MB-System Unix Manual Page: mbnavlist

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    mbnavlist
    Section:  MB-System 5.0  (1)
    Updated:  3 June 2013
    Index

    NAME

    mbnavlist - List navigation data in swath sonar data files.

    VERSION

    Version 5.0

    SYNOPSIS

    mbnavlist [-Byr/mo/da/hr/mn/sc -Ddecimate
    -Eyr/mo/da/hr/mn/sc -Fformat
    -Gdelimeter -H -Ifile -Kkind
    -Llonflip -Nnavchannel
    -Ooutput_format -Rwest/east/south/north
    -Sspeed -Ttimegap -V -Zsegment]

    DESCRIPTION

    mbnavlist prints the specified contents of navigation records
    in a swath sonar data file to stdout. By default, mbnavlist
    produces ASCII files in
    spreadsheet style, with data columns separated by tabs. Alternatively,
    other column delimiters can be used (-G option), or
    the output can be binary, with each field represented
    as a double precision float (-A option).  The output stream can
    be decimated using the -D option. The output of
    mbnavlist can be piped to plotting and data analysis programs. The
    option -Ooutput_format can be
    used to control the data types that
    are sent to stdout.

    By default, mbnavlist extracts navigation from the
    data record type listed as the "navigation source" for a particular
    data format. Swath data formats may contain synchronous navigation
    (navigation is included in survey data records), asynchronous navigation
    (navigation comes in records separate from and at different times
    than the survey data records), or both (survey records contain merged
    navigation while the original asynchronous navigation is preserved in
    separate navigation records). Some data formats provide for multiple
    navigation sources, so that there are more than one channel of
    asynchronous data records. In this case one channel is always designated
    as the primary or active navigation channel. The -N option allows
    the user to specify that mbnavlist outputs navigation from
    the primary asynchronous navigation (-N0) or from one
    of three auxiliary navigation channels
    (-N1, -N2, or -N3). If the data
    format only uses asynchronous navigation, then the default
    navigation source will already be the primary asynchronous navigation
    and -N need not be used. If -N is used but the data file
    does not contain asynchronous navigation or the specified auxiliary
    navigation channels, then mbnavlist will output nothing. To
    determine if a datafile contains asynchronous navigation and/or auxiliary
    navigation, run mbinfo using its -N option to get counts
    of all data record types in the file.

    Just to make things more complicated, many data formats formats pass
    heading and attitude data in records separate from position, and often
    with different timestamps and sampling rates. If, for instance, the
    attitude data are sampled at 10 Hz but position is only sampled at
    1 Hz, extracting roll using mbnavlist will, by default, either
    output roll values only at the sonar ping times (if the navigation source
    is the survey data) or at the position record times (if the navigation
    source is the asynchronous position data, but not at the attitude data
    times. Moreover, the attitude data will be interpolated onto the times
    of sonar pings or position fixes. In order to extract the full attitude
    data stream, the -Kkind option may be used, where kind
    is the identifier for the record type to be used as the trigger for output.
    Any desired values not contained in the selected record will be interpolated
    onto the times of the selected record. In order to identify the records
    available in a particular data file, use mbinfo with the -N
    option. This will show if a data file contains records of type MB_DATA_ATTITUDE,
    which has a record type identifier of 18, A list of the record type
    identifiers used within MB-System is given below, although not
    all of the record types have time stamps or can be used to define
    mbnavlist output. For example, requesting mbnavlist output
    associated with comment records will yield nonuseful results.

    AUTHORSHIP

    David W. Caress (caress@mbari.org)

      Monterey Bay Aquarium Research Institute

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

      Lamont-Doherty Earth Observatory

    OPTIONS

    -A

    Causes the output to be binary (native double precision floating
    point) rather than ASCII. Some
    output options cannot be represented as single binary floats (e.g.
    time strings and longitude or latitude broken into degrees
    and minutes. These values are output as multiple fields as
    appropriate.
    Default: ASCII output with fields separated by tabs.
    -B

    yr/mo/da/hr/mn/sc

    This option sets the starting time for data allowed in the input data.
    The -E option sets the ending time for data. If the
    starting time is before the ending time, then any data
    with a time stamp before the starting time or after the
    ending time is ignored. If instead the starting time is
    after the ending time, then any data between the ending
    and starting time will be ignored. This scheme allows time
    windowing both inside and outside a specified interval.
    Default: yr/mo/da/hr/mn/sc = 1962/2/21/10/30/0.
    -D

    decimate

    Sets the decimation of the output data. By default (i.e. decimate=1),
    every available data record is output. If decimate>1, then only
    every "decimate"th record will be output. Default: decimate=1.
    -E

    yr/mo/da/hr/mn/sc

    This option sets the ending time for data allowed in the input data.
    The -B option sets the starting time for data. If the
    starting time is before the ending time, then any data
    with a time stamp before the starting time or after the
    ending time is ignored. If instead the starting time is
    after the ending time, then any data between the ending
    and starting time will be ignored. This scheme allows time
    windowing both inside and outside a specified interval.
    Default: yr/mo/da/hr/mn/sc = 2062/2/21/10/30/0.
    -F

    format

    Sets the format for the input swath sonar data using
    MBIO integer format identifiers.
    This program uses the MBIO library and will read any swath sonar
    format supported by MBIO. A list of the swath sonar data formats
    currently supported by MBIO and their identifier values
    is given in the MBIO manual page. Default: format = 11.
    -G

    delimiter

    Sets the character(s) used to separate output fields when ascii
    columns are output. Default: tabs are used as delimiters.
    -H

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

    file

    Sets the input filename. If format > 0 (set with the
    -F option) then the swath sonar data contained in file
    is read and processed. If format < 0, then file
    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 file file, each
    data file should be followed by a data format identifier, e.g.:

            datafile1 11

            datafile2 24

    This program uses the MBIO library and will read or write any swath sonar
    format supported by MBIO. A list of the swath sonar data formats
    currently supported by MBIO and their identifier values
    is given in the MBIO manual page.
    Default: file = "datalist.mb-1".
    -K

    kind

    This option sets the type of data record used as the trigger for
    output. By default, data are output when the record type listed as
    the "navigation source" for a particular data format is encountered.
    The -K option causes output to be keyed to data records of
    type kind, where kind may be integer values such as:

         MB_DATA_DATA                       1       /* general survey data */

         MB_DATA_CALIBRATE          4       /* Hydrosweep DS */

         MB_DATA_MEAN_VELOCITY              5       /* Hydrosweep DS */

         MB_DATA_VELOCITY_PROFILE   6       /* general */

         MB_DATA_NAV                        12      /* Simrad, Reson 7k */

         MB_DATA_HEADING                    17      /* Simrad, Hypack */

         MB_DATA_ATTITUDE           18      /* Simrad, Hypack, Reson 7k */

         MB_DATA_SSV                        19      /* Simrad */

         MB_DATA_NAV1                       28      /* ancillary nav system 1 */

         MB_DATA_NAV2                       29      /* ancillary nav system 2 */

         MB_DATA_NAV3                       30      /* ancillary nav system 3 */

         MB_DATA_MOTION                     32      /* Reson 7k */

         MB_DATA_SIDESCAN2          37      /* Reson 7k, XTF */

         MB_DATA_SIDESCAN3          38      /* Reson 7k, XTF */

         MB_DATA_ROLL                       40      /* Reson 7k */

         MB_DATA_PITCH                      41      /* Reson 7k */

         MB_DATA_NMEA_RMC           48      /* NMEA */

         MB_DATA_NMEA_DBT           49      /* NMEA */

         MB_DATA_NMEA_DPT           50      /* NMEA */

         MB_DATA_NMEA_ZDA           51      /* NMEA */

         MB_DATA_NMEA_GLL           52      /* NMEA */

         MB_DATA_NMEA_GGA           53      /* NMEA */

         MB_DATA_ATTITUDE1          55      /* ancillary attitude system 1 */

         MB_DATA_ATTITUDE2          56      /* ancillary attitude system 2 */

         MB_DATA_ATTITUDE3          57      /* ancillary attitude system 3 */

    For example, using -K18 will cause mbnavlist to output
    at the times of attitude data records. One consequence will be that
    any roll, pitch, or heave values specified with the -O option will
    be output without modification, whereas other values (e.g. position) will
    be interpolated onto the time of the attitude record.
    This option supercedes the -N option.
    -L

    lonflip

    Sets the range of the longitude values returned.
    If lonflip=-1 then the longitude values will be in
    the range from -360 to 0 degrees. If lonflip=0
    then the longitude values will be in
    the range from -180 to 180 degrees. If lonflip=1
    then the longitude values will be in
    the range from 0 to 360 degrees.
    Default: lonflip = 0.
    -N

    navchannel

    Sets mbnavlist to look for navigation in navigation records rather
    than the record type listed as the "navigation source" for a particular
    data format. Swath data formats may contain synchronous navigation
    (navigation is included in survey data records), asynchronous navigation
    (navigation comes in records separate from and at different times
    than the survey data records), or both (survey records contain merged
    navigation while the original asynchronous navigation is preserved in
    separate navigation records). Some data formats provide for multiple
    navigation sources, so that there are more than one channel of
    asynchronous data records. In this case one channel is always designated
    as the primary or active navigation channel. The -N option allows
    the user to specify that mbnavlist outputs navigation from
    the primary asynchronous navigation (-N0) or from one
    of three auxiliary navigation channels
    (-N1, -N2, or -N3). If -N is
    used but the data file
    does not contain asynchronous navigation or the specified auxiliary
    navigation channels, then mbnavlist will output nothing. To
    determine if a datafile contains asynchronous navigation and/or auxiliary
    navigation, run mbinfo using its -N option to get counts
    of all data record types in the file. This option is superceded by the
    -K option.
    -O

    output_format

    Determines the form of the output. Output_format is a string composed
    of one or more of the following characters:

            c  for sonar depth (meters)

            H  for heading (degrees)

            h  for course made good (degrees)

            J  for a time string (yyyy jd hh mm ss.ssssss)

                     where jd is the julian day of the year

            j  for a time string (yyyy jd dm ss.ssssss)

                     where jd is the julian day of the year

                     and dm is the minute of the day

            L  for cumulative along-track distance (km)

            l  for cumulative along-track distance (m)

            M  for unix time in decimal seconds since 1/1/70 00:00:00

            m  for time in decimal seconds since first record

            N  for ping count

            P  for pitch in degrees

            p  for draft in meters

            R  for roll in degrees

            r  for heave in meters

            S  for speed (km/hr)

            s  for speed made good (km/hr)

            T  for a time string (yyyy/mm/dd/hh/mm/ss)

            t  for a time string (yyyy mm dd hh mm ss)

            U  for unix time in integer seconds since 1/1/70 00:00:00

            u  for time in integer seconds since first record

            V  for ping interval (decimal seconds)

            X  for longitude (decimal degrees)

            x  for longitude (degrees + decimal minutes + E/W)

            Y  for latitude (decimal degrees)

            y  for latitude (degrees + decimal minutes + N/S)

    Default output_format = tMXYHs (time, unix time, latitude,
    longitude, heading, speed).
    -R

    west/east/south/north

    Sets the longitude and latitude bounds within which swath sonar
    data will be read. Only the data which lies within these bounds will
    be read.
    Default: west=-360, east=360, south=-90, north=90.
    -S

    speed

    Sets the minimum speed in km/hr (5.5 kts ~ 10 km/hr) allowed in
    the input data; pings associated with a smaller ship speed will not be
    copied. Default: speed = 0.
    -T

    timegap

    Sets the maximum time gap in minutes between adjacent pings allowed before
    the data is considered to have a gap. Default: timegap = 1.
    -V

    Normally, mbnavlist works "silently" without outputting
    anything to the stderr stream.  If the
    -V flag is given, then mbnavlist works in a "verbose" mode and
    outputs the program version being used and all error status messages.
    -Z

    segment

    Causes the ascii output of different input swath files
    (e.g. when a datalist is specified with the -I option)
    to be separated by lines with segment. If segment
    is a single character, then the output is a multiple segment
    file of the sort accepted by the GMT program psxy.
    This option only works with ascii output, and is thus disabled
    when the -A option is specified. The most common usage
    is -ZI>.

    EXAMPLES

    Suppose one wishes to obtain a navigation list from a Simrad EM300 data file
    in the MBARI format (MBIO id 57) called mbari_1998_107_msn.mb57. To
    obtain a listing with time in unix second forms followed
    by longitude and latitude, the following will suffice:

            mbnavlist -F57 -i mbari_1998_107_msn.mb57 -OMXY | more

    The output will be as follows:

            889125106.792000        -155.898471       19.979325

            889125108.148000        -155.898586       19.979400

            889125109.496000        -155.898738       19.979454

            889125110.852000        -155.898876       19.979504

            889125112.207000        -155.899020       19.979544

            889125113.571000        -155.899204       19.979591

            889125114.921000        -155.899479       19.979485

            .....

    MB-SYSTEM DATA RECORD TYPES

    This list gives the data record types and numerical identifiers
    used within MB-System. Users can specify that mbnavlist
    output be keyed to the time stamps of particular record types by
    using the -Kkind option where kind corresponds
    to the desired record type identifier from this table.

         MB_DATA_KINDS                      54

         MB_DATA_NONE                       0

         MB_DATA_DATA                       1       general survey data

         MB_DATA_COMMENT                    2       general comment

         MB_DATA_HEADER                     3       general header

         MB_DATA_CALIBRATE          4       Hydrosweep DS

         MB_DATA_MEAN_VELOCITY              5       Hydrosweep DS

         MB_DATA_VELOCITY_PROFILE   6       general

         MB_DATA_STANDBY                    7       Hydrosweep DS

         MB_DATA_NAV_SOURCE         8       Hydrosweep DS

         MB_DATA_PARAMETER          9       general

         MB_DATA_START                      10      Simrad

         MB_DATA_STOP                       11      Simrad

         MB_DATA_NAV                        12      Simrad, Reson 7k

         MB_DATA_RUN_PARAMETER              13      Simrad

         MB_DATA_CLOCK                      14      Simrad

         MB_DATA_TIDE                       15      Simrad, Reson 7k

         MB_DATA_HEIGHT                     16      Simrad

         MB_DATA_HEADING                    17      Simrad, Hypack

         MB_DATA_ATTITUDE           18      Simrad, Hypack, Reson 7k

         MB_DATA_SSV                        19      Simrad

         MB_DATA_ANGLE                      20      HSMD

         MB_DATA_EVENT                      21      HSMD

         MB_DATA_HISTORY                    22      GSF

         MB_DATA_SUMMARY                    23      GSF

         MB_DATA_PROCESSING_PARAMETERS      24      GSF

         MB_DATA_SENSOR_PARAMETERS  25      GSF

         MB_DATA_NAVIGATION_ERROR   26      GSF

         MB_DATA_RAW_LINE           27      uninterpretable line for ascii formats

         MB_DATA_NAV1                       28      ancillary nav system 1

         MB_DATA_NAV2                       29      ancillary nav system 2

         MB_DATA_NAV3                       30      ancillary nav system 3

         MB_DATA_TILT                       31      Simrad

         MB_DATA_MOTION                     32      Reson 7k

         MB_DATA_CTD                        33      Reson 7k

         MB_DATA_SUBBOTTOM_MCS              34      Reson 7k

         MB_DATA_SUBBOTTOM_CNTRBEAM 35      Simrad

         MB_DATA_SUBBOTTOM_SUBBOTTOM        36      Reson 7k, XTF

         MB_DATA_SIDESCAN2          37      Reson 7k, XTF

         MB_DATA_SIDESCAN3          38      Reson 7k, XTF

         MB_DATA_IMAGE                      39      Reson 7k

         MB_DATA_ROLL                       40      Reson 7k

         MB_DATA_PITCH                      41      Reson 7k

         MB_DATA_ABSORPTIONLOSS             42      Reson 7k

         MB_DATA_SPREADINGLOSS              43      Reson 7k

         MB_DATA_INSTALLATION               44      Reson 7k

         MB_DATA_WATER_COLUMN               45      Simrad

         MB_DATA_STATUS                     46      Simrad, XTF

         MB_DATA_DVL                        47      JSTAR

         MB_DATA_NMEA_RMC           48      NMEA

         MB_DATA_NMEA_DBT           49      NMEA

         MB_DATA_NMEA_DPT           50      NMEA

         MB_DATA_NMEA_ZDA           51      NMEA

         MB_DATA_NMEA_GLL           52      NMEA

         MB_DATA_NMEA_GGA           53      NMEA

         MB_DATA_SURVEY_LINE                54      Reson 7k

         MB_DATA_ATTITUDE1          55      ancillary attitude system 1

         MB_DATA_ATTITUDE2          56      ancillary attitude system 2

         MB_DATA_ATTITUDE3          57      ancillary attitude system 3

    SEE ALSO

    mbsystem(1), mbinfo(1)

    BUGS

    mbnavlist is not able to list all of the navigation information
    available in some swath data formats.

     Index

    NAME
    VERSION
    SYNOPSIS
    DESCRIPTION
    AUTHORSHIP
    OPTIONS
    EXAMPLES
    MB-SYSTEM DATA RECORD TYPES
    SEE ALSO
    BUGS

Last Updated: 3 June 2013

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