/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_stereopair.c	3.00	11/22/2014
 *	$Id: mbsys_stereopair.c 2227 2015-02-05 21:12:31Z caress $
 *
 *    Copyright (c) 2014-2015 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_stereopair.c contains the MBIO functions for handling data from
 * the following data formats:
 *    MBSYS_STEREOPAIR formats (code in mbsys_stereopair.c and mbsys_stereopair.h):
 *      MBF_PHOTGRAM : MBIO ID ??? (code in mbr_photgram.c)
 *
 * Author:	D. W. Caress
 * Date:	November 22, 2014
 *
 *
 */

/* standard include files */
#include <stdio.h>
#include <stdlib.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_stereopair.h"

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

/*--------------------------------------------------------------------*/
int mbsys_stereopair_alloc(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_stereopair_alloc";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_mallocd(verbose, __FILE__, __LINE__, sizeof(struct mbsys_stereopair_struct),
				(void **)store_ptr, error);

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

	/* initialize data record */
	memset(*store_ptr, 0, sizeof(struct mbsys_stereopair_struct));

	/* 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_stereopair_deall(int verbose, void *mbio_ptr, void **store_ptr,
			int *error)
{
	char	*function_name = "mbsys_stereopair_deall";
	int	status = MB_SUCCESS;
	struct mbsys_stereopair_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",version_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);
		}

	/* get data structure pointer */
	store = (struct mbsys_stereopair_struct *) *store_ptr;
	
	/* deallocate any arrays or structures contained within the store data structure */
	if (store->num_soundings_alloc > 0 && store->soundings != NULL)
		status = mb_freed(verbose,__FILE__,__LINE__,(void **)(&store->soundings),error);

	/* deallocate memory for data structure */
	status = mb_freed(verbose,__FILE__,__LINE__,(void **)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_stereopair_dimensions(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int *nbath, int *namp, int *nss, int *error)
{
	char	*function_name = "mbsys_stereopair_dimensions";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get beam and pixel numbers */
		*nbath = store->num_soundings;
		*namp = 0;
		*nss = 0;
		}
	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_stereopair_pingnumber(int verbose, void *mbio_ptr,
		int *pingnumber, int *error)
{
	char	*function_name = "mbsys_stereopair_pingnumber";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mb_ptr:     %p\n",(void *)mbio_ptr);
		}

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

	/* get data structure pointer */
	store = (struct mbsys_stereopair_struct *) mb_io_ptr->store_data;

	/* extract data from structure */
	*pingnumber = 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       pingnumber: %d\n",*pingnumber);
		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_stereopair_sonartype(int verbose, void *mbio_ptr, void *store_ptr,
		int *sonartype, int *error)
{
	char	*function_name = "mbsys_stereopair_sonartype";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

	/* get sonar type */
	*sonartype = MB_TOPOGRAPHY_TYPE_CAMERA;

	/* 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       sonartype:  %d\n",*sonartype);
		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_stereopair_sidescantype(int verbose, void *mbio_ptr, void *store_ptr,
		int *ss_type, int *error)
{
	char	*function_name = "mbsys_stereopair_sidescantype";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

	/* get sidescan type */
	*ss_type = MB_SIDESCAN_LINEAR;

	/* 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       ss_type:    %d\n",*ss_type);
		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_stereopair_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_stereopair_extract";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_struct *store;
	struct mbsys_stereopair_sounding_struct *sounding;
	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",version_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_stereopair_struct *) store_ptr;

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

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

		/* get navigation */
		*navlon = store->longitude;
		*navlat = store->latitude;

		/* get speed */
		*speed = 3.6 * store->speed;

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

		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_xtrack = 0.0;
		mb_io_ptr->beamwidth_ltrack = 0.0;

		/* read distance and depth values into storage arrays */
		*nbath = store->num_soundings;
		*namp = 0;
		for (i=0;i<*nbath;i++)
			{
			sounding = (struct mbsys_stereopair_sounding_struct *) &store->soundings[i];
			bath[i] = sounding->depth + store->sensordepth;
			beamflag[i] = sounding->beamflag;
			bathacrosstrack[i] = sounding->acrosstrack;
			bathalongtrack[i] = sounding->alongtrack;
			}

		/* extract sidescan */
		*nss = 0;
		//for (i=0;i<store->number_pixels;i++)
		//	{
		//	}

		/* 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       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]);
			fprintf(stderr,"dbg4        nss:      %d\n", *nss);
			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 data from structure */
	else if (*kind == MB_DATA_NAV)
		{
		/* get time */
		*time_d = store->time_d;
		mb_get_date(verbose, *time_d, time_i);

		/* get navigation */
		*navlon = store->longitude;
		*navlat = store->latitude;

		/* get speed */
		*speed = 3.6 * store->speed;

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

		/* set beam and pixel numbers */
		*nbath = 0;
		*namp = 0;
		*nss = 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);
			}

		/* done translating values */

		}

	/* extract comment from structure */
	else if (*kind == MB_DATA_COMMENT)
		{
		/* get time */
		*time_d = store->time_d;
		mb_get_date(verbose, *time_d, time_i);

		/* copy comment */
		strncpy(comment, store->comment, MIN(store->comment_len, MB_COMMENT_MAXLINE));

		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  Comment extracted by MBIO function <%s>\n",
				function_name);
			fprintf(stderr,"dbg4  New ping 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       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);
		}
	if (verbose >= 2 && (*kind == MB_DATA_DATA || *kind == MB_DATA_NAV))
		{
		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_stereopair_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_stereopair_insert";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_struct *store;
	struct mbsys_stereopair_sounding_struct *sounding;
	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",version_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_COMMENT)
		{
		fprintf(stderr,"dbg2       comment:     \ndbg2       %s\n",
			comment);
		}
	if (verbose >= 2 && (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);
		}
	if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
		{
		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]);
		}

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

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

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

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

		/* get navigation */
		store->longitude = navlon;
		store->latitude = navlat;

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

		/* get speed  */
		store->speed = speed / 3.6;
		
		/* allocate space for soundings if required */
		if (nbath > store->num_soundings_alloc)
			{
			/* allocate memory for data structure */
			status = mb_reallocd(verbose, __FILE__, __LINE__,
						nbath * sizeof(struct mbsys_stereopair_sounding_struct),
						(void **)(&store->soundings), error);
			if (status == MB_SUCCESS)
				store->num_soundings_alloc = nbath;
			else
				store->num_soundings_alloc = 0;
			}

		/* read distance and depth values into storage arrays */
		store->num_soundings = nbath;
		for (i=0;i<store->num_soundings;i++)
			{
			sounding = (struct mbsys_stereopair_sounding_struct *) &store->soundings[i];
			sounding->depth = bath[i] - store->sensordepth;
			sounding->beamflag = beamflag[i];
			sounding->acrosstrack = bathacrosstrack[i];
			sounding->alongtrack = bathalongtrack[i];
			sounding->red = 0;
			sounding->green = 0;
			sounding->blue = 0;
			}

		/* insert the sidescan */
		}

	/* insert data in nav structure */
	else if (store->kind == MB_DATA_NAV)
		{
		/* get time */
		store->time_d = time_d;

		/* get navigation */
		store->longitude = navlon;
		store->latitude = navlat;

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

		/* get speed  */
		store->speed = speed / 3.6;
		}

	/* insert comment in structure */
	else if (store->kind == MB_DATA_COMMENT)
		{
		strncpy(store->comment, comment, MB_COMMENT_MAXLINE);
		store->comment_len = strlen(store->comment) + 1;
		store->comment_len += 4 - (store->comment_len % 4);
		}

	/* 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_stereopair_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_stereopair_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_struct *store;
	struct mbsys_stereopair_sounding_struct *sounding;
	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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get ssv */
		*ssv = 0.0;

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

		/* get travel times, angles */
		*nbeams = store->num_soundings;
		for (i=0;i<store->num_soundings;i++)
			{
			sounding = (struct mbsys_stereopair_sounding_struct *) &store->soundings[i];
			ttimes[i] = 0.0;
			mb_xyz_to_takeoff(verbose,
						sounding->acrosstrack,
						sounding->alongtrack,
						sounding->depth,
						&angles[i],
						&angles_forward[i],
						error);			
			angles_null[i] = 0.0;
			heave[i] = 0.0;
			alongtrack_offset[i] = 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_stereopair_detects(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams, int *detects, int *error)
{
	char	*function_name = "mbsys_stereopair_detects";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get detect type for each sounding - options include:
			MB_DETECT_UNKNOWN
			MB_DETECT_AMPLITUDE
			MB_DETECT_PHASE
			MB_DETECT_LIDAR
			MB_DETECT_PHOTOGRAMMETRY */
		*nbeams = store->num_soundings;
		for (i=0;i<*nbeams;i++)
			{
			detects[i] = MB_DETECT_PHOTOGRAMMETRY;
			}

		/* 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       nbeams:     %d\n",*nbeams);
		for (i=0;i<*nbeams;i++)
			fprintf(stderr,"dbg2       beam %d: detects:%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_stereopair_gains(int verbose, void *mbio_ptr, void *store_ptr,
			int *kind, double *transmit_gain, double *pulse_length,
			double *receive_gain, int *error)
{
	char	*function_name = "mbsys_stereopair_gains";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get transmit_gain (dB) */
		*transmit_gain = 0.0;

		/* get pulse_length (usec) */
		*pulse_length = 0.0;

		/* get receive_gain (dB) */
		*receive_gain = 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       transmit_gain: %f\n",*transmit_gain);
		fprintf(stderr,"dbg2       pulse_length:  %f\n",*pulse_length);
		fprintf(stderr,"dbg2       receive_gain:  %f\n",*receive_gain);
		}
	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_stereopair_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, double *transducer_depth, double *altitude,
	int *error)
{
	char	*function_name = "mbsys_stereopair_extract_altitude";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get transducer depth and altitude */
		*transducer_depth = store->sensordepth;

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

		/* 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_stereopair_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_stereopair_extract_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

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

	/* extract data from survey record */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		*time_d = store->time_d;
		mb_get_date(verbose, *time_d, time_i);

		/* get navigation */
		*navlon = store->longitude;
		*navlat = store->latitude;

		/* get speed */
		*speed = 3.6 * store->speed;

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

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

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

		/* done translating values */
		}

	/* extract data from nav record */
	else if (*kind == MB_DATA_NAV)
		{
		/* get time */
		*time_d = store->time_d;
		mb_get_date(verbose, *time_d, time_i);

		/* get navigation */
		*navlon = store->longitude;
		*navlat = store->latitude;

		/* get speed */
		*speed = 3.6 * store->speed;

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

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

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

		/* done translating values */
		}

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

		/* get time */
		for (i=0;i<7;i++)
			time_i[i] = store->time_i[i];
		*time_d = store->time_d;
		}

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

		/* get time */
		*time_d = store->time_d;
		mb_get_date(verbose, *time_d, time_i);
		}

	/* 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       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);
		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_stereopair_extract_nnav(int verbose, void *mbio_ptr, void *store_ptr,
			int nmax, int *kind, int *n,
			int *time_i, 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_stereopair_extract_nnav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_struct *store;
	int	i, inav;

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

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

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

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

	/* extract data from survey record */
	if (*kind == MB_DATA_DATA)
		{
		/* just one navigation value */
		*n = 1;

		/* get time */
		time_d[0] = store->time_d;
		mb_get_date(verbose, store->time_d, time_i);

		/* get navigation */
		navlon[0] = store->longitude;
		navlat[0] = store->latitude;

		/* get speed */
		speed[0] = 3.6 * store->speed;

		/* get heading */
		heading[0] = store->heading;

		/* get draft  */
		draft[0] = store->sensordepth;

		/* get attitude  */
		roll[0] = store->roll;
		pitch[0] = store->pitch;
		heave[0] = 0.0;

		/* done translating values */
		}

	/* extract data from nav record */
	else if (*kind == MB_DATA_NAV)
		{
		/* just one navigation value - in some formats there
			are multiple values in nav records to loop over */
		*n = 1;

		/* get time */
		time_d[0] = store->time_d;
		mb_get_date(verbose, store->time_d, time_i);

		/* get navigation */
		navlon[0] = store->longitude;
		navlat[0] = store->latitude;

		/* get speed */
		speed[0] = 3.6 * store->speed;

		/* get heading */
		heading[0] = store->heading;

		/* get draft  */
		draft[0] = store->sensordepth;

		/* get attitude  */
		roll[0] = store->roll;
		pitch[0] = store->pitch;
		heave[0] = 0.0;

		/* done translating values */
		}

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

		/* get time */
		time_d[0] = store->time_d;
		mb_get_date(verbose, store->time_d, time_i);
		}

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

		/* get time */
		time_d[0] = store->time_d;
		mb_get_date(verbose, store->time_d, time_i);
		}

	/* 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       n:          %d\n",*n);
		for (inav=0;inav<*n;inav++)
			{
			for (i=0;i<7;i++)
				fprintf(stderr,"dbg2       %d time_i[%d]:     %d\n",inav,i,time_i[inav * 7 + i]);
			fprintf(stderr,"dbg2       %d time_d:        %f\n",inav,time_d[inav]);
			fprintf(stderr,"dbg2       %d longitude:     %f\n",inav,navlon[inav]);
			fprintf(stderr,"dbg2       %d latitude:      %f\n",inav,navlat[inav]);
			fprintf(stderr,"dbg2       %d speed:         %f\n",inav,speed[inav]);
			fprintf(stderr,"dbg2       %d heading:       %f\n",inav,heading[inav]);
			fprintf(stderr,"dbg2       %d draft:         %f\n",inav,draft[inav]);
			fprintf(stderr,"dbg2       %d roll:          %f\n",inav,roll[inav]);
			fprintf(stderr,"dbg2       %d pitch:         %f\n",inav,pitch[inav]);
			fprintf(stderr,"dbg2       %d heave:         %f\n",inav,heave[inav]);
			}
		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_stereopair_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_stereopair_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;

	/* insert data in ping structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		store->time_d = time_d;

		/* get navigation */
		store->longitude = navlon;
		store->latitude = navlat;

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

		/* get speed  */
		store->speed = speed / 3.6;

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

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

	/* insert data in nav structure */
	else if (store->kind == MB_DATA_NAV)
		{
		/* get time */
		store->time_d = time_d;

		/* get navigation */
		store->longitude = navlon;
		store->latitude = navlat;

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

		/* get speed  */
		store->speed = speed / 3.6;

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

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

	/* 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_stereopair_copy(int verbose, void *mbio_ptr,
			void *store_ptr, void *copy_ptr,
			int *error)
{
	char	*function_name = "mbsys_stereopair_copy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_stereopair_struct *store;
	struct mbsys_stereopair_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",version_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_stereopair_struct *) store_ptr;
	copy = (struct mbsys_stereopair_struct *) copy_ptr;

	/* copy the data - for many formats memory must be allocated and
		sub-structures copied separately */
	*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);
}
/*--------------------------------------------------------------------*/