We added the missing() function to ncap2 to solve this problem elegantly as of NCO 4.6.7 (May, 2017). To count missing values through time:
ncap2 -s 'mss_val=three_dmn_var_dbl.missing().ttl($time)' in.nc out.nc
Here ncap2 chains two methods together, missing(), followed by a total over the time dimension. The 2D variable mss_val is in out.nc. The response below does the same but averages over space and reports through time (because I misinterpreted the OP).
Old/obsolete answer:
There are two ways to do this with NCO/ncap2, though neither is as elegant as I would like. Either call assemble the answer one record at a time by calling num_miss() with one record at a time, or (my preference) use the boolean comparison function followed by the total operator along the axes of choice:
zender@aerosol:~$ ncap2 -O -s 'tmp=three_dmn_var_dbl;mss_val=tmp.get_miss();tmp.delete_miss();tmp_bool=(tmp==mss_val);tmp_bool_ttl=tmp_bool.ttl($lon,$lat);print(tmp_bool_ttl);' ~/nco/data/in.nc ~/foo.nc
tmp_bool_ttl[0]=0
tmp_bool_ttl[1]=0
tmp_bool_ttl[2]=0
tmp_bool_ttl[3]=8
tmp_bool_ttl[4]=0
tmp_bool_ttl[5]=0
tmp_bool_ttl[6]=0
tmp_bool_ttl[7]=1
tmp_bool_ttl[8]=0
tmp_bool_ttl[9]=2
or
zender@aerosol:~$ ncap2 -O -s 'for(rec=0;rec<time.size();rec++){nmiss=three_dmn_var_int(rec,:,:).number_miss();print(nmiss);}' ~/nco/data/in.nc ~/foo.nc
nmiss = 0
nmiss = 0
nmiss = 8
nmiss = 0
nmiss = 0
nmiss = 1
nmiss = 0
nmiss = 2
nmiss = 1
nmiss = 2