdefaults) then the swath sonar data contained in infile
    is read and processed. If format < 0, then infile
    is assumed to be an ascii file containing a list of the input swath sonar
    data files to be processed and their formats.  The program will read
    the data in each one of these files.
    In the infile file, each
    data file should be followed by a data format identifier, e.g.:

            datafile.all 58

            datafile.all 58

    This program only reads third generation Kongsberg multibeam
    format data files (MBIO formats 58 and 59).
    -O

    outfile

    This option causes mbkongsbergpreprocess to output all data to a single file
    specified as outfile. By default, the program creates output files for
    each input file. If the -Doutputdirectory option is also used, then
    the output file outfile will be in outputdirectory.
    -P

    filterlength/filterdepth
    This option specifies Gaussian tapered time domain filtering of the
    sonar depth data to be merged with the survey data, regardless of source.
    The filterlength value specifies
    the filter window length in seconds, and the filterdepth value controls
    the depths to which filtering is applied. The filtered sonar depth is used
    to depths up to twice the filterdepth value. Below that threshold, the
    value used transitions to unfiltered with an exponential taper. This filtering
    is used in two ways. First, one can apply short period smoothing of noisy
    sonar depth at all by specifying a small filterlength (e.g. 2 seconds)
    and a filterdepth value deeper than the vehicle's track. Second, when
    an AUV or ROV is operated at shallow depths, the pressure
    values used to determine depth are affected by waves at the sea surface. In this
    case, a longer period filterlength (e.g. 10 seconds) and a shallower
    filterdepth (e.g. 50 meters) may be used to lessen the artifacts due to
    surface swell.
    -S

    datatype/source

    This option specifies which data records should be the source of the
    navigation (datatype = 1), heading (datatype = 2),
    attitude (datatype = 3), and sonar depth  (datatype = 4)
    data that are interpolated onto the
    survey ping times. In each case the source value specifies
    a data record type. The possibilities for Kongsberg data include:

         MB_DATA_DATA               1

         MB_DATA_NAV                12

         MB_DATA_HEIGHT             16

         MB_DATA_HEADING            17

         MB_DATA_ATTITUDE           18

         MB_DATA_NAV1               28

         MB_DATA_NAV2               29

         MB_DATA_NAV3               30

         MB_DATA_ATTITUDE1          55

         MB_DATA_ATTITUDE2          56

         MB_DATA_ATTITUDE3          57

    The default values are:

         nav_source = MB_DATA_NAV

         attitude_source = MB_DATA_ATTITUDE

         heading_source = MB_DATA_NAV

         sonardepth_source = MB_DATA_DATA

    -T

    timelag

    This option specifies a timelag value in seconds to be applied
    to the navigation and attitude data prior to it being merged with the
    bathymetry. If timelag is a valid path to a file containing time
    stamp and time lag pairs, then these data will be read and the time lag
    applied to particular records will be interpolated by time.
    -W

    mode

    By default, mbkongsbergpreprocess ignores water column records and does
    not pass these large records into the output format 59 files. If -W1
    is specified, then the water column records will be written to the output files.

    EXAMPLES

    Suppose that one has collected a set of three Kongsberg EM122 data files named:

        0000_20111219_154640_METEOR_EM122.all

        0001_20111219_163703_METEOR_EM122.all

        0002_20111219_175708_METEOR_EM122.all

    First, we want to generate a "datalist" file referencing the raw survey files. The
    following will suffice:

        /bin/ls -1 *all | awk '{print $1" 58"}' > datalist_raw.mb-1

    We want to use mbkongsbergpreprocess to gracefully interpolate the
    asynchronous navigation, heading and attitude data onto the survey data and
    to generate data files in the extended format (MBF_EM710MBA = 59). To learn
    which potential sources of navigation, heading and attitude are available, use
    mbinfo with the -N option:

        $ mbinfo -I 0000_20111219_154640_METEOR_EM122.all -N

    The -N option causes mbinfo to generate a list of the data record
    types read in the file at the end of the file statistics:

        Swath Data File:      0000_20111219_154640_METEOR_EM122.all

        MBIO Data Format ID:  58

        Format name:          MBF_EM710RAW

        Informal Description: Kongsberg current multibeam vendor format

        Attributes:           Kongsberg EM122, EM302, EM710,

                              bathymetry, amplitude, and sidescan,

                              up to 400 beams, variable pixels, binary, Kongsberg.

        Data Totals:

        Number of Records:                         334

        Bathymetry Data (432 beams):

          Number of Beams:           144288

          Number of Good Beams:      129951     90.06%

          Number of Zero Beams:           0      0.00%

          Number of Flagged Beams:    14337      9.94%

        Amplitude Data (432 beams):

          Number of Beams:           144288

          Number of Good Beams:      129951     90.06%

          Number of Zero Beams:           0      0.00%

          Number of Flagged Beams:    14337      9.94%

        Sidescan Data (1024 pixels):

          Number of Pixels:          342016

          Number of Good Pixels:     289910     84.77%

          Number of Zero Pixels:          0      0.00%

          Number of Flagged Pixels:   52106     15.23%

        Navigation Totals:

        Total Time:             0.8327 hours

        Total Track Length:    13.6418 km

        Average Speed:         16.3823 km/hr ( 8.8553 knots)

        Start of Data:

        Time:  12 19 2011 15:46:27.537000  JD353 (2011-12-19T15:46:27.537000)

        Lon:   -11.562232000     Lat:    36.848179850     Depth:  4931.4829 meters

        Speed: 17.6040 km/hr ( 9.5157 knots)  Heading: 129.1900 degrees

        Sonar Depth:    5.6975 m  Sonar Altitude: 5025.2964 m

        End of Data:

        Time:  12 19 2011 16:36:25.308000  JD353 (2011-12-19T16:36:25.308000)

        Lon:   -11.489473500     Lat:    36.771997400     Depth:  3242.5244 meters

        Speed: 12.7800 km/hr ( 6.9081 knots)  Heading: 274.9200 degrees

        Sonar Depth:    6.4334 m  Sonar Altitude: 3236.0911 m

        Limits:

        Minimum Longitude:     -11.635798757   Maximum Longitude:     -11.391532562

        Minimum Latitude:       36.723994163   Maximum Latitude:       36.919907119

        Minimum Sonar Depth:     5.0135   Maximum Sonar Depth:     6.9798

        Minimum Altitude:     3175.1121   Maximum Altitude:     5027.8770

        Minimum Depth:        2391.9229   Maximum Depth:        5121.0713

        Minimum Amplitude:     -59.2000   Maximum Amplitude:      -9.1000

        Minimum Sidescan:      -90.1300   Maximum Sidescan:       -0.4700

        Data Record Type Notices:

        DN: 334 MB_DATA_DATA (ID=1): survey data

        DN: 1 MB_DATA_VELOCITY_PROFILE (ID=6): SVP

        DN: 1 MB_DATA_START (ID=10): Simrad start datagram

        DN: 1 MB_DATA_STOP (ID=11): Simrad stop datagram

        DN: 3023 MB_DATA_NAV (ID=12): Navigation record

        DN: 287 MB_DATA_RUN_PARAMETER (ID=13): Simrad runtime parameter datagram

        DN: 3022 MB_DATA_CLOCK (ID=14): Simrad clock datagram

        DN: 2964 MB_DATA_ATTITUDE (ID=18): Attitude record

        DN: 731 MB_DATA_SSV (ID=19): Surface sound speed record

        DN: 3022 MB_DATA_NAV3 (ID=30): Auxiliary nav system 3

        DN: 3023 MB_DATA_STATUS (ID=46): Status record

        DN: 2964 MB_DATA_ATTITUDE1 (55): ancillary attitude system 1

        DN: 1512 MB_DATA_ATTITUDE2 (56): ancillary attitude system 2

        Nonfatal Error Notices:

        EN: 20551 MB_ERROR_NO_DATA_REQUESTED (ID=-11): No data requested for buffer load

        Problem Notices:

    This listing shows that the format 58 file includes
    MB_DATA_NAV (source = 12) and MB_DATA_NAV3 (source = 30) records,
    both of which include both position and heading data. Also included are three
    sources of attitude data: MB_DATA_ATTITUDE (source = 18),
    MB_DATA_ATTITUDE1 (source = 55), and MB_DATA_ATTITUDE2 (source = 56).

    To extract and use the default navigation, heading, and attitude data, the
    following will suffice:

        mbkongsbergpreprocess -I datalist_raw.mb-1 -V

    An equivalent command that explicitly specifies the default asynchronous data
    sources using -S1/source for navigation, -S2/source for
    heading, and -S3/source for attitude is:

        mbkongsbergpreprocess -I datalist_raw.mb-1 -V -S1/12 -S2/12 -S3/18

    To interpolate navigation and heading from the secondary navigation source, use

        -S1/30 -S2/30

    To interpolate attitude from ancillary attitude system 2, use:

        -S3/56

    SEE ALSO

    mbsystem(1), mbformat(1), mbinfo(1)

    BUGS

    Not true bugs. More like arachnids.

     Index

    NAME
    VERSION
    SYNOPSIS
    DESCRIPTION
    AUTHORSHIP
    OPTIONS
    EXAMPLES
    SEE ALSO
    BUGS

Last Updated: 12 November 2014

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