/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_dsl.c	3.00	8/5/96
 *	$Id: mbsys_dsl.c 2227 2015-02-05 21:12:31Z caress $
 *
 *    Copyright (c) 1996-2015 by
 *    David W. Caress (caress@mbari.org)
 *      Monterey Bay Aquarium Research Institute
 *      Moss Landing, CA 95039
 *    and Dale N. Chayes (dale@ldeo.columbia.edu)
 *      Lamont-Doherty Earth Observatory
 *      Palisades, NY 10964
 *
 *    See README file for copying and redistribution conditions.
 *--------------------------------------------------------------------*/
/*
 * mbsys_dsl.c contains the functions for handling the data structure
 * used by MBIO functions to store data from the WHOI DSL AMS-120
 * interferometric sonar. This is a 120 khz deep-towed sonar which
 * produces both sidescan and bathymetry.
 * The data formats used to store the DSL AMS-120 data are
 *      MBF_DSL120PF : MBIO ID 111
 *      MBF_DSL120SF : MBIO ID 112
 *
 * Author:	D. W. Caress
 * Date:	August 5, 1996
 *
 * $Log: mbsys_dsl.c,v $
 * Revision 5.8  2005/11/05 00:48:05  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.7  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.6  2002/09/25 20:41:04  caress
 * Fixed old DSL120 format.
 *
 * Revision 5.5  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * Revision 5.4  2002/07/20 20:42:40  caress
 * Release 5.0.beta20
 *
 * Revision 5.3  2001/08/25 00:54:13  caress
 * Adding beamwidth values to extract functions.
 *
 * Revision 5.2  2001/07/20  00:32:54  caress
 * Release 5.0.beta03
 *
 * Revision 5.1  2001/01/22  07:43:34  caress
 * Version 5.0.beta01
 *
 * Revision 5.0  2000/12/01  22:48:41  caress
 * First cut at Version 5.0.
 *
 * Revision 4.5  2000/10/11  01:03:21  caress
 * Convert to ANSI C
 *
 * Revision 4.4  2000/09/30  06:32:52  caress
 * Snapshot for Dale.
 *
 * Revision 4.3  1998/10/05  18:32:27  caress
 * MB-System version 4.6beta
 *
 * Revision 1.1  1998/10/05  17:46:15  caress
 * Initial revision
 *
 * Revision 4.2  1997/07/25  14:19:53  caress
 * Version 4.5beta2.
 * Much mucking, particularly with Simrad formats.
 *
 * Revision 4.1  1997/04/21  17:02:07  caress
 * MB-System 4.5 Beta Release.
 *
 * Revision 4.0  1996/08/26  17:29:56  caress
 * Release 4.4 revision.
 *
 * Revision 4.0  1996/08/26  17:29:56  caress
 * Release 4.4 revision.
 *
 * Revision 1.1  1996/08/26  17:24:56  caress
 * Initial revision
 *
 *
 *
 *
 */

/* standard include files */
#include <stdio.h>
#include <math.h>
#include <string.h>

/* mbio include files */
#include "mb_status.h"
#include "mb_format.h"
#include "mb_io.h"
#include "mb_define.h"
#include "mbsys_dsl.h"

static char rcs_id[]="$Id: mbsys_dsl.c 2227 2015-02-05 21:12:31Z caress $";

/*--------------------------------------------------------------------*/
int mbsys_dsl_alloc(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_dsl_alloc";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %p\n",(void *)mbio_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* allocate memory for data structure */
	status = mb_malloc(verbose,sizeof(struct mbsys_dsl_struct),
				store_ptr,error);

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) *store_ptr;

	/* initialize everything */
	store->kind = MB_DATA_NONE;
	store->rec_type = DSL_NONE;
	store->rec_len = 0;
	store->rec_hdr_len = 0;
	store->p_flags = 0;
	store->num_data_types = 0;
	store->ping = 0;
	for (i=0;i<4;i++)
		store->sonar_cmd[i] = '\0';
	for (i=0;i<24;i++)
		store->time_stamp[i] = '\0';
	store->nav_x = 0.0;
	store->nav_y = 0.0;
	store->depth = 0.0;
	store->heading = 0.0;
	store->pitch = 0.0;
	store->roll = 0.0;
	store->alt = 0.0;
	store->ang_offset = 0.0;
	store->transmit_pwr = 0;
	store->gain_port = 0;
	store->gain_starbd = 0;
	store->pulse_width = 0.0;
	store->swath_width = 0;
	store->side = 0;
	store->swapped = 3;
	store->tv_sec = 0;
	store->tv_usec = 0;
	store->digitalinterface = 0;
	for (i=0;i<5;i++)
		store->reserved[i] = 0;
	store->bat_type = DSL_BATH;
	store->bat_len = 0;
	store->bat_hdr_len = 0;
	store->bat_num_bins = 0;
	store->bat_sampleSize = 0.0;
	store->bat_p_flags = 0;
	store->bat_max_range = 0.0;
	for (i=0;i<10;i++)
		store->bat_future[i] = 0;
	for (i=0;i<MBSYS_DSL_MAXBEAMS_SIDE;i++)
		{
		store->bat_port[i] = 0.0;
		store->bat_stbd[i] = 0.0;
		}
	store->amp_type = DSL_AMP;
	store->amp_len = 0;
	store->amp_hdr_len = 0;
	store->amp_num_samp = 0;
	store->amp_sampleSize = 0.0;
	store->amp_p_flags = 0;
	store->amp_max_range = 0.0;
	store->amp_channel = 0.0;
	for (i=0;i<9;i++)
		store->amp_future[i] = 0;
	for (i=0;i<MBSYS_DSL_MAXBEAMS_SIDE;i++)
		{
		store->amp_port[i] = 0.0;
		store->amp_stbd[i] = 0.0;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)*store_ptr);
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}

/*--------------------------------------------------------------------*/
int mbsys_dsl_deall(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_dsl_deall";
	int	status = MB_SUCCESS;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)*store_ptr);
		}

	/* deallocate memory for data structure */
	status = mb_free(verbose,store_ptr,error);

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_dimensions(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int *nbath, int *namp, int *nss, int *error)
{
	char	*function_name = "mbsys_dsl_dimensions";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get beam and pixel numbers */
		*nbath = 2 * store->bat_num_bins;
		*namp = 0;
		*nss = 2 * store->amp_num_samp;
		}
	else
		{
		/* get beam and pixel numbers */
		*nbath = 0;
		*namp = 0;
		*nss = 0;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",*kind);
		fprintf(stderr,"dbg2       nbath:      %d\n",*nbath);
		fprintf(stderr,"dbg2        namp:      %d\n",*namp);
		fprintf(stderr,"dbg2        nss:       %d\n",*nss);
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_extract(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int time_i[7], double *time_d,
		double *navlon, double *navlat,
		double *speed, double *heading,
		int *nbath, int *namp, int *nss,
		char *beamflag, double *bath, double *amp,
		double *bathacrosstrack, double *bathalongtrack,
		double *ss, double *ssacrosstrack, double *ssalongtrack,
		char *comment, int *error)
{
	char	*function_name = "mbsys_dsl_extract";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	double	dx;
	int	i, j;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		*time_d = store->tv_sec + 0.000001 * store->tv_usec;
		mb_get_date(verbose,*time_d,time_i);

		/* get navigation */
		if (store->nav_x <= 360.0 && store->nav_x >= -360.0
			&& store->nav_y <= 90.0 && store->nav_y >= -90.0)
			{
			*navlon = store->nav_x;
			*navlat = store->nav_y;
			}
		else
			{
			*navlon = 0.0;
			*navlat = 0.0;
			}

		/* get heading */
		*heading = store->heading;

		/* get speed  */
		*speed = 0.0;

		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_ltrack = 2.0;
		mb_io_ptr->beamwidth_xtrack = 0.2;

		/* read bathymetry values into storage arrays */
		*nbath = 2 * store->bat_num_bins;
		*namp = 0;
		dx = 0.5 * store->swath_width / store->bat_num_bins;
		for (i=0;i<store->bat_num_bins;i++)
			{
			j = store->bat_num_bins - i - 1;
			if (store->bat_port[i] > 0.0)
			    {
			    beamflag[j] = MB_FLAG_NONE;
			    bath[j] = store->bat_port[i];
			    }
			else if (store->bat_port[i] < 0.0)
			    {
			    beamflag[j] =
				MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[j] = -store->bat_port[i];
			    }
			else
			    {
			    beamflag[j] = MB_FLAG_NULL;
			    bath[j] = store->bat_port[i];
			    }
			bathacrosstrack[j] = -dx * (i + 0.5);
			j = store->bat_num_bins + i;
			if (store->bat_stbd[i] > 0.0)
			    {
			    beamflag[j] = MB_FLAG_NONE;
			    bath[j] = store->bat_stbd[i];
			    }
			else if (store->bat_stbd[i] < 0.0)
			    {
			    beamflag[j] =
				MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[j] = -store->bat_stbd[i];
			    }
			else
			    {
			    beamflag[j] = MB_FLAG_NULL;
			    bath[j] = store->bat_stbd[i];
			    }
			bathacrosstrack[j] = dx * (i + 0.5);
			}

		/* read sidescan values into storage arrays */
		*nss = 2 * store->amp_num_samp;
		dx = 0.5 * store->swath_width / store->amp_num_samp;
		for (i=0;i<store->amp_num_samp;i++)
			{
			j = store->amp_num_samp - i - 1;
			ss[j] = store->amp_port[i];
			ssacrosstrack[j] = -dx * (i + 0.5);
			j = store->amp_num_samp + i;
			ss[j] = store->amp_stbd[i];
			ssacrosstrack[j] = dx * (i + 0.5);
			}

		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  Data extracted by MBIO function <%s>\n",
				function_name);
			fprintf(stderr,"dbg4  Extracted values:\n");
			fprintf(stderr,"dbg4       kind:       %d\n",
				*kind);
			fprintf(stderr,"dbg4       error:      %d\n",
				*error);
			fprintf(stderr,"dbg4       time_i[0]:  %d\n",
				time_i[0]);
			fprintf(stderr,"dbg4       time_i[1]:  %d\n",
				time_i[1]);
			fprintf(stderr,"dbg4       time_i[2]:  %d\n",
				time_i[2]);
			fprintf(stderr,"dbg4       time_i[3]:  %d\n",
				time_i[3]);
			fprintf(stderr,"dbg4       time_i[4]:  %d\n",
				time_i[4]);
			fprintf(stderr,"dbg4       time_i[5]:  %d\n",
				time_i[5]);
			fprintf(stderr,"dbg4       time_i[6]:  %d\n",
				time_i[6]);
			fprintf(stderr,"dbg4       time_d:     %f\n",
				*time_d);
			fprintf(stderr,"dbg4       longitude:  %f\n",
				*navlon);
			fprintf(stderr,"dbg4       latitude:   %f\n",
				*navlat);
			fprintf(stderr,"dbg4       speed:      %f\n",
				*speed);
			fprintf(stderr,"dbg4       heading:    %f\n",
				*heading);
			fprintf(stderr,"dbg4       nbath:      %d\n",
				*nbath);
			for (i=0;i<*nbath;i++)
			  fprintf(stderr,"dbg4       beam:%d  flag:%3d  bath:%f  acrosstrack:%f  alongtrack:%f\n",
				i,beamflag[i],
				bath[i],bathacrosstrack[i],
				bathalongtrack[i]);
			fprintf(stderr,"dbg4        namp:     %d\n",
				*namp);
			for (i=0;i<*namp;i++)
			  fprintf(stderr,"dbg4        beam:%d   amp:%f  acrosstrack:%f  alongtrack:%f\n",
				i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
			for (i=0;i<*nss;i++)
			  fprintf(stderr,"dbg4        pixel:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
				i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
			}

		/* done translating values */

		}

	/* extract comment from structure */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* copy comment */
		strcpy(comment,store->comment);

		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  New ping read by MBIO function <%s>\n",
				function_name);
			fprintf(stderr,"dbg4  New ping values:\n");
			fprintf(stderr,"dbg4       error:      %d\n",
				*error);
			fprintf(stderr,"dbg4       comment:    %s\n",
				comment);
			}
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",*kind);
		}
	if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
		&& *kind == MB_DATA_COMMENT)
		{
		fprintf(stderr,"dbg2       comment:     \ndbg2       %s\n",
			comment);
		}
	else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
		&& *kind != MB_DATA_COMMENT)
		{
		fprintf(stderr,"dbg2       time_i[0]:     %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:     %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:     %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:     %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:     %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:     %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:     %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:        %f\n",*time_d);
		fprintf(stderr,"dbg2       longitude:     %f\n",*navlon);
		fprintf(stderr,"dbg2       latitude:      %f\n",*navlat);
		fprintf(stderr,"dbg2       speed:         %f\n",*speed);
		fprintf(stderr,"dbg2       heading:       %f\n",*heading);
		}
	if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
		&& *kind == MB_DATA_DATA)
		{
		fprintf(stderr,"dbg2       nbath:      %d\n",
			*nbath);
		for (i=0;i<*nbath;i++)
		  fprintf(stderr,"dbg2       beam:%d  flag:%3d  bath:%f  acrosstrack:%f  alongtrack:%f\n",
			i,beamflag[i],
			bath[i],bathacrosstrack[i],
			bathalongtrack[i]);
		fprintf(stderr,"dbg2        namp:     %d\n",
			*namp);
		for (i=0;i<*namp;i++)
		  fprintf(stderr,"dbg2       beam:%d   amp:%f  acrosstrack:%f  alongtrack:%f\n",
			i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
		fprintf(stderr,"dbg2        nss:      %d\n",
			*nss);
		for (i=0;i<*nss;i++)
		  fprintf(stderr,"dbg2        pixel:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
			i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
		}
	if (verbose >= 2)
		{
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_insert(int verbose, void *mbio_ptr, void *store_ptr,
		int kind, int time_i[7], double time_d,
		double navlon, double navlat,
		double speed, double heading,
		int nbath, int namp, int nss,
		char *beamflag, double *bath, double *amp,
		double *bathacrosstrack, double *bathalongtrack,
		double *ss, double *ssacrosstrack, double *ssalongtrack,
		char *comment, int *error)
{
	char	*function_name = "mbsys_dsl_insert";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		fprintf(stderr,"dbg2       kind:       %d\n",kind);
		}
	if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
		{
		fprintf(stderr,"dbg2       time_i[0]:  %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:  %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:  %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:  %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:  %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:  %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:  %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:     %f\n",time_d);
		fprintf(stderr,"dbg2       navlon:     %f\n",navlon);
		fprintf(stderr,"dbg2       navlat:     %f\n",navlat);
		fprintf(stderr,"dbg2       speed:      %f\n",speed);
		fprintf(stderr,"dbg2       heading:    %f\n",heading);
		}
	if (verbose >= 2 && kind == MB_DATA_DATA)
		{
		fprintf(stderr,"dbg2       nbath:      %d\n",nbath);
		if (verbose >= 3)
		 for (i=0;i<nbath;i++)
		  fprintf(stderr,"dbg3       beam:%d  flag:%3d  bath:%f  acrosstrack:%f  alongtrack:%f\n",
			i,beamflag[i],bath[i],bathacrosstrack[i],bathalongtrack[i]);
		fprintf(stderr,"dbg2       namp:       %d\n",namp);
		if (verbose >= 3)
		 for (i=0;i<namp;i++)
		  fprintf(stderr,"dbg3        beam:%d   amp:%f  acrosstrack:%f  alongtrack:%f\n",
			i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
		fprintf(stderr,"dbg2        nss:       %d\n",nss);
		if (verbose >= 3)
		 for (i=0;i<nss;i++)
		  fprintf(stderr,"dbg3        beam:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
			i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
		}
	if (verbose >= 2 && kind == MB_DATA_COMMENT)
		{
		fprintf(stderr,"dbg2       comment:     \ndbg2       %s\n",
			comment);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* set data kind */
	store->kind = kind;

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		store->tv_sec = (int) time_d;
		store->tv_usec = 1000000 * (time_d - (double) store->tv_sec);

		/* get nav */
		store->nav_x = navlon;
		store->nav_y = navlat;

		/* get heading */
		store->heading = heading;

		/* insert bathymetry values into storage arrays */
		for (i=0;i<store->bat_num_bins;i++)
			{
			if (mb_beam_check_flag(beamflag[store->bat_num_bins - i - 1]))
			    store->bat_port[i] = -bath[store->bat_num_bins - i - 1];
			else
			    store->bat_port[i] = bath[store->bat_num_bins - i - 1];
			if (mb_beam_check_flag(beamflag[store->bat_num_bins + i]))
			    store->bat_stbd[i] = -bath[store->bat_num_bins + i];
			else
			    store->bat_stbd[i] = bath[store->bat_num_bins + i];
			}

		/* insert sidescan values into storage arrays */
		for (i=0;i<store->amp_num_samp;i++)
			{
			store->amp_port[i] = ss[store->amp_num_samp - i - 1];
			store->amp_stbd[i] = ss[store->amp_num_samp + i];
			}
		}

	/* insert comment in structure */
	else if (store->kind == MB_DATA_COMMENT)
		{
		strncpy(store->comment,comment,79);
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return value:\n");
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:  %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_ttimes(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams,
	double *ttimes, double *angles,
	double *angles_forward, double *angles_null,
	double *heave, double *alongtrack_offset,
	double *draft, double *ssv, int *error)
{
	char	*function_name = "mbsys_dsl_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		fprintf(stderr,"dbg2       ttimes:     %p\n",(void *)ttimes);
		fprintf(stderr,"dbg2       angles_xtrk:%p\n",(void *)angles);
		fprintf(stderr,"dbg2       angles_ltrk:%p\n",(void *)angles_forward);
		fprintf(stderr,"dbg2       angles_null:%p\n",(void *)angles_null);
		fprintf(stderr,"dbg2       heave:      %p\n",(void *)heave);
		fprintf(stderr,"dbg2       ltrk_off:   %p\n",(void *)alongtrack_offset);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get nbeams */
		*nbeams = 2 * store->bat_num_bins;
		for (i=0;i<*nbeams;i++)
			{
			ttimes[i] = 0.0;
			angles[i] = 0.0;
			angles_forward[i] = 0.0;
			angles_null[i] = angles[i];
			heave[i] = 0.0;
			alongtrack_offset[i] = 0.0;
			}

		/* get ssv */
		*ssv = 0.0;
		*draft = 0.0;

		/* set status */
		*error = MB_ERROR_NO_ERROR;
		status = MB_SUCCESS;

		/* done translating values */

		}

	/* deal with comment */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* set status */
		*error = MB_ERROR_COMMENT;
		status = MB_FAILURE;
		}

	/* deal with other record type */
	else
		{
		/* set status */
		*error = MB_ERROR_OTHER;
		status = MB_FAILURE;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",*kind);
		}
	if (verbose >= 2 && *error == MB_ERROR_NO_ERROR)
		{
		fprintf(stderr,"dbg2       draft:      %f\n",*draft);
		fprintf(stderr,"dbg2       ssv:        %f\n",*ssv);
		fprintf(stderr,"dbg2       nbeams:     %d\n",*nbeams);
		for (i=0;i<*nbeams;i++)
			fprintf(stderr,"dbg2       beam %d: tt:%f  angle_xtrk:%f  angle_ltrk:%f  angle_null:%f  depth_off:%f  ltrk_off:%f\n",
				i,ttimes[i],angles[i],
				angles_forward[i],angles_null[i],
				heave[i],alongtrack_offset[i]);
		}
	if (verbose >= 2)
		{
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_detects(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams,
	int *detects, int *error)
{
	char	*function_name = "mbsys_dsl_detects";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		fprintf(stderr,"dbg2       detects:    %p\n",(void *)detects);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get nbeams */
		*nbeams = 2 * store->bat_num_bins;
		for (i=0;i<*nbeams;i++)
			{
			detects[i] = MB_DETECT_PHASE;
			}

		/* set status */
		*error = MB_ERROR_NO_ERROR;
		status = MB_SUCCESS;
		}

	/* deal with comment */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* set status */
		*error = MB_ERROR_COMMENT;
		status = MB_FAILURE;
		}

	/* deal with other record type */
	else
		{
		/* set status */
		*error = MB_ERROR_OTHER;
		status = MB_FAILURE;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",*kind);
		}
	if (verbose >= 2 && *error == MB_ERROR_NO_ERROR)
		{
		fprintf(stderr,"dbg2       nbeams:     %d\n",*nbeams);
		for (i=0;i<*nbeams;i++)
			fprintf(stderr,"dbg2       beam %d: detect:%d\n",
				i,detects[i]);
		}
	if (verbose >= 2)
		{
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, double *transducer_depth, double *altitude,
	int *error)
{
	char	*function_name = "mbsys_dsl_extract_altitude";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	double	dx;
	double	bath_best;
	double	xtrack_min;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		*transducer_depth = store->depth;
		bath_best = 0.0;
		xtrack_min = 99999999.9;
		dx = 0.5 * store->swath_width / store->bat_num_bins;
		for (i=0;i<store->bat_num_bins;i++)
		    {
		    if (store->bat_port[i] > 0.0
			&& dx * (i + 0.5) < xtrack_min)
			{
			xtrack_min = dx * (i + 0.5);
			bath_best = store->bat_port[i];
			}
		    if (store->bat_stbd[i] > 0.0
			&& dx * (i + 0.5) < xtrack_min)
			{
			xtrack_min = dx * (i + 0.5);
			bath_best = store->bat_stbd[i];
			}
		    }
		if (bath_best <= 0.0)
		    {
		    xtrack_min = 99999999.9;
		    for (i=0;i<store->bat_num_bins;i++)
			{
			if (store->bat_port[i] != 0.0
			    && dx * (i + 0.5) < xtrack_min)
			    {
			    xtrack_min = dx * (i + 0.5);
			    bath_best = fabs(store->bat_port[i]);
			    }
			if (store->bat_stbd[i] != 0.0
			    && dx * (i + 0.5) < xtrack_min)
			    {
			    xtrack_min = dx * (i + 0.5);
			    bath_best = fabs(store->bat_stbd[i]);
			    }
			}
		    }
		*altitude = bath_best - *transducer_depth;

		/* set status */
		*error = MB_ERROR_NO_ERROR;
		status = MB_SUCCESS;

		/* done translating values */

		}

	/* deal with comment */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* set status */
		*error = MB_ERROR_COMMENT;
		status = MB_FAILURE;
		}

	/* deal with other record type */
	else
		{
		/* set status */
		*error = MB_ERROR_OTHER;
		status = MB_FAILURE;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:              %d\n",*kind);
		fprintf(stderr,"dbg2       transducer_depth:  %f\n",*transducer_depth);
		fprintf(stderr,"dbg2       altitude:          %f\n",*altitude);
		fprintf(stderr,"dbg2       error:             %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:            %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_extract_nav(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int time_i[7], double *time_d,
		double *navlon, double *navlat,
		double *speed, double *heading, double *draft,
		double *roll, double *pitch, double *heave,
		int *error)
{
	char	*function_name = "mbsys_dsl_extract_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* get data kind */
	*kind = store->kind;

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		*time_d = store->tv_sec + 0.000001 * store->tv_usec;
		mb_get_date(verbose,*time_d,time_i);

		/* get navigation */
		if (store->nav_x <= 360.0 && store->nav_x >= -360.0
			&& store->nav_y <= 90.0 && store->nav_y >= -90.0)
			{
			*navlon = store->nav_x;
			*navlat = store->nav_y;
			}
		else
			{
			*navlon = 0.0;
			*navlat = 0.0;
			}

		/* get heading */
		*heading = store->heading;

		/* get speed  */
		*speed = 0.0;

		/* get draft  */
		*draft = store->depth;

		/* get roll pitch and heave */
		*roll = store->roll;
		*pitch = store->pitch;
		*heave = 0.0;

		/* print debug statements */
		if (verbose >= 5)
			{
			fprintf(stderr,"\ndbg4  Data extracted by MBIO function <%s>\n",
				function_name);
			fprintf(stderr,"dbg4  Extracted values:\n");
			fprintf(stderr,"dbg4       kind:       %d\n",
				*kind);
			fprintf(stderr,"dbg4       error:      %d\n",
				*error);
			fprintf(stderr,"dbg4       time_i[0]:  %d\n",
				time_i[0]);
			fprintf(stderr,"dbg4       time_i[1]:  %d\n",
				time_i[1]);
			fprintf(stderr,"dbg4       time_i[2]:  %d\n",
				time_i[2]);
			fprintf(stderr,"dbg4       time_i[3]:  %d\n",
				time_i[3]);
			fprintf(stderr,"dbg4       time_i[4]:  %d\n",
				time_i[4]);
			fprintf(stderr,"dbg4       time_i[5]:  %d\n",
				time_i[5]);
			fprintf(stderr,"dbg4       time_i[6]:  %d\n",
				time_i[6]);
			fprintf(stderr,"dbg4       time_d:     %f\n",
				*time_d);
			fprintf(stderr,"dbg4       longitude:  %f\n",
				*navlon);
			fprintf(stderr,"dbg4       latitude:   %f\n",
				*navlat);
			fprintf(stderr,"dbg4       speed:      %f\n",
				*speed);
			fprintf(stderr,"dbg4       heading:    %f\n",
				*heading);
			fprintf(stderr,"dbg4       draft:      %f\n",
				*draft);
			fprintf(stderr,"dbg4       roll:       %f\n",
				*roll);
			fprintf(stderr,"dbg4       pitch:      %f\n",
				*pitch);
			fprintf(stderr,"dbg4       heave:      %f\n",
				*heave);
			}

		/* done translating values */

		}

	/* deal with comment */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* set status */
		*error = MB_ERROR_COMMENT;
		status = MB_FAILURE;
		}

	/* deal with other record type */
	else
		{
		/* set status */
		*error = MB_ERROR_OTHER;
		status = MB_FAILURE;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       kind:       %d\n",*kind);
		}
	if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR
		&& *kind == MB_DATA_DATA)
		{
		fprintf(stderr,"dbg2       time_i[0]:     %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:     %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:     %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:     %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:     %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:     %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:     %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:        %f\n",*time_d);
		fprintf(stderr,"dbg2       longitude:     %f\n",*navlon);
		fprintf(stderr,"dbg2       latitude:      %f\n",*navlat);
		fprintf(stderr,"dbg2       speed:         %f\n",*speed);
		fprintf(stderr,"dbg2       heading:       %f\n",*heading);
		fprintf(stderr,"dbg2       draft:         %f\n",*draft);
		fprintf(stderr,"dbg2       roll:          %f\n",*roll);
		fprintf(stderr,"dbg2       pitch:         %f\n",*pitch);
		fprintf(stderr,"dbg2       heave:         %f\n",*heave);
		}
	if (verbose >= 2)
		{
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_insert_nav(int verbose, void *mbio_ptr, void *store_ptr,
		int time_i[7], double time_d,
		double navlon, double navlat,
		double speed, double heading, double draft,
		double roll, double pitch, double heave,
		int *error)
{
	char	*function_name = "mbsys_dsl_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		fprintf(stderr,"dbg2       time_i[0]:  %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:  %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:  %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:  %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:  %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:  %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:  %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:     %f\n",time_d);
		fprintf(stderr,"dbg2       navlon:     %f\n",navlon);
		fprintf(stderr,"dbg2       navlat:     %f\n",navlat);
		fprintf(stderr,"dbg2       speed:      %f\n",speed);
		fprintf(stderr,"dbg2       heading:    %f\n",heading);
		fprintf(stderr,"dbg2       draft:      %f\n",draft);
		fprintf(stderr,"dbg2       roll:       %f\n",roll);
		fprintf(stderr,"dbg2       pitch:      %f\n",pitch);
		fprintf(stderr,"dbg2       heave:      %f\n",heave);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointer */
	store = (struct mbsys_dsl_struct *) store_ptr;

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		store->tv_sec = (int) time_d;
		store->tv_usec = 1000000 * (time_d - (double) store->tv_sec);

		/* get nav */
		store->nav_x = navlon;
		store->nav_y = navlat;

		/* get heading */
		store->heading = heading;

		/* get draft  */
		store->depth = draft;

		/* get roll pitch and heave */
		store->roll = roll;
		store->pitch = pitch;
		}

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return value:\n");
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:  %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_dsl_copy(int verbose, void *mbio_ptr,
			void *store_ptr, void *copy_ptr,
			int *error)
{
	char	*function_name = "mbsys_dsl_copy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_dsl_struct *store;
	struct mbsys_dsl_struct *copy;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %p\n",(void *)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %p\n",(void *)store_ptr);
		fprintf(stderr,"dbg2       copy_ptr:   %p\n",(void *)copy_ptr);
		}

	/* get mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* get data structure pointers */
	store = (struct mbsys_dsl_struct *) store_ptr;
	copy = (struct mbsys_dsl_struct *) copy_ptr;

	/* copy the structure */
	*copy = *store;

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
