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mgd77sniffer - Along-track quality control of MGD77 cruises


mgd77sniffer NGDC-ids [ fieldabbrev,scale,offset ] [ maxspd ] [ d|e|E|f|l|m|s|v[r] ] [
fieldabbrev,imggrid,scale,mode or fieldabbrev,grid ] [ ] [ fieldabbrev,rec1,recN ] [ ] [
custom-limits-file ] [ ] [ region ] [ d|s|t ] [ gap ] [ [level] ] [ c|g|o|s|t|v|x ] [
-bo<binary> ] [ -do<nodata> ] [ -n<flags> ]

Note: No space is allowed between the option flag and the associated arguments.


mgd77sniffer scans old (pre-Y2K) and new format ASCII MGD77 files for errors using
point-by-point sanity checking, along-track detection of excessive slopes, and optional
comparison of cruise data with global gravity and predicted bathymetry grids. Detected
data problems are output by default as verbose descriptions of each detected error, often
resulting in multiple messages per scanned record. Data problems are optionally output
(-De option) using a computer-parseable format (see E77 ERROR FORMAT description below).
Default error thresholds are derived from histograms of all MGD77 geophysical data
collected between 1952 and January, 2006. Thresholds are adjustable with the -L option.


The mgd77sniffer links with Generic Mapping Tools 4.0 or later along with the supplemental
GMT packages x2sys and mgd77. See http://gmt.soest.hawaii.edu for GMT details. Grids for
comparison with cruise data may be downloaded via the web.


Can be one or more of five kinds of specifiers:

1. 8-character NGDC IDs, e.g., 01010083, JA010010etc., etc.

2. 2-character <agency> codes which will return all cruises from each agency.

3. 4-character <agency><vessel> codes, which will return all cruises from those

4. =<list>, where <list> is a table with NGDC IDs, one per line.

5. If nothing is specified we return all cruises in the data base.

(See mgd77info -L for agency and vessel codes). The ".mgd77" or ".nc" extensions
will automatically be appended, if needed (use -I to ignore certain file types).
Cruise files will be looked for first in the current directory and second in all
directories listed in $MGD77_HOME/mgd77_paths.txt [If $MGD77_HOME is not set it
will default to $GMT_SHAREDIR/mgd77].


Apply scale factor and DC adjustment to specified data field. Allows adjustment of
cruise data prior to along-track analysis. CAUTION: data must be thoroughly
examined before applying these global data adjustments. May not be used for
multiple cruises.

Set maximum ship speed in m/s, or knots with -N option. Ship speeds exceeding 10
m/s (~20 knots) are flagged as excessive by default.

Suppress default warning output and only dump cruise data row-by-row such as
values, gradients, grid-cruise differences, E77 error summaries for each record,
re-created MGD77 records or sniffer limits. Append r to include all records
(default omits records where navigation errors were detected).

-Dd output differences between cruise and grid data. Requires -G option. Output
columns include:

lat lon dist cruiseZ gridZ diff [cruiseZ2 gridZ2 diff2 ...]

Note: grid values are subtracted from cruise data so a positive difference implies
cruise > grid. For multiple grid comparison, cruiseZ gridZ diff are repeated for
each grid comparison in command line order.

-De output E77 error classification format. Error output is divided into (1) a
header containing information globally applicable to the cruise and (2) individual
error records summarizing all errors encountered in each cruise record.
mgd77sniffer writes E77 directly to <ngdc_id.e77> file handle. See E77 ERROR FORMAT
below for additional details.

-DE Same as -De but no regression tests will be carried out.

-Df output delta Z (change in geophysical field) column and delta S (change in
distance) for each geophysical field. Distance between observations often differ
for different fields depending on instrument sampling rate, so ds is included for
each geophysical observation. Output columns include:

d[twt] ds d[depth] ds d[mtf1] ds d[mtf2] ds d[mag] ds d[diur] ds d[msd] ds d[gobs]
ds d[eot] ds d[faa] ds

-Dl display mgd77sniffer limits. Customize this output to create a custom limits
file for the -L option. No additional arguments are required. Output columns

fieldabbrev min max maxSlope maxArea

-Dm output MGD77 format records in Y2K-compliant MGD77 format

-Dn output distance to coast for each record. Requires the -Gnav option. Output
columns include:

lat lon dist distToCoast

-Ds output calculated gradients for speed and geophysical fields. Gradients
correspond to the gradient type selected in the -S option (spatial derivatives by
default). Output columns include:

speed d[twt] d[depth] d[mtf1] d[mtf2] d[mag] d[diur] d[msd] d[gobs] d[eot] d[faa]

See MGD77 FIELD INFO below for field and abbreviations descriptions.

-Dv display values for the twelve position and geophysical fields for each MGD77
data record (in this order):

lat lon twt depth mtf1 mtf2 mag diur msens gobs eot faa

See below for MGD77 FIELD INFO.

Compare cruise data to GMT or IMG grids. Use one of the formats below.
-Gfieldabbrev,imggrid,scale,mode Compare cruise data to the specified grid in
Sandwell/Smith Mercator format. Requires a valid MGD77 field abbreviation (see
MGD77 FIELD INFO below) followed by a comma, the path (if not in current directory)
and grid filename, a scale to multiply the data (1 or 0.1), and mode which stand
for the following: (0) Img files with no constraint code, returns data at all
points, (1) Img file with constraints coded, return data at all points, (2) Img
file with constraints coded, return data only at constrained points and NaN
elsewhere, and (3) Img file with constraints coded, return 1 at constraints and 0
elsewhere. -Gfieldabbrev,grid Compare cruise data to the specified grid. Requires
a valid MGD77 field abbreviation (see MGD77 FIELD INFO below) followed by a comma,
then the path (if not in current directory) and grid filename. Multiple grid
comparison is supported by using separate -G calls for each grid. See GRID FILE
INFO below.

Grid comparison activates several additional error checks. (1) Re-weighted Least
Squares Regression of ship versus grid data determines slope and DC shift, which
when differing from expected 1 and 0, respectively, may indicate incorrectly scaled
ship data, including incorrect units or instrument drift as well as erroneous
gravity tie-in. (2) Accumulated ship grid offsets are computed along-track and
excessive offsets are flagged according to maxArea threshold (use -L option to
adjust maxArea). Warning: predicted bathymetry grids are constrained by cruise data
so grids and cruise data are not always independent. Comparison of cruise
bathymetry with predicted bathymetry grids also activates a "navigation crossing
over land" check.

-H (with -G|g only) disable (or force) decimation during RLS analysis of ship and
gridded data. By default mgd77sniffer analyses both the full and decimated data
sets then reports RLS statistics for the higher correlation regression.

-Hb analyze both (default), report better of two.

-Hd to disable data decimation (equivalent to -H with no argument).

-Hf to force data decimation.

Append a field abbreviation and the first and last record in a range of records
that should be flagged as bad (and set to NaN prior to the analysis). Repeat as
many times as needed. May not be used for multiple cruises.

-K Reverse navigation quality flags (good to bad and vice versa). May be necessary
when a majority of navigation fixes are erroneously flagged bad, which can happen
when a cruise's first navigation fix is extremely erroneous. Caution! This will
affect sniffer output and should only be attempted after careful manual navigation

Override mgd77sniffer default error detection limits. Supply path and filename to
the custom limits file. Rows not beginning with a valid MGD77 field abbreviation
are ignored. Field abbreviations are listed below in exact form under MGD77 FIELD
INFO. Multiple field limits may be modified using one default file, one field per
line. Field min, max, max slope and max area may be changed for each field. Max
slope pertains to the gradient type selected using the -S option. Max area is used
by the -G option as the threshold for flagging excessive offsets from the specified
grid. Dump defaults -Dl to view syntax or to quickly create an editable custom
limits file.

Example custom default file contents (see below for units):

│# abbrev │ min │ max │ maxSlope │ maxArea │
│twt │ 0 │ 15 │ 1 │ 0 │
│depth │ 0 │ 11000 │ 500 │ 5000 │
│mag │ -800 │ 800 │ -- │ -- │
│faa │ -300 │ 300 │ 100 │ 2500 │

Use a dash '-' to retain a default limit. Hint: to test your custom limits, try:
mgd77sniffer -Dl -L<yourlimitsfile>

-N Use nautical units.

-P Flag regression statistics that are outside the specified confidence level. (i.e.,
-P5 flags coefficients m, b, rms, and r that fall outside 95%.)

west, east, south, and north specify the region of interest, and you may specify
them in decimal degrees or in [+-]dd:mm[:ss.xxx][W|E|S|N] format. Append r if lower
left and upper right map coordinates are given instead of w/e/s/n. The two
shorthands -Rg and -Rd stand for global domain (0/360 and -180/+180 in longitude
respectively, with -90/+90 in latitude). Alternatively for grid creation, give
Rcodelon/lat/nx/ny, where code is a 2-character combination of L, C, R (for left,
center, or right) and T, M, B for top, middle, or bottom. e.g., BL for lower left.
This indicates which point on a rectangular region the lon/lat coordinate refers
to, and the grid dimensions nx and ny with grid spacings via -I is used to create
the corresponding region. Alternatively, specify the name of an existing grid file
and the -R settings (and grid spacing, if applicable) are copied from the grid.
Using -Runit expects projected (Cartesian) coordinates compatible with chosen -J
and we inversely project to determine actual rectangular geographic region. For
perspective view (-p), optionally append /zmin/zmax. In case of perspective view
(-p), a z-range (zmin, zmax) can be appended to indicate the third dimension. This
needs to be done only when using the -Jz option, not when using only the -p option.
In the latter case a perspective view of the plane is plotted, with no third

Specify gradient type for along-track excessive slope checking. -Sd Calculate
change in z values along track (dz). Output is given in geophysical units, e.g.,
mGal. -Ss Calculate spatial gradients (dz/ds). Output is given in geophysical
units per km along the survey track, e.g., mGal/km. -St Calculate time gradients
(dz/dt) [default]. Output is given in geophysical units per second along the survey
track, e.g., mGal/sec.

-Tgap Adjusts mgd77sniffer gap handling. By default, data gaps greater than 5 km are
skipped. Set to zero to de-activate gap skipping.

Print out only certain warning types for verbose error messages. Comma delimit any
combination of c|g|o|s|t|v|x: where (c) type code warnings, (g)radient out of
range, (o)ffsets from grid (requires -G|g), (s)peed out of range, (t)ime warnings,
(v)alue out of range, (x) warning summaries. By default ALL warning messages are
printed.Not compatible with any -D options.

-V[level] (more ...)
Select verbosity level [c].

-bo[ncols][type] (more ...)
Select native binary output. Output binary data for -Dd|f|s|v option.

-donodata (more ...)
Replace output columns that equal NaN with nodata.

-n[b|c|l|n][+a][+bBC][+c][+tthreshold] (more ...)
Select interpolation mode for grids.

-^ or just -
Print a short message about the syntax of the command, then exits (NOTE: on Windows
use just -).

-+ or just +
Print an extensive usage (help) message, including the explanation of any
module-specific option (but not the GMT common options), then exits.

-? or no arguments
Print a complete usage (help) message, including the explanation of options, then

Print GMT version and exit.

Print full path to GMT share directory and exit.


Resample or sampling of grids will use various algorithms (see -n) that may lead to
possible distortions or unexpected results in the resampled values. One expected effect
of resampling with splines is the tendency for the new resampled values to slightly exceed
the global min/max limits of the original grid. If this is unacceptable, you can impose
clipping of the resampled values values so they do not exceed the input min/max values by
adding +c to your -n option.


│Two-way │ Travel │ Time │
│Corrected │ Depth │ depth │
│Mag │ Total │ Field1 │
│Mag │ Total │ Field2 │
│Residual │ Magnetic │ mag │
│Diurnal │ Correction │ diur │
│Mag │ Sensor │ Depth/Alt │
│Observed │ Gravity │ gobs │
│Eotvos │ Correction │ eot │
│Free │ Air │ Anomaly │


For the grids must eitehr be in the format used by Sandwell & Smith, which is a spherical
Mercator 2-byte grid with no header, or any grid type supported by GMT and therefore must
contain a GMT header. A correctly formatted *.i2 grid file can be generated using
grdraster as shown below.


Create/edit .gmt_io file to include the following rows:

# GMT I/O shorthand file

# suffix format_id scale offset NaN

grd 0 - - - -

i2 2 - - 32767

gmt grdraster 1 -R0/359:55/-90/90 -Getopo5_hdr.i2

The new grid, etopo5_hdr.i2 in this example, contains a GMT header and can be used in the
-G option to compare cruise depth with grid values.


Header Information pertaining to an entire cruise, such as NGDC and survey institution
identification codes, cruise examination time, two-way travel time corrector
information, data precision warnings, as well as systematic scales, DC shifts and
correlation coefficients from global grid comparisons are reported as E77 header


# Cruise 08010039 ID 74010908 MGD77 FILE VERSION: 19801230 N_RECS: 3066

# Examined: Wed Oct 3 16:30:13 2007 by mtchandl

# Arguments: -De -Gdepth,/data/GRIDS/etopo5_hdr.i2

N Errata table verification status

# mgd77manage applies corrections if the errata table is verified (toggle 'N' above
to 'Y' after review)

# For instructions on E77 format and usage, see

# Verified by:

# Comments:

# Errata: Header

Y-E-08010039-H13-02: Invalid Magnetics Sampling Rate: (99) [ ]

Y-W-08010039-H13-10: Survey year (1975) outside magnetic reference field IGRF 1965
time range (1965-1970)

Y-I-08010039-depth-00: RLS m: 1.00053 b: 0 rms: 127.851 r: 0.973422 significant: 1
decimation: 0

Y-W-08010039-twt-09: More recent bathymetry correction table available

Y-W-08010039-mtf1-10: Integer precision

Y-W-08010039-mag-10: Integer precision

Error Record
Individual error records have strict format. Included is a time or distance column
followed by record number, a formatted error code string, and finally a verbose
description of errors detected in the record. Three error classes are encoded into
the error code string with different alphabetic characters representing unique
error types. See below for error code format description.

Format <time/distance> <record number> <error code string> <description>


# Errata: Data

Y 08010039 1975-05-10T22:16:05.88 74 C-0-0 NAV: excessive speed

Error Code Description
Each of the three error classes is separated by a dash - and described by a
combination of alphabetic characters or 0 signifying no detected problems.

Error classes: NAV-VAL-GRAD

Error Class Descriptions

NAV (navigation):

0 - fine

A - time out of range

B - time decreasing

C - excessive speed

D - above sea level

E - lat undefined

F - lon undefined

VAL (value):

0 - fine

K - twt invalid

L - depth invalid

O - mtf1 invalid


GRAD (gradient):

0 - fine

K - d[twt] excessive

L - d[depth] excessive

O - d[mtf1] excessive

The NAV error class has unique cases while VAL and GRAD classes are described by
alphabetic characters for each of the 24 numeric fields in MGD77 format order.

MGD77 bit-pattern w/ E77 alpha characters


| X W V U T S R Q P O N M L K J I H G F E D C B A | E77 Code |

| - - - - - - - - - - - - - - - - - - - - - - - - | - - - - -|

| n f e g m d m m m m b b d t p l l m h d m y t d | F I |

| q a o o s i s a t t t c e w t o a i o a o e z r | i D |

| c a t b d u e g f f c c p t c n t n u y n a t | e |

| s r n 2 1 t r t r | l |

| s h h | d |

| - - - - - - - - - - - - - - - - - - - - - - - - | - - - - -|

| 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 | Bit place|

| - G C G C C - G G G - - G G - - - T T T T T - - | Bit type |


Bit types: (G)eophysical, (C)orrection, (T)ime


To scan for excessive values or gradients, try

gmt mgd77sniffer 08010001

To dump cruise gradients, try

gmt mgd77sniffer 08010001 -Ds

To compare cruise depth with ETOPO5 bathymetry and gravity with Sandwell/Smith 2 min
gravity version 11, try

mgd77sniffer 08010001 -Gdepth,/data/GRIDS/etopo5_hdr.i2 \

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