/*--------------------------------------------------------------------
 *    The MB-system:	mbset.c	1/4/2000
 *    $Id: mbset.c 1878 2010-12-30 17:44:51Z caress $
 *
 *    Copyright (c) 2000-2009 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.
 *--------------------------------------------------------------------*/
/*
 * MBset is a tool for setting values in an mbprocess parameter file.
 * MBprocess is a tool for processing swath sonar bathymetry data  
 * which performs a number of functions, including:
 *   - merging navigation
 *   - recalculating bathymetry from travel time and angle data
 *     by raytracing through a layered water sound velocity model.
 *   - applying changes to ship draft, roll bias and pitch bias
 *   - applying bathymetry edits from edit save files.
 * The parameters controlling mbprocess are included in an ascii
 * parameter file. The parameter file syntax is documented by
 * comments in the source file mbsystem/src/mbio/mb_process.h
 * and the manual pages for mbprocess and mbset. 
 *
 * Author:	D. W. Caress
 * Date:	January 4, 2000
 *
 * $Log: mbset.c,v $
 * Revision 5.32  2009/03/02 18:54:40  caress
 * Fixed pixel size problems with mbmosaic, resurrected program mbfilter, and also updated copyright dates in several source files.
 *
 * Revision 5.31  2008/09/11 20:20:14  caress
 * Checking in updates made during cruise AT15-36.
 *
 * Revision 5.30  2008/05/24 19:41:44  caress
 * Added processing kluge (kluge006) allowing the sonar draft to be be changed without changing the calculated bathymetry.
 *
 * Revision 5.29  2008/05/13 20:22:07  caress
 * Fixed bug in handling navigation adjustment.
 *
 * Revision 5.28  2007/10/08 16:48:06  caress
 * State of the code on 8 October 2007.
 *
 * Revision 5.27  2006/01/24 22:23:15  caress
 * 5.0.8beta.
 *
 * Revision 5.26  2006/01/18 15:17:00  caress
 * Added stdlib.h include.
 *
 * Revision 5.25  2005/03/25 04:38:13  caress
 * Sonar depth merging has been added to mbprocess and mbset. This is controlled by the SONARDEPTHMODE, SONARDEPTHFILE, and SONARDEPTHFORMAT mbprocess parameters.
 *
 * Revision 5.24  2004/12/02 06:37:42  caress
 * Fixes while supporting Reson 7k data.
 *
 * Revision 5.23  2004/05/21 23:51:19  caress
 * Progress supporting Reson 7k data, including support for extracing subbottom profiler data.
 *
 * Revision 5.22  2003/04/17 21:18:57  caress
 * Release 5.0.beta30
 *
 * Revision 5.21  2003/01/15 20:52:13  caress
 * Release 5.0.beta28
 *
 * Revision 5.20  2002/10/02 23:56:06  caress
 * Release 5.0.beta24
 *
 * Revision 5.19  2002/09/19 00:28:12  caress
 * Release 5.0.beta23
 *
 * Revision 5.18  2002/09/07 04:49:23  caress
 * Added slope mode option to mb_process.
 *
 * Revision 5.17  2002/07/25 19:07:17  caress
 * Release 5.0.beta21
 *
 * Revision 5.16  2002/05/29 23:43:09  caress
 * Release 5.0.beta18
 *
 * Revision 5.15  2002/04/06 02:53:45  caress
 * Release 5.0.beta16
 *
 * Revision 5.14  2001/12/18 04:29:57  caress
 * Release 5.0.beta11.
 *
 * Revision 5.13  2001/11/15  22:58:02  caress
 * Added datalist parsing to mbset, fixed file path handling.
 *
 * Revision 5.12  2001/11/04  00:27:11  caress
 * Fixed handling of angle modes.
 *
 * Revision 5.11  2001/10/19 19:40:32  caress
 * Now uses relative paths.
 *
 * Revision 5.10  2001/10/19  00:56:17  caress
 * Now tries to use relative paths.
 *
 * Revision 5.9  2001/09/17  23:21:14  caress
 * Fixed metadata support.
 *
 * Revision 5.8  2001/08/10  22:42:50  dcaress
 * Release 5.0.beta07
 *
 * Revision 5.7  2001-08-03 18:01:07-07  caress
 * Added cut by speed.
 *
 * Revision 5.6  2001/07/31  00:42:12  caress
 * Added data cutting capability.
 *
 * Revision 5.5  2001/07/20 00:34:38  caress
 * Release 5.0.beta03
 *
 * Revision 5.4  2001/06/11 17:47:38  caress
 * Fixed pitchbias bug.
 *
 * Revision 5.3  2001/06/08  21:45:46  caress
 * Version 5.0.beta01
 *
 * Revision 5.2  2001/06/03  07:07:34  caress
 * Release 5.0.beta01.
 *
 * Revision 5.1  2001/03/22 21:15:49  caress
 * Trying to make release 5.0.beta0.
 *
 * Revision 5.0  2001/01/22  07:55:22  caress
 * Version 5.0.beta01
 *
 * Revision 1.1  2001/01/22  07:54:22  caress
 * Initial revision
 *
 *
 *
 */

/* standard include files */
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <string.h>
#include <time.h>
#include <sys/types.h>
#include <sys/stat.h>

/* mbio include files */
#include "../../include/mb_format.h"
#include "../../include/mb_status.h"
#include "../../include/mb_define.h"
#include "../../include/mb_process.h"
#include "../../include/mb_swap.h"

static char rcs_id[] = "$Id: mbset.c 1878 2010-12-30 17:44:51Z caress $";

/*--------------------------------------------------------------------*/

int main (int argc, char **argv)
{
	/* id variables */
	char program_name[] = "mbset";
	char help_message[] = "MBset is a tool for setting values in an mbprocess parameter file.\n\
MBprocess is a tool for processing swath sonar bathymetry data  \n\
which performs a number of functions, including:\n\
  - merging navigation\n\
  - recalculating bathymetry from travel time and angle data\n\
    by raytracing through a layered water sound velocity model.\n\
  - applying changes to ship draft, roll bias and pitch bias\n\
  - applying bathymetry edits from  edit save files.\n\
The parameters controlling mbprocess are included in an ascii\n\
parameter file. The parameter file syntax is documented by\n\
the manual pages for mbprocess and mbset. \n\n";
	char usage_message[] = "mbset -Iinfile -PPARAMETER:value [-E -L -V -H]";

	/* parsing variables */
	extern char *optarg;
	extern int optind;
	int	errflg = 0;
	int	c;
	int	help = 0;
	int	flag = 0;
	int	pargc = 0;
	char	**pargv = NULL;
	
	/* MBIO status variables */
	int	status = MB_SUCCESS;
	int	verbose = 0;
	int	error = MB_ERROR_NO_ERROR;
	
	/* parameter controls */
	struct mb_process_struct process;
	
	/* processing variables */
	int	explicit = MB_NO;
	int	read_datalist = MB_NO;
	int	read_data = MB_NO;
	char	read_file[MBP_FILENAMESIZE];
	void	*datalist;
	int	look_processed = MB_DATALIST_LOOK_NO;
	double	file_weight;
	int	lookforfiles = 0;
 	int	format = 0;
	char	mbp_ifile[MBP_FILENAMESIZE];
	int	mbp_format;
	int	nscan;
	int	i;

	/* set default input and output */
	strcpy (mbp_ifile, "\0");
	strcpy (read_file, "datalist.mb-1");
	
	/* process argument list */
	while ((c = getopt(argc, argv, "VvHhEeF:f:I:i:LlP:p:")) != -1)
	  switch (c) 
		{
		case 'H':
		case 'h':
			help++;
			break;
		case 'V':
		case 'v':
			verbose++;
			break;
		case 'E':
		case 'e':
			explicit = MB_YES;
			flag++;
			break;
		case 'F':
		case 'f':
			sscanf (optarg,"%d", &format);
			flag++;
			break;
		case 'I':
		case 'i':
			sscanf (optarg,"%s", read_file);
			flag++;
			break;
		case 'L':
		case 'l':
			lookforfiles++;
			flag++;
			break;
		case 'P':
		case 'p':
			if (strlen(optarg) > 1)
			    {
			    /* Replace first '=' before ':' with ':'  */
			    for (i = 0; i < strlen(optarg); i++)
				{
				if (optarg[i] == ':')
				    {
				    break;
				    }
				else if (optarg[i] == '=')
				    {
				    optarg[i] = ':';
				    break;
				    }
				}
				
			    /* store the parameter argument */
			    pargv = (char **) realloc(pargv, (pargc + 1) * sizeof(char *));
			    pargv[pargc] = (char *) malloc(strlen(optarg)+1);
			    strcpy(pargv[pargc], optarg);
			    pargc++;
			    }
			flag++;
			break;
		case '?':
			errflg++;
		}

	/* if error flagged then print it and exit */
	if (errflg)
		{
		fprintf(stderr,"usage: %s\n", usage_message);
		fprintf(stderr,"\nProgram <%s> Terminated\n",
			program_name);
		error = MB_ERROR_BAD_USAGE;
		exit(error);
		}

	/* print starting message */
	if (verbose == 1 || help)
		{
		fprintf(stderr,"\nProgram %s\n",program_name);
		fprintf(stderr,"Version %s\n",rcs_id);
		fprintf(stderr,"MB-System Version %s\n",MB_VERSION);
		}

	/* if help desired then print it and exit */
	if (help)
		{
		fprintf(stderr,"\n%s\n",help_message);
		fprintf(stderr,"\nusage: %s\n", usage_message);
		exit(error);
		}

	/* get format if required */
	if (format == 0)
		mb_get_format(verbose,read_file,NULL,&format,&error);
  
	/* determine whether to read one file or a list of files */
	if (format < 0)
		read_datalist = MB_YES;
	
	/* open file list */
	if (read_datalist == MB_YES)
	    {
	    if ((status = mb_datalist_open(verbose,&datalist,
					    read_file,look_processed,&error)) != MB_SUCCESS)
		{
		error = MB_ERROR_OPEN_FAIL;
		fprintf(stderr,"\nUnable to open data list file: %s\n",
			read_file);
		fprintf(stderr,"\nProgram <%s> Terminated\n",
			program_name);
		exit(error);
		}
	    if ((status = mb_datalist_read(verbose,datalist,
			    mbp_ifile,&mbp_format,&file_weight,&error))
			    == MB_SUCCESS)
		read_data = MB_YES;
	    else
		read_data = MB_NO;
	    }
	/* else copy single filename to be read */
	else
	    {
	    strcpy(mbp_ifile, read_file);
	    mbp_format = format;
	    read_data = MB_YES;
	    }
	    
	/* loop over all files to be read */
	while (read_data == MB_YES)
	{
	
	/* load parameters */
	status = mb_pr_readpar(verbose, mbp_ifile, lookforfiles, 
			&process, &error);
	process.mbp_ifile_specified = MB_YES;
	
	/* process parameter list */
	for (i=0;i<pargc;i++)
		{
		/* general parameters */
		if (strncmp(pargv[i], "OUTFILE", 7) == 0)
		    {
		    nscan = sscanf(pargv[i], "OUTFILE:%s", process.mbp_ofile);
		    if (nscan == 1)
			process.mbp_ofile_specified = MB_YES;
		    else
			process.mbp_ofile_specified = MB_NO;
		    }
		else if (strncmp(pargv[i], "FORMAT", 6) == 0)
		    {
		    sscanf(pargv[i], "FORMAT:%d", &process.mbp_format);
		    process.mbp_format_specified = MB_YES;
		    }
		    
		/* navigation merging */
		else if (strncmp(pargv[i], "NAVMODE", 7) == 0)
		    {
		    sscanf(pargv[i], "NAVMODE:%d", &process.mbp_nav_mode);
		    }
		else if (strncmp(pargv[i], "NAVFILE", 7) == 0)
		    {
		    sscanf(pargv[i], "NAVFILE:%s", process.mbp_navfile);
		    if (explicit == MB_NO)
			{
			process.mbp_nav_mode = MBP_NAV_ON;
			process.mbp_nav_heading = MBP_NAV_ON;
			process.mbp_nav_speed = MBP_NAV_ON;
			process.mbp_nav_draft = MBP_NAV_ON;
			process.mbp_nav_attitude = MBP_NAV_ON;
			}
		    }
		else if (strncmp(pargv[i], "NAVFORMAT", 9) == 0)
		    {
		    sscanf(pargv[i], "NAVFORMAT:%d", &process.mbp_nav_format);
		    }
		else if (strncmp(pargv[i], "NAVHEADING", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVHEADING:%d", &process.mbp_nav_heading);
		    }
		else if (strncmp(pargv[i], "NAVSPEED", 8) == 0)
		    {
		    sscanf(pargv[i], "NAVSPEED:%d", &process.mbp_nav_speed);
		    }
		else if (strncmp(pargv[i], "NAVDRAFT", 8) == 0)
		    {
		    sscanf(pargv[i], "NAVDRAFT:%d", &process.mbp_nav_draft);
		    }
		else if (strncmp(pargv[i], "NAVATTITUDE", 11) == 0)
		    {
		    sscanf(pargv[i], "NAVATTITUDE:%d", &process.mbp_nav_attitude);
		    }
		else if (strncmp(pargv[i], "NAVINTERP", 9) == 0)
		    {
		    sscanf(pargv[i], "NAVINTERP:%d", &process.mbp_nav_algorithm);
		    }
		else if (strncmp(pargv[i], "NAVTIMESHIFT", 12) == 0)
		    {
		    sscanf(pargv[i], "NAVTIMESHIFT:%lf", &process.mbp_nav_timeshift);
		    }
		    
		/* navigation offsets and shifts */
		else if (strncmp(pargv[i], "NAVOFFSETX", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVOFFSETX:%lf", &process.mbp_nav_offsetx);
		    process.mbp_nav_shift = MBP_NAV_ON;
		    }
		else if (strncmp(pargv[i], "NAVOFFSETY", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVOFFSETY:%lf", &process.mbp_nav_offsety);
		    process.mbp_nav_shift = MBP_NAV_ON;
		    }
		else if (strncmp(pargv[i], "NAVOFFSETZ", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVOFFSETZ:%lf", &process.mbp_nav_offsetz);
		    process.mbp_nav_shift = MBP_NAV_ON;
		    }
		else if (strncmp(pargv[i], "NAVSHIFTLON", 11) == 0)
		    {
		    sscanf(pargv[i], "NAVSHIFTLON:%lf", &process.mbp_nav_shiftlon);
		    process.mbp_nav_shift = MBP_NAV_ON;
		    }
		else if (strncmp(pargv[i], "NAVSHIFTLAT", 11) == 0)
		    {
		    sscanf(pargv[i], "NAVSHIFTLAT:%lf", &process.mbp_nav_shiftlat);
		    process.mbp_nav_shift = MBP_NAV_ON;
		    }
		else if (strncmp(pargv[i], "NAVSHIFT", 8) == 0)
		    {
		    sscanf(pargv[i], "NAVSHIFT:%d", &process.mbp_nav_shift);
		    }

		/* adjusted navigation merging */
		else if (strncmp(pargv[i], "NAVADJMODE", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVADJMODE:%d", &process.mbp_navadj_mode);
		    if (explicit == MB_NO)
			{
			process.mbp_navadjfile[0] = '\0';
			}
		    }
		else if (strncmp(pargv[i], "NAVADJFILE", 10) == 0)
		    {
		    sscanf(pargv[i], "NAVADJFILE:%s", process.mbp_navadjfile);
		    if (explicit == MB_NO)
			{
			process.mbp_navadj_mode = MBP_NAV_ON;
			}
		    }
		else if (strncmp(pargv[i], "NAVADJINTERP", 12) == 0)
		    {
		    sscanf(pargv[i], "NAVADJINTERP:%d", &process.mbp_navadj_algorithm);
		    }

		/* attitude merging */
		else if (strncmp(pargv[i], "ATTITUDEMODE", 12) == 0)
		    {
		    sscanf(pargv[i], "ATTITUDEMODE:%d", &process.mbp_attitude_mode);
		    }
		else if (strncmp(pargv[i], "ATTITUDEFILE", 12) == 0)
		    {
		    sscanf(pargv[i], "ATTITUDEFILE:%s", process.mbp_attitudefile);
		    if (explicit == MB_NO)
			{
			process.mbp_attitude_mode = MBP_ATTITUDE_ON;
			}
		    }
		else if (strncmp(pargv[i], "ATTITUDEFORMAT", 14) == 0)
		    {
		    sscanf(pargv[i], "ATTITUDEFORMAT:%d", &process.mbp_attitude_format);
		    }

		/* sonardepth merging */
		else if (strncmp(pargv[i], "SONARDEPTHMODE", 14) == 0)
		    {
		    sscanf(pargv[i], "SONARDEPTHMODE:%d", &process.mbp_sonardepth_mode);
		    }
		else if (strncmp(pargv[i], "SONARDEPTHFILE", 14) == 0)
		    {
		    sscanf(pargv[i], "SONARDEPTHFILE:%s", process.mbp_sonardepthfile);
		    if (explicit == MB_NO)
			{
			process.mbp_sonardepth_mode = MBP_SONARDEPTH_ON;
			}
		    }
		else if (strncmp(pargv[i], "SONARDEPTHFORMAT", 16) == 0)
		    {
		    sscanf(pargv[i], "SONARDEPTHFORMAT:%d", &process.mbp_sonardepth_format);
		    }

		/* data cutting */
		else if (strncmp(pargv[i], "DATACUTCLEAR", 12) == 0)
			{
			process.mbp_cut_num = 0;
			}
		else if (strncmp(pargv[i], "DATACUT", 7) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "DATACUT:%d:%d:%lf:%lf", 
					&process.mbp_cut_kind[process.mbp_cut_num],
					&process.mbp_cut_mode[process.mbp_cut_num],
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_num++;
				}
			}
		else if (strncmp(pargv[i], "BATHCUTNUMBER", 13) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "BATHCUTNUMBER:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_BATH; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_NUMBER; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "BATHCUTDISTANCE", 15) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "BATHCUTDISTANCE:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_BATH; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_DISTANCE; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "BATHCUTSPEED", 12) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "BATHCUTSPEED:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_BATH; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_SPEED; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "AMPCUTNUMBER", 12) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "AMPCUTNUMBER:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_AMP; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_NUMBER; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "AMPCUTDISTANCE", 14) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "AMPCUTDISTANCE:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_AMP; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_DISTANCE; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "AMPCUTSPEED", 11) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "AMPCUTSPEED:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_AMP; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_SPEED; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "SSCUTNUMBER", 11) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "SSCUTNUMBER:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_SS; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_NUMBER; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "SSCUTDISTANCE", 13) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "SSCUTDISTANCE:%lf:%lf",  
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_SS; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_DISTANCE; 
				process.mbp_cut_num++;
				}
			}
		    else if (strncmp(pargv[i], "SSCUTSPEED", 10) == 0)
			{
			if (process.mbp_cut_num < MBP_CUT_NUM_MAX)
				{
				sscanf(pargv[i], "SSCUTSPEED:%lf:%lf", 
					&process.mbp_cut_min[process.mbp_cut_num],
					&process.mbp_cut_max[process.mbp_cut_num]);
				process.mbp_cut_kind[process.mbp_cut_num] = MBP_CUT_DATA_SS; 
				process.mbp_cut_mode[process.mbp_cut_num] = MBP_CUT_MODE_SPEED; 
				process.mbp_cut_num++;
				}
			}
	
		/* bathymetry editing */
		else if (strncmp(pargv[i], "EDITSAVEMODE", 12) == 0)
		    {
		    sscanf(pargv[i], "EDITSAVEMODE:%d", &process.mbp_edit_mode);
		    }
		else if (strncmp(pargv[i], "EDITSAVEFILE", 12) == 0)
		    {
		    sscanf(pargv[i], "EDITSAVEFILE:%s", process.mbp_editfile);
		    if (explicit == MB_NO)
			{
			process.mbp_edit_mode = MBP_EDIT_ON;
			}
		    }
    
		/* bathymetry recalculation */
		else if (strncmp(pargv[i], "RAYTRACE", 8) == 0)
		    {
		    sscanf(pargv[i], "RAYTRACE:%d", &process.mbp_svp_mode);
		    }
		else if (strncmp(pargv[i], "SVPMODE", 7) == 0)
		    {
		    sscanf(pargv[i], "SVPMODE:%d", &process.mbp_svp_mode);
		    }
		else if (strncmp(pargv[i], "SVPFILE", 7) == 0)
		    {
		    sscanf(pargv[i], "SVPFILE:%s", process.mbp_svpfile);
		    if (explicit == MB_NO)
			{
			process.mbp_svp_mode = MBP_SVP_ON;
			}
		    }
		else if (strncmp(pargv[i], "SSVMODE", 7) == 0)
		    {
		    sscanf(pargv[i], "SSVMODE:%d", &process.mbp_ssv_mode);
		    }
		else if (strncmp(pargv[i], "SSV", 3) == 0)
		    {
		    sscanf(pargv[i], "SSV:%lf", &process.mbp_ssv);
		    }
		else if (strncmp(pargv[i], "TTMODE", 6) == 0)
		    {
		    sscanf(pargv[i], "TTMODE:%d", &process.mbp_tt_mode);
		    }
		else if (strncmp(pargv[i], "TTMULTIPLY", 10) == 0)
		    {
		    sscanf(pargv[i], "TTMULTIPLY:%lf", &process.mbp_tt_mult);
		    }
		else if (strncmp(pargv[i], "CORRECTED", 9) == 0)
		    {
		    sscanf(pargv[i], "CORRECTED:%d", &process.mbp_corrected);
		    }
		else if (strncmp(pargv[i], "ANGLEMODE", 9) == 0)
		    {
		    sscanf(pargv[i], "ANGLEMODE:%d", &process.mbp_angle_mode);
		    }
		else if (strncmp(pargv[i], "SOUNDSPEEDREF", 13) == 0)
		    {
		    sscanf(pargv[i], "SOUNDSPEEDREF:%d", &process.mbp_corrected);
		    }
		    
		/* static beam bathymetry correction */
		else if (strncmp(pargv[i], "STATICMODE", 10) == 0)
		    {
		    sscanf(pargv[i], "STATICMODE:%d", &process.mbp_static_mode);
		    }
		else if (strncmp(pargv[i], "STATICFILE", 10) == 0)
		    {
		    sscanf(pargv[i], "STATICFILE:%s", process.mbp_staticfile);
		    if (explicit == MB_NO)
			{
			process.mbp_static_mode = MBP_SVP_ON;
			}
		    }
 
		/* draft correction */
		else if (strncmp(pargv[i], "DRAFTMODE", 9) == 0)
		    {
		    sscanf(pargv[i], "DRAFTMODE:%d", &process.mbp_draft_mode);
		    }
		else if (strncmp(pargv[i], "DRAFTOFFSET", 11) == 0)
		    {
		    sscanf(pargv[i], "DRAFTOFFSET:%lf", &process.mbp_draft_offset);
		    if (explicit == MB_NO
			&& process.mbp_draft_mode == MBP_DRAFT_MULTIPLY)
			{
			process.mbp_draft_mode = MBP_DRAFT_MULTIPLYOFFSET;
			}
		    else if (explicit == MB_NO
			&& process.mbp_draft_mode == MBP_DRAFT_OFF)
			{
			process.mbp_draft_mode = MBP_DRAFT_OFFSET;
			}
		    }
		else if (strncmp(pargv[i], "DRAFTMULTIPLY", 13) == 0)
		    {
		    sscanf(pargv[i], "DRAFTMULTIPLY:%lf", &process.mbp_draft_mult);
		    if (explicit == MB_NO
			&& process.mbp_draft_mode == MBP_DRAFT_OFFSET)
			{
			process.mbp_draft_mode = MBP_DRAFT_MULTIPLYOFFSET;
			}
		    else if (explicit == MB_NO
			&& process.mbp_draft_mode == MBP_DRAFT_OFF)
			{
			process.mbp_draft_mode = MBP_DRAFT_MULTIPLY;
			}
		    }
		else if (strncmp(pargv[i], "DRAFT", 5) == 0)
		    {
		    sscanf(pargv[i], "DRAFT:%lf", &process.mbp_draft);
		    if (explicit == MB_NO)
			{
			process.mbp_draft_mode = MBP_DRAFT_SET;
			}
		    }
    
		/* heave correction */
		else if (strncmp(pargv[i], "HEAVEMODE", 9) == 0)
		    {
		    sscanf(pargv[i], "HEAVEMODE:%d", &process.mbp_heave_mode);
		    }
		else if (strncmp(pargv[i], "HEAVEOFFSET", 11) == 0)
		    {
		    sscanf(pargv[i], "HEAVEOFFSET:%lf", &process.mbp_heave);
		    if (explicit == MB_NO
			&& process.mbp_heave_mode == MBP_HEAVE_MULTIPLY)
			{
			process.mbp_heave_mode = MBP_HEAVE_MULTIPLYOFFSET;
			}
		    else if (explicit == MB_NO
			&& process.mbp_heave_mode == MBP_HEAVE_OFF)
			{
			process.mbp_heave_mode = MBP_HEAVE_OFFSET;
			}
		    }
		else if (strncmp(pargv[i], "HEAVEMULTIPLY", 13) == 0)
		    {
		    sscanf(pargv[i], "HEAVEMULTIPLY:%lf", &process.mbp_heave_mult);
		    if (explicit == MB_NO
			&& process.mbp_heave_mode == MBP_HEAVE_OFFSET)
			{
			process.mbp_heave_mode = MBP_HEAVE_MULTIPLYOFFSET;
			}
		    else if (explicit == MB_NO
			&& process.mbp_heave_mode == MBP_HEADING_OFF)
			{
			process.mbp_heave_mode = MBP_HEAVE_MULTIPLY;
			}
		    }
    
		/* lever correction */
		else if (strncmp(pargv[i], "LEVERMODE", 9) == 0)
		    {
		    sscanf(pargv[i], "LEVERMODE:%d", &process.mbp_lever_mode);
		    }
		else if (strncmp(pargv[i], "VRUOFFSETX", 10) == 0)
		    {
		    sscanf(pargv[i], "VRUOFFSETX:%lf", &process.mbp_vru_offsetx);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
		else if (strncmp(pargv[i], "VRUOFFSETY", 10) == 0)
		    {
		    sscanf(pargv[i], "VRUOFFSETY:%lf", &process.mbp_vru_offsety);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
		else if (strncmp(pargv[i], "VRUOFFSETZ", 10) == 0)
		    {
		    sscanf(pargv[i], "VRUOFFSETZ:%lf", &process.mbp_vru_offsetz);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
		else if (strncmp(pargv[i], "SONAROFFSETX", 12) == 0)
		    {
		    sscanf(pargv[i], "SONAROFFSETX:%lf", &process.mbp_sonar_offsetx);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
		else if (strncmp(pargv[i], "SONAROFFSETY", 12) == 0)
		    {
		    sscanf(pargv[i], "SONAROFFSETY:%lf", &process.mbp_sonar_offsety);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
		else if (strncmp(pargv[i], "SONAROFFSETZ", 12) == 0)
		    {
		    sscanf(pargv[i], "SONAROFFSETZ:%lf", &process.mbp_sonar_offsetz);
		    if (explicit == MB_NO)
			{
			process.mbp_lever_mode = MBP_LEVER_ON;
			}
		    }
    
		/* roll correction */
		else if (strncmp(pargv[i], "ROLLBIASMODE", 12) == 0)
		    {
		    sscanf(pargv[i], "ROLLBIASMODE:%d", &process.mbp_rollbias_mode);
		    }
		else if (strncmp(pargv[i], "ROLLBIASPORT", 12) == 0)
		    {
		    sscanf(pargv[i], "ROLLBIASPORT:%lf", &process.mbp_rollbias_port);
		    if (explicit == MB_NO)
			{
			process.mbp_rollbias_mode = MBP_ROLLBIAS_DOUBLE;
			}
		    }
		else if (strncmp(pargv[i], "ROLLBIASSTBD", 12) == 0)
		    {
		    sscanf(pargv[i], "ROLLBIASSTBD:%lf", &process.mbp_rollbias_stbd);
		    if (explicit == MB_NO)
			{
			process.mbp_rollbias_mode = MBP_ROLLBIAS_DOUBLE;
			}
		    }
		else if (strncmp(pargv[i], "ROLLBIAS", 8) == 0)
		    {
		    sscanf(pargv[i], "ROLLBIAS:%lf", &process.mbp_rollbias);
		    if (explicit == MB_NO)
			{
			process.mbp_rollbias_mode = MBP_ROLLBIAS_SINGLE;
			}
		    }
    
		/* pitch correction */
		else if (strncmp(pargv[i], "PITCHBIASMODE", 13) == 0)
		    {
		    sscanf(pargv[i], "PITCHBIASMODE:%d", &process.mbp_pitchbias_mode);
		    }
		else if (strncmp(pargv[i], "PITCHBIAS", 9) == 0)
		    {
		    sscanf(pargv[i], "PITCHBIAS:%lf", &process.mbp_pitchbias);
		    if (explicit == MB_NO)
			{
			process.mbp_pitchbias_mode = MBP_PITCHBIAS_ON;
			}
		    }
    
		/* heading correction */
		else if (strncmp(pargv[i], "HEADINGMODE", 11) == 0)
		    {
		    sscanf(pargv[i], "HEADINGMODE:%d", &process.mbp_heading_mode);
		    }
		else if (strncmp(pargv[i], "HEADINGOFFSET", 13) == 0)
		    {
		    sscanf(pargv[i], "HEADINGOFFSET:%lf", &process.mbp_headingbias);
		    if (explicit == MB_NO
			&& process.mbp_heading_mode == MBP_HEADING_CALC)
			{
			process.mbp_heading_mode = MBP_HEADING_CALCOFFSET;
			}
		    else if (explicit == MB_NO
			&& process.mbp_heading_mode == MBP_HEADING_OFF)
			{
			process.mbp_heading_mode = MBP_HEADING_OFFSET;
			}
		    }
    
		/* tide correction */
		else if (strncmp(pargv[i], "TIDEMODE", 8) == 0)
		    {
		    sscanf(pargv[i], "TIDEMODE:%d", &process.mbp_tide_mode);
		    }
		else if (strncmp(pargv[i], "TIDEFILE", 8) == 0)
		    {
		    sscanf(pargv[i], "TIDEFILE:%s", process.mbp_tidefile);
		    if (explicit == MB_NO)
			{
			process.mbp_tide_mode = MBP_TIDE_ON;
			}
		    }
		else if (strncmp(pargv[i], "TIDEFORMAT", 10) == 0)
		    {
		    sscanf(pargv[i], "TIDEFORMAT:%d", &process.mbp_tide_format);
		    }
	
		/* amplitude correction */
		else if (strncmp(pargv[i], "AMPCORRMODE", 11) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRMODE:%d", &process.mbp_ampcorr_mode);
		    }
		else if (strncmp(pargv[i], "AMPCORRFILE", 11) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRFILE:%s", process.mbp_ampcorrfile);
		    if (explicit == MB_NO)
			{
			process.mbp_ampcorr_mode = MBP_AMPCORR_ON;
			}
		    }
		else if (strncmp(pargv[i], "AMPCORRTYPE", 11) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRTYPE:%d", &process.mbp_ampcorr_type);
		    }
		else if (strncmp(pargv[i], "AMPCORRSYMMETRY", 15) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRSYMMETRY:%d", &process.mbp_ampcorr_symmetry);
		    }
		else if (strncmp(pargv[i], "AMPCORRANGLE", 12) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRANGLE:%lf", &process.mbp_ampcorr_angle);
		    }
		else if (strncmp(pargv[i], "AMPCORRSLOPE", 12) == 0)
		    {
		    sscanf(pargv[i], "AMPCORRSLOPE:%d", &process.mbp_ampcorr_slope);
		    }
		else if (strncmp(pargv[i], "AMPSSCORRTOPOFILE", 17) == 0)
		    {
		    sscanf(pargv[i], "AMPSSCORRTOPOFILE:%s", process.mbp_ampsscorr_topofile);
		    }
	
		/* sidescan correction */
		else if (strncmp(pargv[i], "SSCORRMODE", 10) == 0)
		    {
		    sscanf(pargv[i], "SSCORRMODE:%d", &process.mbp_sscorr_mode);
		    }
		else if (strncmp(pargv[i], "SSCORRFILE", 10) == 0)
		    {
		    sscanf(pargv[i], "SSCORRFILE:%s", process.mbp_sscorrfile);
		    if (explicit == MB_NO)
			{
			process.mbp_sscorr_mode = MBP_SSCORR_ON;
			}
		    }
		else if (strncmp(pargv[i], "SSCORRTYPE", 10) == 0)
		    {
		    sscanf(pargv[i], "SSCORRTYPE:%d", &process.mbp_sscorr_type);
		    }
		else if (strncmp(pargv[i], "SSCORRSYMMETRY", 14) == 0)
		    {
		    sscanf(pargv[i], "SSCORRSYMMETRY:%d", &process.mbp_sscorr_symmetry);
		    }
		else if (strncmp(pargv[i], "SSCORRANGLE", 11) == 0)
		    {
		    sscanf(pargv[i], "SSCORRANGLE:%lf", &process.mbp_sscorr_angle);
		    }
		else if (strncmp(pargv[i], "SSCORRSLOPE", 11) == 0)
		    {
		    sscanf(pargv[i], "SSCORRSLOPE:%d", &process.mbp_sscorr_slope);
		    }
		else if (strncmp(pargv[i], "AMPSSCORRTOPOFILE", 17) == 0)
		    {
		    sscanf(pargv[i], "AMPSSCORRTOPOFILE:%s", process.mbp_ampsscorr_topofile);
		    }

		/* sidescan recalculation */
		else if (strncmp(pargv[i], "SSRECALCMODE", 12) == 0)
		    {
		    sscanf(pargv[i], "SSRECALCMODE:%d", &process.mbp_ssrecalc_mode);
		    }
		else if (strncmp(pargv[i], "SSPIXELSIZE", 11) == 0)
		    {
		    sscanf(pargv[i], "SSPIXELSIZE:%lf", &process.mbp_ssrecalc_pixelsize);
		    }
		else if (strncmp(pargv[i], "SSSWATHWIDTH", 11) == 0)
		    {
		    sscanf(pargv[i], "SSSWATHWIDTH:%lf", &process.mbp_ssrecalc_swathwidth);
		    }
		else if (strncmp(pargv[i], "SSINTERPOLATE", 11) == 0)
		    {
		    sscanf(pargv[i], "SSINTERPOLATE:%d", &process.mbp_ssrecalc_interpolate);
		    }
   
		/* metadata insertion */
		else if (strncmp(pargv[i], "METAVESSEL:", 11) == 0)
			{
			strcpy(process.mbp_meta_vessel, &(pargv[i][11]));
			}
		else if (strncmp(pargv[i], "METAINSTITUTION:", 16) == 0)
			{
			strcpy(process.mbp_meta_institution, &(pargv[i][16]));
			}
		else if (strncmp(pargv[i], "METAPLATFORM:", 13) == 0)
			{
			strcpy(process.mbp_meta_platform, &(pargv[i][13]));
			}
		else if (strncmp(pargv[i], "METASONARVERSION:", 17) == 0)
			{
			strcpy(process.mbp_meta_sonarversion, &(pargv[i][17]));
			}
		else if (strncmp(pargv[i], "METASONAR:", 10) == 0)
			{
			strcpy(process.mbp_meta_sonar, &(pargv[i][10]));
			}
		else if (strncmp(pargv[i], "METACRUISEID:", 13) == 0)
			{
			strcpy(process.mbp_meta_cruiseid, &(pargv[i][13]));
			}
		else if (strncmp(pargv[i], "METACRUISENAME:", 15) == 0)
			{
			strcpy(process.mbp_meta_cruisename, &(pargv[i][15]));
			}
		else if (strncmp(pargv[i], "METAPIINSTITUTION:", 18) == 0)
			{
			strcpy(process.mbp_meta_piinstitution, &(pargv[i][18]));
			}
		else if (strncmp(pargv[i], "METACLIENT:", 11) == 0)
			{
			strcpy(process.mbp_meta_client, &(pargv[i][11]));
			}
		else if (strncmp(pargv[i], "METASVCORRECTED:", 16) == 0)
			{
			sscanf(pargv[i], "METASVCORRECTED:%d", &(process.mbp_meta_svcorrected));
			}
		else if (strncmp(pargv[i], "METATIDECORRECTED:", 18) == 0)
			{
			sscanf(pargv[i], "METATIDECORRECTED:%d", &(process.mbp_meta_tidecorrected));
			}
		else if (strncmp(pargv[i], "METABATHEDITMANUAL:", 19) == 0)
			{
			sscanf(pargv[i], "METABATHEDITMANUAL:%d", &(process.mbp_meta_batheditmanual));
			}
		else if (strncmp(pargv[i], "METABATHEDITAUTO:", 17) == 0)
			{
			sscanf(pargv[i], "METABATHEDITAUTO:%d", &(process.mbp_meta_batheditauto));
			}
		else if (strncmp(pargv[i], "METAROLLBIAS:", 13) == 0)
			{
			sscanf(pargv[i], "METAROLLBIAS:%lf", &(process.mbp_meta_rollbias));
			}
		else if (strncmp(pargv[i], "METAPITCHBIAS:", 14) == 0)
			{
			sscanf(pargv[i], "METAPITCHBIAS:%lf", &(process.mbp_meta_pitchbias));
			}
		else if (strncmp(pargv[i], "METAPI:", 7) == 0)
			{
			strcpy(process.mbp_meta_pi, &(pargv[i][7]));
			}
		else if (strncmp(pargv[i], "METAHEADINGBIAS:", 16) == 0)
			{
			sscanf(pargv[i], "METAHEADINGBIAS:%lf", &(process.mbp_meta_headingbias));
			}
		else if (strncmp(pargv[i], "METADRAFT:", 10) == 0)
			{
			sscanf(pargv[i], "METADRAFT:%lf", &(process.mbp_meta_draft));
			}
   
		/* processing kluges */
		else if (strncmp(pargv[i], "KLUGE001:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE001:%d", &(process.mbp_kluge001));
			}
		else if (strncmp(pargv[i], "KLUGE002:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE002:%d", &(process.mbp_kluge002));
			}
		else if (strncmp(pargv[i], "KLUGE003:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE003:%d", &(process.mbp_kluge003));
			}
		else if (strncmp(pargv[i], "KLUGE004:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE004:%d", &(process.mbp_kluge004));
			}
		else if (strncmp(pargv[i], "KLUGE005:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE005:%d", &(process.mbp_kluge005));
			}
		else if (strncmp(pargv[i], "KLUGE006:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE006:%d", &(process.mbp_kluge006));
			}
		else if (strncmp(pargv[i], "KLUGE007:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE007:%d", &(process.mbp_kluge007));
			}
		else if (strncmp(pargv[i], "KLUGE008:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE008:%d", &(process.mbp_kluge008));
			}
		else if (strncmp(pargv[i], "KLUGE009:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE009:%d", &(process.mbp_kluge009));
			}
		else if (strncmp(pargv[i], "KLUGE010:", 8) == 0)
			{
			sscanf(pargv[i], "KLUGE010:%d", &(process.mbp_kluge010));
			}

		/* unrecognized command */
		else
		    {
		    fprintf(stderr, "\nUnrecognized %s command: %s\n", 
			    program_name, pargv[i]);
		    }
		}
	    
	/* figure out data format or output filename if required */
	if (process.mbp_format_specified == MB_NO
	    || process.mbp_ofile_specified == MB_NO)
	    {
	    mb_pr_default_output(verbose, &process, &error);
	    }
	    
	/* update bathymetry recalculation mode */
	mb_pr_bathmode(verbose, &process, &error);

	/* print starting debug statements */
	if (verbose >= 2)
	    {
	    fprintf(stderr,"\ndbg2  Program <%s>\n",program_name);
	    fprintf(stderr,"dbg2  Version %s\n",rcs_id);
	    fprintf(stderr,"dbg2  MB-system Version %s\n",MB_VERSION);
	    fprintf(stderr,"\ndbg2  MB-System Control Parameters:\n");
	    fprintf(stderr,"dbg2       verbose:         %d\n",verbose);
	    fprintf(stderr,"dbg2       help:            %d\n",help);
	    fprintf(stderr,"dbg2       verbose:         %d\n",verbose);
	    }

	/* print starting info statements */
	if (verbose == 1)
	    {
	    fprintf(stderr,"\nProgram <%s>\n",program_name);
	    fprintf(stderr,"Version %s\n",rcs_id);
	    fprintf(stderr,"MB-system Version %s\n",MB_VERSION);		
	    fprintf(stderr,"\nOutput MBprocess Parameters:\n");
	    fprintf(stderr,"\nInput and Output Files:\n");
	    if (process.mbp_format_specified == MB_YES)
		fprintf(stderr,"  Format:                        %d\n",process.mbp_format);
	    if (process.mbp_ifile_specified == MB_YES)
		fprintf(stderr,"  Input file:                    %s\n",process.mbp_ifile);
	    if (process.mbp_ofile_specified == MB_YES)
		fprintf(stderr,"  Output file:                   %s\n",process.mbp_ofile);

	    fprintf(stderr,"\nNavigation Merging:\n");
	    if (process.mbp_nav_mode == MBP_NAV_ON)
		{
		fprintf(stderr,"  Navigation merged from navigation file.\n");
		fprintf(stderr,"  Navigation file:               %s\n", process.mbp_navfile);
	        fprintf(stderr,"  Navigation format:             %d\n", process.mbp_nav_format);
		if (process.mbp_nav_heading == MBP_NAV_ON)
		    fprintf(stderr,"  Heading merged from navigation file.\n");
		else
		    fprintf(stderr,"  Heading not merged from navigation file.\n");
		if (process.mbp_nav_speed == MBP_NAV_ON)
		    fprintf(stderr,"  Speed merged from navigation file.\n");
		else
		    fprintf(stderr,"  Speed not merged from navigation file.\n");
		if (process.mbp_nav_draft == MBP_NAV_ON)
		    fprintf(stderr,"  Draft merged from navigation file.\n");
		else
		    fprintf(stderr,"  Draft not merged from navigation file.\n");
		if (process.mbp_nav_attitude == MBP_NAV_ON)
		    fprintf(stderr,"  Roll, pitch, and heave merged from navigation file.\n");
		else
		    fprintf(stderr,"  Roll, pitch, and heave not merged from navigation file.\n");
		if (process.mbp_nav_algorithm == MBP_NAV_LINEAR)
		    fprintf(stderr,"  Navigation algorithm:          linear interpolation\n");
		else if (process.mbp_nav_algorithm == MBP_NAV_SPLINE)
		    fprintf(stderr,"  Navigation algorithm:          spline interpolation\n");
	    	fprintf(stderr,"  Navigation time shift:         %f\n", process.mbp_nav_timeshift);
		}
	    else
		fprintf(stderr,"  Navigation not merged from navigation file.\n");

	    fprintf(stderr,"\nNavigation Offsets and Shifts:\n");
	    if (process.mbp_nav_shift == MBP_NAV_ON)
		    {
		    fprintf(stderr,"  Navigation positions shifted.\n");
		    fprintf(stderr,"  Navigation offset x:       %f\n", process.mbp_nav_offsetx);
		    fprintf(stderr,"  Navigation offset y:       %f\n", process.mbp_nav_offsety);
		    fprintf(stderr,"  Navigation offset z:       %f\n", process.mbp_nav_offsetz);
		    fprintf(stderr,"  Navigation longitude shift:%f\n", process.mbp_nav_shiftlon);
		    fprintf(stderr,"  Navigation latitude shift: %f\n", process.mbp_nav_shiftlat);
		    }
	    else 
		    fprintf(stderr,"  Navigation positions not shifted.\n");

	    fprintf(stderr,"\nAdjusted Navigation Merging:\n");
	    if (process.mbp_navadj_mode == MBP_NAV_ON)
		{
		fprintf(stderr,"  Navigation merged from adjusted navigation file.\n");
		fprintf(stderr,"  Adjusted navigation file:      %s\n", process.mbp_navadjfile);
		if (process.mbp_navadj_algorithm == MBP_NAV_LINEAR)
		    fprintf(stderr,"  Adjusted navigation algorithm: linear interpolation\n");
		else if (process.mbp_navadj_algorithm == MBP_NAV_SPLINE)
		    fprintf(stderr,"  Adjusted navigation algorithm: spline interpolation\n");
		}
	    else
		fprintf(stderr,"  Navigation not merged from adjusted navigation file.\n");

	    fprintf(stderr,"\nAttitude Merging:\n");
	    if (process.mbp_attitude_mode == MBP_NAV_ON)
	        {
		fprintf(stderr,"  Attitude merged from attitude file.\n");
	        fprintf(stderr,"  Attitude file:                 %s\n", process.mbp_attitudefile);
	        fprintf(stderr,"  Attitude format:               %d\n", process.mbp_attitude_format);
		}
	    else
		fprintf(stderr,"  Attitude not merged from attitude file.\n");

	    fprintf(stderr,"\nData Cutting:\n");
	    if (process.mbp_cut_num > 0)
		fprintf(stderr,"  Data cutting enabled (%d commands).\n", process.mbp_cut_num);
	    else
		fprintf(stderr,"  Data cutting disabled.\n");
	    for (i=0;i<process.mbp_cut_num;i++)
		{
		if (process.mbp_cut_kind[i] == MBP_CUT_DATA_BATH)
		    fprintf(stderr, "  Cut[%d]: bathymetry", i);
		else if (process.mbp_cut_kind[i] == MBP_CUT_DATA_AMP)
		    fprintf(stderr, "  Cut[%d]: amplitude ", i);
		else if (process.mbp_cut_kind[i] == MBP_CUT_DATA_SS)
		    fprintf(stderr, "  Cut[%d]: sidescan  ", i);
		if (process.mbp_cut_mode[i] == MBP_CUT_MODE_NUMBER)
		    fprintf(stderr, "  number   ");
		else if (process.mbp_cut_kind[i] == MBP_CUT_MODE_DISTANCE)
		    fprintf(stderr, "  distance ");
		fprintf(stderr, "  %f %f\n", process.mbp_cut_min[i], process.mbp_cut_max[i]);
		}

	    fprintf(stderr,"\nBathymetry Editing:\n");
	    if (process.mbp_edit_mode == MBP_EDIT_ON)
		fprintf(stderr,"  Bathymetry edits applied from file.\n");
	    else
		fprintf(stderr,"  Bathymetry edits not applied from file.\n");
	    fprintf(stderr,"  Bathymetry edit file:          %s\n", process.mbp_editfile);

	    fprintf(stderr,"\nBathymetry Recalculation:\n");
	    if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_OFF)
		fprintf(stderr,"  Bathymetry not recalculated.\n");
	    else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_RAYTRACE)
		fprintf(stderr,"  Bathymetry recalculated by raytracing.\n");
	    else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_ROTATE)
		fprintf(stderr,"  Bathymetry recalculated by rigid rotation.\n");
	    else if (process.mbp_bathrecalc_mode == MBP_BATHRECALC_OFFSET)
		fprintf(stderr,"  Bathymetry recalculated by transducer depth shift.\n");
	    fprintf(stderr,"  SVP file:                      %s\n", process.mbp_svpfile);
	    if (process.mbp_ssv_mode == MBP_SSV_OFF)
		fprintf(stderr,"  SSV not modified.\n");
	    else if (process.mbp_ssv_mode == MBP_SSV_OFFSET)
		fprintf(stderr,"  SSV offset by constant.\n");
	    else
		fprintf(stderr,"  SSV set to constant.\n");
	    fprintf(stderr,"  SSV offset/constant:           %f m/s\n", process.mbp_ssv);
	    fprintf(stderr,"  Travel time mode:              %d\n", process.mbp_tt_mode);
	    fprintf(stderr,"  Travel time multiplier:        %f\n", process.mbp_tt_mult);
	    fprintf(stderr,"  Raytrace angle mode:           %d\n", process.mbp_angle_mode);

	    fprintf(stderr,"\nBathymetry Water Sound Speed Reference:\n");
	    if (process.mbp_corrected == MB_YES)
		fprintf(stderr,"  Output bathymetry reference:   CORRECTED\n");
	    else if (process.mbp_corrected == MB_NO)
		fprintf(stderr,"  Bathymetry reference:          UNCORRECTED\n");
	    if (process.mbp_svp_mode == MBP_SVP_SOUNDSPEEDREF)
		{
		if (process.mbp_corrected == MB_YES)
		    fprintf(stderr,"  Depths modified from uncorrected to corrected\n");
		else
		    fprintf(stderr,"  Depths modified from corrected to uncorrected\n");
		}
	    else if (process.mbp_svp_mode == MBP_SVP_ON)
		{
		if (process.mbp_corrected == MB_YES)
		    fprintf(stderr,"  Depths recalculated as corrected\n");
		else
		    fprintf(stderr,"  Depths recalculated as uncorrected\n");
		}
	    else
		{
		fprintf(stderr,"  Depths unmodified with respect to water sound speed reference\n");
		}

	    fprintf(stderr,"\nDraft Correction:\n");
	    if (process.mbp_draft_mode == MBP_DRAFT_OFF)
		fprintf(stderr,"  Draft not modified.\n");
	    else if (process.mbp_draft_mode == MBP_DRAFT_SET)
		fprintf(stderr,"  Draft set to constant.\n");
	    else if (process.mbp_draft_mode == MBP_DRAFT_OFFSET)
		fprintf(stderr,"  Draft offset by constant.\n");
	    else if (process.mbp_draft_mode == MBP_DRAFT_MULTIPLY)
		fprintf(stderr,"  Draft multiplied by constant.\n");
	    else if (process.mbp_draft_mode == MBP_DRAFT_MULTIPLYOFFSET)
		fprintf(stderr,"  Draft multiplied and offset by constants.\n");
	    fprintf(stderr,"  Draft constant:                %f m\n", process.mbp_draft);
	    fprintf(stderr,"  Draft offset:                  %f m\n", process.mbp_draft_offset);
	    fprintf(stderr,"  Draft multiplier:              %f m\n", process.mbp_draft_mult);

	    fprintf(stderr,"\nHeave Correction:\n");
	    if (process.mbp_heave_mode == MBP_HEAVE_OFF)
		fprintf(stderr,"  Heave not modified.\n");
	    else if (process.mbp_heave_mode == MBP_HEAVE_OFFSET)
		fprintf(stderr,"  Heave offset by constant.\n");
	    else if (process.mbp_heave_mode == MBP_HEAVE_MULTIPLY)
		fprintf(stderr,"  Heave multiplied by constant.\n");
	    else if (process.mbp_heave_mode == MBP_HEAVE_MULTIPLYOFFSET)
		fprintf(stderr,"  Heave multiplied and offset by constants.\n");
	    fprintf(stderr,"  Heave offset:                  %f m\n", process.mbp_heave);
	    fprintf(stderr,"  Heave multiplier:              %f m\n", process.mbp_heave_mult);

	    fprintf(stderr,"\nLever Correction:\n");
	    if (process.mbp_lever_mode == MBP_LEVER_OFF)
		fprintf(stderr,"  Lever calculation off.\n");
	    else
		{
		fprintf(stderr,"  Lever calculation used to calculate heave correction.\n");
	    	fprintf(stderr,"  Heave offset:                  %f m\n", process.mbp_heave);
	    	fprintf(stderr,"  VRU offset x:                  %f m\n", process.mbp_vru_offsetx);
	    	fprintf(stderr,"  VRU offset y:                  %f m\n", process.mbp_vru_offsety);
	    	fprintf(stderr,"  VRU offset z:                  %f m\n", process.mbp_vru_offsetz);
	    	fprintf(stderr,"  Sonar offset x:                %f m\n", process.mbp_sonar_offsetx);
	    	fprintf(stderr,"  Sonar offset y:                %f m\n", process.mbp_sonar_offsety);
	    	fprintf(stderr,"  Sonar offset z:                %f m\n", process.mbp_sonar_offsetz);
		}

	    fprintf(stderr,"\nTide Correction:\n");
	    if (process.mbp_tide_mode == MBP_TIDE_OFF)
		fprintf(stderr,"  Tide calculation off.\n");
	    else
		{
		fprintf(stderr,"  Tide correction applied to bathymetry.\n");
	    	fprintf(stderr,"  Tide file:                     %s\n", process.mbp_tidefile);
	    	fprintf(stderr,"  Tide format:                   %d\n", process.mbp_tide_format);
 		}

	    fprintf(stderr,"\nRoll Correction:\n");
	    if (process.mbp_rollbias_mode == MBP_ROLLBIAS_OFF)
		fprintf(stderr,"  Roll not modified.\n");
	    else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_SINGLE)
		fprintf(stderr,"  Roll offset by bias.\n");
	    else if (process.mbp_rollbias_mode == MBP_ROLLBIAS_DOUBLE)
		fprintf(stderr,"  Roll offset by separate port and starboard biases.\n");
	    fprintf(stderr,"  Roll bias:                     %f deg\n", process.mbp_rollbias);
	    fprintf(stderr,"  Port roll bias:                %f deg\n", process.mbp_rollbias_port);
	    fprintf(stderr,"  Starboard roll bias:           %f deg\n", process.mbp_rollbias_stbd);

	    fprintf(stderr,"\nPitch Correction:\n");
	    if (process.mbp_pitchbias_mode == MBP_PITCHBIAS_OFF)
		fprintf(stderr,"  Pitch not modified.\n");
	    else
		fprintf(stderr,"  Pitch offset by bias.\n");
	    fprintf(stderr,"  Pitch bias:                    %f deg\n", process.mbp_pitchbias);

	    fprintf(stderr,"\nHeading Correction:\n");
	    if (process.mbp_heading_mode == MBP_HEADING_OFF)
		fprintf(stderr,"  Heading not modified.\n");
	    else if (process.mbp_heading_mode == MBP_HEADING_CALC)
		fprintf(stderr,"  Heading replaced by course-made-good.\n");
	    else if (process.mbp_heading_mode == MBP_HEADING_OFFSET)
		fprintf(stderr,"  Heading offset by bias.\n");
	    else if (process.mbp_heading_mode == MBP_HEADING_CALCOFFSET)
		fprintf(stderr,"  Heading replaced by course-made-good and then offset by bias.\n");
	    fprintf(stderr,"  Heading offset:                %f deg\n", process.mbp_headingbias);

	    fprintf(stderr,"\nAmplitude Corrections:\n");
	    if (process.mbp_ampcorr_mode == MBP_SSCORR_ON)
		{
		fprintf(stderr,"  Amplitude vs grazing angle corrections applied to amplitudes.\n");
	    	fprintf(stderr,"  Amplitude correction file:      %s m\n", process.mbp_ampcorrfile);
		if (process.mbp_ampcorr_type == MBP_AMPCORR_SUBTRACTION)
	    		fprintf(stderr,"  Amplitude correction by subtraction (dB scale)\n");
		else
	    		fprintf(stderr,"  Amplitude correction by division (linear scale)\n");
		if (process.mbp_ampcorr_symmetry == MBP_AMPCORR_SYMMETRIC)
	    		fprintf(stderr,"  AVGA tables forced to be symmetric\n");
		else
	    		fprintf(stderr,"  AVGA tables allowed to be asymmetric\n");
	    	fprintf(stderr,"  Reference grazing angle:       %f deg\n", process.mbp_ampcorr_angle);
		if (process.mbp_ampcorr_slope == MBP_AMPCORR_IGNORESLOPE)
	    		fprintf(stderr,"  Amplitude correction ignores seafloor slope\n");
		else if (process.mbp_ampcorr_slope == MBP_AMPCORR_USESLOPE)
	    		fprintf(stderr,"  Amplitude correction uses seafloor slope\n");
		else
	    		{
			fprintf(stderr,"  Amplitude correction uses topography grid for slope\n");
	    		fprintf(stderr,"  Topography grid file:      %s m\n", process.mbp_ampsscorr_topofile);
			}
 		}
	    else
		fprintf(stderr,"  Amplitude correction off.\n");

	    fprintf(stderr,"\nSidescan Corrections:\n");
	    if (process.mbp_sscorr_mode == MBP_SSCORR_ON)
		{
		fprintf(stderr,"  Amplitude vs grazing angle corrections applied to sidescan.\n");
	    	fprintf(stderr,"  Sidescan correction file:      %s m\n", process.mbp_sscorrfile);
		if (process.mbp_sscorr_type == MBP_SSCORR_SUBTRACTION)
	    		fprintf(stderr,"  Sidescan correction by subtraction (dB scale)\n");
		else
	    		fprintf(stderr,"  Sidescan correction by division (linear scale)\n");
		if (process.mbp_sscorr_symmetry == MBP_SSCORR_SYMMETRIC)
	    		fprintf(stderr,"  AVGA tables forced to be symmetric\n");
		else
	    		fprintf(stderr,"  AVGA tables allowed to be asymmetric\n");
	    	fprintf(stderr,"  Reference grazing angle:       %f deg\n", process.mbp_sscorr_angle);
		if (process.mbp_sscorr_slope == MBP_SSCORR_IGNORESLOPE)
	    		fprintf(stderr,"  Sidescan correction ignores seafloor slope\n");
		else if (process.mbp_ampcorr_slope == MBP_SSCORR_USESLOPE)
	    		fprintf(stderr,"  Sidescan correction uses seafloor slope\n");
		else
	    		{
			fprintf(stderr,"  Sidescan correction uses topography grid for slope\n");
	    		fprintf(stderr,"  Topography grid file:      %s m\n", process.mbp_ampsscorr_topofile);
			}
 		}
	    else
		fprintf(stderr,"  Sidescan correction off.\n");

	    fprintf(stderr,"\nSidescan Recalculation:\n");
	    if (process.mbp_ssrecalc_mode == MBP_SSRECALC_ON)
		fprintf(stderr,"  Sidescan recalculated.\n");
	    else
		fprintf(stderr,"  Sidescan not recalculated.\n");
	    fprintf(stderr,"  Sidescan pixel size:           %f\n",process.mbp_ssrecalc_pixelsize);
	    fprintf(stderr,"  Sidescan swath width:          %f\n",process.mbp_ssrecalc_swathwidth);
	    fprintf(stderr,"  Sidescan interpolation:        %d\n",process.mbp_ssrecalc_interpolate);

	    fprintf(stderr,"\nMetadata Insertion:\n");
	    fprintf(stderr,"  Metadata vessel:               %s\n",process.mbp_meta_vessel);
	    fprintf(stderr,"  Metadata institution:          %s\n",process.mbp_meta_institution);
	    fprintf(stderr,"  Metadata platform:             %s\n",process.mbp_meta_platform);
	    fprintf(stderr,"  Metadata sonar:                %s\n",process.mbp_meta_sonar);
	    fprintf(stderr,"  Metadata sonarversion:         %s\n",process.mbp_meta_sonarversion);
	    fprintf(stderr,"  Metadata cruiseid:             %s\n",process.mbp_meta_cruiseid);
	    fprintf(stderr,"  Metadata cruisename:           %s\n",process.mbp_meta_cruisename);
	    fprintf(stderr,"  Metadata pi:                   %s\n",process.mbp_meta_pi);
	    fprintf(stderr,"  Metadata piinstitution:        %s\n",process.mbp_meta_piinstitution);
	    fprintf(stderr,"  Metadata client:               %s\n",process.mbp_meta_client);
	    fprintf(stderr,"  Metadata svcorrected:          %d\n",process.mbp_meta_svcorrected);
	    fprintf(stderr,"  Metadata tidecorrected         %d\n",process.mbp_meta_tidecorrected);
	    fprintf(stderr,"  Metadata batheditmanual        %d\n",process.mbp_meta_batheditmanual);
	    fprintf(stderr,"  Metadata batheditauto:         %d\n",process.mbp_meta_batheditauto);
	    fprintf(stderr,"  Metadata rollbias:             %f\n",process.mbp_meta_rollbias);
	    fprintf(stderr,"  Metadata pitchbias:            %f\n",process.mbp_meta_pitchbias);
	    fprintf(stderr,"  Metadata headingbias:          %f\n",process.mbp_meta_headingbias);
	    fprintf(stderr,"  Metadata draft:                %f\n",process.mbp_meta_draft);

	    fprintf(stderr,"\nProcessing Kluges:\n");
	    fprintf(stderr,"  Kluge001:                      %d\n",process.mbp_kluge001);
	    fprintf(stderr,"  Kluge002:                      %d\n",process.mbp_kluge002);
	    fprintf(stderr,"  Kluge003:                      %d\n",process.mbp_kluge003);
	    fprintf(stderr,"  Kluge004:                      %d\n",process.mbp_kluge004);
	    fprintf(stderr,"  Kluge005:                      %d\n",process.mbp_kluge005);
	    fprintf(stderr,"  Kluge006:                      %d\n",process.mbp_kluge006);
	    fprintf(stderr,"  Kluge007:                      %d\n",process.mbp_kluge007);
	    fprintf(stderr,"  Kluge008:                      %d\n",process.mbp_kluge008);
	    fprintf(stderr,"  Kluge009:                      %d\n",process.mbp_kluge009);
	    fprintf(stderr,"  Kluge010:                      %d\n",process.mbp_kluge010);
	    }

	/* write parameters */
	status = mb_pr_writepar(verbose, mbp_ifile, 
			&process, &error);
			
	/* output results */
	if (status == MB_SUCCESS)
		{
		fprintf(stderr, "Success updating parameter file for %s...\n", mbp_ifile);
		}
	else
		{
		fprintf(stderr, "Failure to update parameter file for %s!!!\n", mbp_ifile);
		}

	/* figure out whether and what to read next */
        if (read_datalist == MB_YES)
                {
		if ((status = mb_datalist_read(verbose,datalist,
			    mbp_ifile,&format,&file_weight,&error))
			    == MB_SUCCESS)
                        read_data = MB_YES;
                else
                        read_data = MB_NO;
                }
        else
                {
                read_data = MB_NO;
                }

	} /* end loop over datalist */

	if (read_datalist == MB_YES)
		mb_datalist_close(verbose,&datalist,&error);

	/* check memory */
	if (verbose >= 4)
		status = mb_memory_list(verbose,&error);

	/* end it all */
	exit(error);
}
/*--------------------------------------------------------------------*/