/*--------------------------------------------------------------------
 *    The MB-system:	mbr_hsmdldih.c	9/26/95
 *	$Header: /system/link/server/cvs/root/mbsystem/src/mbio/mbr_hsmdldih.c,v 5.10 2005/11/05 00:48:04 caress Exp $
 *
 *    Copyright (c) 1995-2012 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.
 *--------------------------------------------------------------------*/
/*
 * mbr_hsmdldih.c contains the functions for reading and writing
 * multibeam data in the HSMDLDIH format.  
 * These functions include:
 *   mbr_alm_hsmdldih	- allocate read/write memory
 *   mbr_dem_hsmdldih	- deallocate read/write memory
 *   mbr_rt_hsmdldih	- read and translate data
 *   mbr_wt_hsmdldih	- translate and write data
 *
 * Author:	David W. Caress
 * Date:	September 26, 1995
 *
 * $Log: mbr_hsmdldih.c,v $
 * Revision 5.10  2005/11/05 00:48:04  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.9  2003/05/20 18:05:32  caress
 * Added svp_source to data source parameters.
 *
 * Revision 5.8  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.7  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * Revision 5.6  2002/07/20 20:42:40  caress
 * Release 5.0.beta20
 *
 * Revision 5.5  2001/08/10 22:41:19  dcaress
 * Release 5.0.beta07
 *
 * Revision 5.4  2001-07-19 17:32:54-07  caress
 * Release 5.0.beta03
 *
 * Revision 5.3  2001/06/08  21:44:01  caress
 * Version 5.0.beta01
 *
 * Revision 5.2  2001/03/22  20:50:02  caress
 * Trying to make version 5.0.beta0
 *
 * Revision 5.1  2001/01/22  07:43:34  caress
 * Version 5.0.beta01
 *
 * Revision 5.0  2000/12/01  22:48:41  caress
 * First cut at Version 5.0.
 *
 * Revision 4.11  2000/10/11  01:03:21  caress
 * Convert to ANSI C
 *
 * Revision 4.10  2000/09/30  06:34:20  caress
 * Snapshot for Dale.
 *
 * Revision 4.9  1999/09/14  20:39:11  caress
 * Fixed bugs handling HSMD
 *
 * Revision 4.8  1999/03/31  18:11:35  caress
 * MB-System 4.6beta7
 *
 * Revision 4.7  1998/10/05  17:46:15  caress
 * MB-System version 4.6beta
 *
 * Revision 4.6  1997/07/25  14:19:53  caress
 * Version 4.5beta2.
 * Much mucking, particularly with Simrad formats.
 *
 * Revision 4.5  1997/04/21  17:02:07  caress
 * MB-System 4.5 Beta Release.
 *
 * Revision 4.4  1996/07/16  22:07:12  caress
 * Fixed port/starboard mixup and made null angles for raytracing 40 degrees to
 * reflect 40 degree tranducer array mounting.
 *
 * Revision 4.4  1996/07/16  22:07:12  caress
 * Fixed port/starboard mixup and made null angles for raytracing 40 degrees to
 * reflect 40 degree tranducer array mounting.
 *
 * Revision 4.3  1996/04/22  13:21:19  caress
 * Now have DTR and MIN/MAX defines in mb_define.h
 *
 * Revision 4.2  1996/04/22  10:57:09  caress
 * DTR define now in mb_io.h
 *
 * Revision 4.1  1996/01/26  21:23:30  caress
 * Version 4.3 distribution
 *
 * Revision 4.0  1995/09/28  18:14:11  caress
 * First cut.
 *
 * Revision 1.1  1995/09/28  18:10:48  caress
 * Initial revision
 *
 * 
 *
 */

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

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

/* essential function prototypes */
int mbr_register_hsmdldih(int verbose, void *mbio_ptr, 
		int *error);
int mbr_info_hsmdldih(int verbose, 
			int *system, 
			int *beams_bath_max, 
			int *beams_amp_max, 
			int *pixels_ss_max, 
			char *format_name, 
			char *system_name, 
			char *format_description, 
			int *numfile, 
			int *filetype, 
			int *variable_beams, 
			int *traveltime, 
			int *beam_flagging, 
			int *nav_source, 
			int *heading_source, 
			int *vru_source, 
			int *svp_source,
			double *beamwidth_xtrack, 
			double *beamwidth_ltrack, 
			int *error);
int mbr_alm_hsmdldih(int verbose, void *mbio_ptr, int *error);
int mbr_dem_hsmdldih(int verbose, void *mbio_ptr, int *error);
int mbr_zero_hsmdldih(int verbose, char *data_ptr, int *error);
int mbr_rt_hsmdldih(int verbose, void *mbio_ptr, void *store_ptr, int *error);
int mbr_wt_hsmdldih(int verbose, void *mbio_ptr, void *store_ptr, int *error);
int mbr_hsmdldih_rd_data(int verbose, void *mbio_ptr, int *error);
int mbr_hsmdldih_wr_data(int verbose, void *mbio_ptr, char *data_ptr, int *error);

static char rcs_id[]="$Id: mbr_hsmdldih.c 1917 2012-01-10 19:25:33Z caress $";

/*--------------------------------------------------------------------*/
int mbr_register_hsmdldih(int verbose, void *mbio_ptr, int *error)
{
	char	*function_name = "mbr_register_hsmdldih";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;

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

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

	/* set format info parameters */
	status = mbr_info_hsmdldih(verbose, 
			&mb_io_ptr->system, 
			&mb_io_ptr->beams_bath_max, 
			&mb_io_ptr->beams_amp_max, 
			&mb_io_ptr->pixels_ss_max, 
			mb_io_ptr->format_name, 
			mb_io_ptr->system_name, 
			mb_io_ptr->format_description, 
			&mb_io_ptr->numfile, 
			&mb_io_ptr->filetype, 
			&mb_io_ptr->variable_beams, 
			&mb_io_ptr->traveltime, 
			&mb_io_ptr->beam_flagging, 
			&mb_io_ptr->nav_source, 
			&mb_io_ptr->heading_source, 
			&mb_io_ptr->vru_source, 
			&mb_io_ptr->svp_source, 
			&mb_io_ptr->beamwidth_xtrack, 
			&mb_io_ptr->beamwidth_ltrack, 
			error);

	/* set format and system specific function pointers */
	mb_io_ptr->mb_io_format_alloc = &mbr_alm_hsmdldih;
	mb_io_ptr->mb_io_format_free = &mbr_dem_hsmdldih; 
	mb_io_ptr->mb_io_store_alloc = &mbsys_hsmd_alloc; 
	mb_io_ptr->mb_io_store_free = &mbsys_hsmd_deall; 
	mb_io_ptr->mb_io_read_ping = &mbr_rt_hsmdldih; 
	mb_io_ptr->mb_io_write_ping = &mbr_wt_hsmdldih; 
	mb_io_ptr->mb_io_dimensions = &mbsys_hsmd_dimensions; 
	mb_io_ptr->mb_io_extract = &mbsys_hsmd_extract; 
	mb_io_ptr->mb_io_insert = &mbsys_hsmd_insert; 
	mb_io_ptr->mb_io_extract_nav = &mbsys_hsmd_extract_nav; 
	mb_io_ptr->mb_io_insert_nav = &mbsys_hsmd_insert_nav; 
	mb_io_ptr->mb_io_extract_altitude = &mbsys_hsmd_extract_altitude; 
	mb_io_ptr->mb_io_insert_altitude = NULL; 
	mb_io_ptr->mb_io_extract_svp = NULL; 
	mb_io_ptr->mb_io_insert_svp = NULL; 
	mb_io_ptr->mb_io_ttimes = &mbsys_hsmd_ttimes; 
	mb_io_ptr->mb_io_detects = &mbsys_hsmd_detects; 
	mb_io_ptr->mb_io_copyrecord = &mbsys_hsmd_copy; 
	mb_io_ptr->mb_io_extract_rawss = NULL; 
	mb_io_ptr->mb_io_insert_rawss = NULL; 

	/* 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       system:             %d\n",mb_io_ptr->system);
		fprintf(stderr,"dbg2       beams_bath_max:     %d\n",mb_io_ptr->beams_bath_max);
		fprintf(stderr,"dbg2       beams_amp_max:      %d\n",mb_io_ptr->beams_amp_max);
		fprintf(stderr,"dbg2       pixels_ss_max:      %d\n",mb_io_ptr->pixels_ss_max);
		fprintf(stderr,"dbg2       format_name:        %s\n",mb_io_ptr->format_name);
		fprintf(stderr,"dbg2       system_name:        %s\n",mb_io_ptr->system_name);
		fprintf(stderr,"dbg2       format_description: %s\n",mb_io_ptr->format_description);
		fprintf(stderr,"dbg2       numfile:            %d\n",mb_io_ptr->numfile);
		fprintf(stderr,"dbg2       filetype:           %d\n",mb_io_ptr->filetype);
		fprintf(stderr,"dbg2       variable_beams:     %d\n",mb_io_ptr->variable_beams);
		fprintf(stderr,"dbg2       traveltime:         %d\n",mb_io_ptr->traveltime);
		fprintf(stderr,"dbg2       beam_flagging:      %d\n",mb_io_ptr->beam_flagging);
		fprintf(stderr,"dbg2       nav_source:         %d\n",mb_io_ptr->nav_source);
		fprintf(stderr,"dbg2       heading_source:     %d\n",mb_io_ptr->heading_source);
		fprintf(stderr,"dbg2       vru_source:         %d\n",mb_io_ptr->vru_source);
		fprintf(stderr,"dbg2       svp_source:         %d\n",mb_io_ptr->svp_source);
		fprintf(stderr,"dbg2       beamwidth_xtrack:   %f\n",mb_io_ptr->beamwidth_xtrack);
		fprintf(stderr,"dbg2       beamwidth_ltrack:   %f\n",mb_io_ptr->beamwidth_ltrack);
		fprintf(stderr,"dbg2       format_alloc:       %lu\n",(size_t)mb_io_ptr->mb_io_format_alloc);
		fprintf(stderr,"dbg2       format_free:        %lu\n",(size_t)mb_io_ptr->mb_io_format_free);
		fprintf(stderr,"dbg2       store_alloc:        %lu\n",(size_t)mb_io_ptr->mb_io_store_alloc);
		fprintf(stderr,"dbg2       store_free:         %lu\n",(size_t)mb_io_ptr->mb_io_store_free);
		fprintf(stderr,"dbg2       read_ping:          %lu\n",(size_t)mb_io_ptr->mb_io_read_ping);
		fprintf(stderr,"dbg2       write_ping:         %lu\n",(size_t)mb_io_ptr->mb_io_write_ping);
		fprintf(stderr,"dbg2       extract:            %lu\n",(size_t)mb_io_ptr->mb_io_extract);
		fprintf(stderr,"dbg2       insert:             %lu\n",(size_t)mb_io_ptr->mb_io_insert);
		fprintf(stderr,"dbg2       extract_nav:        %lu\n",(size_t)mb_io_ptr->mb_io_extract_nav);
		fprintf(stderr,"dbg2       insert_nav:         %lu\n",(size_t)mb_io_ptr->mb_io_insert_nav);
		fprintf(stderr,"dbg2       extract_altitude:   %lu\n",(size_t)mb_io_ptr->mb_io_extract_altitude);
		fprintf(stderr,"dbg2       insert_altitude:    %lu\n",(size_t)mb_io_ptr->mb_io_insert_altitude);
		fprintf(stderr,"dbg2       extract_svp:        %lu\n",(size_t)mb_io_ptr->mb_io_extract_svp);
		fprintf(stderr,"dbg2       insert_svp:         %lu\n",(size_t)mb_io_ptr->mb_io_insert_svp);
		fprintf(stderr,"dbg2       ttimes:             %lu\n",(size_t)mb_io_ptr->mb_io_ttimes);
		fprintf(stderr,"dbg2       detects:            %lu\n",(size_t)mb_io_ptr->mb_io_detects);
		fprintf(stderr,"dbg2       extract_rawss:      %lu\n",(size_t)mb_io_ptr->mb_io_extract_rawss);
		fprintf(stderr,"dbg2       insert_rawss:       %lu\n",(size_t)mb_io_ptr->mb_io_insert_rawss);
		fprintf(stderr,"dbg2       copyrecord:         %lu\n",(size_t)mb_io_ptr->mb_io_copyrecord);
		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 mbr_info_hsmdldih(int verbose, 
			int *system, 
			int *beams_bath_max, 
			int *beams_amp_max, 
			int *pixels_ss_max, 
			char *format_name, 
			char *system_name, 
			char *format_description, 
			int *numfile, 
			int *filetype, 
			int *variable_beams, 
			int *traveltime, 
			int *beam_flagging, 
			int *nav_source, 
			int *heading_source, 
			int *vru_source, 
			int *svp_source, 
			double *beamwidth_xtrack, 
			double *beamwidth_ltrack, 
			int *error)
{
	char	*function_name = "mbr_info_hsmdldih";
	int	status = MB_SUCCESS;

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

	/* set format info parameters */
	status = MB_SUCCESS;
	*error = MB_ERROR_NO_ERROR;
	*system = MB_SYS_HSMD;
	*beams_bath_max = 79;
	*beams_amp_max = 0;
	*pixels_ss_max = 319;
	strncpy(format_name, "HSMDLDIH", MB_NAME_LENGTH);
	strncpy(system_name, "HSMD", MB_NAME_LENGTH);
	strncpy(format_description, "Format name:          MBF_HSMDLDIH\nInformal Description: Atlas HSMD medium depth multibeam processed format\nAttributes:           40 beam bathymetry, 160 pixel sidescan,\n                      XDR (binary), L-DEO.\n", MB_DESCRIPTION_LENGTH);
	*numfile = 1;
	*filetype = MB_FILETYPE_XDR;
	*variable_beams = MB_NO;
	*traveltime = MB_YES;
	*beam_flagging = MB_YES;
	*nav_source = MB_DATA_NAV;
	*heading_source = MB_DATA_DATA;
	*vru_source = MB_DATA_DATA;
	*svp_source = MB_DATA_NONE;
	*beamwidth_xtrack = 1.7;
	*beamwidth_ltrack = 1.7;

	/* 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       system:             %d\n",*system);
		fprintf(stderr,"dbg2       beams_bath_max:     %d\n",*beams_bath_max);
		fprintf(stderr,"dbg2       beams_amp_max:      %d\n",*beams_amp_max);
		fprintf(stderr,"dbg2       pixels_ss_max:      %d\n",*pixels_ss_max);
		fprintf(stderr,"dbg2       format_name:        %s\n",format_name);
		fprintf(stderr,"dbg2       system_name:        %s\n",system_name);
		fprintf(stderr,"dbg2       format_description: %s\n",format_description);
		fprintf(stderr,"dbg2       numfile:            %d\n",*numfile);
		fprintf(stderr,"dbg2       filetype:           %d\n",*filetype);
		fprintf(stderr,"dbg2       variable_beams:     %d\n",*variable_beams);
		fprintf(stderr,"dbg2       traveltime:         %d\n",*traveltime);
		fprintf(stderr,"dbg2       beam_flagging:      %d\n",*beam_flagging);
		fprintf(stderr,"dbg2       nav_source:         %d\n",*nav_source);
		fprintf(stderr,"dbg2       heading_source:     %d\n",*heading_source);
		fprintf(stderr,"dbg2       vru_source:         %d\n",*vru_source);
		fprintf(stderr,"dbg2       svp_source:         %d\n",*svp_source);
		fprintf(stderr,"dbg2       beamwidth_xtrack:   %f\n",*beamwidth_xtrack);
		fprintf(stderr,"dbg2       beamwidth_ltrack:   %f\n",*beamwidth_ltrack);
		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 mbr_alm_hsmdldih(int verbose, void *mbio_ptr, int *error)
{
	char	 *function_name = "mbr_alm_hsmdldih";
	int	 status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbf_hsmdldih_struct *data;
	char	 *data_ptr;
	double *FirstReftime;	/* time from the first header */
	int  *Header_count; /* number of header records encounterd */
	int  *Rev_count;	   /* Raw Event counter */
	int  *Nav_count;	   /* number of Nav records */
	int  *Angle_count;  /* etc....... */
	int  *Svp_count;
	int  *Raw_count;
	int  *MDevent_count;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %lu\n",(size_t)mbio_ptr);
		}
  
	/* get pointer to mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
  
	/* set initial status */
	status = MB_SUCCESS;

	/* allocate memory for data structure */
	mb_io_ptr->structure_size = sizeof(struct mbf_hsmdldih_struct);
	mb_io_ptr->data_structure_size = 0;
	status = mb_malloc(verbose,mb_io_ptr->structure_size,
		     &mb_io_ptr->raw_data,error);
	status = mb_malloc(verbose,sizeof(struct mbsys_hsmd_struct),
		     &mb_io_ptr->store_data,error);

	/* get pointer to mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
	data = (struct mbf_hsmdldih_struct *) mb_io_ptr->raw_data;
	data_ptr = (char *) data;
	
	/* initialize saved values */
	FirstReftime = &mb_io_ptr->saved1;	/* time from the first header */
	Header_count = &mb_io_ptr->save1; /* number of header records encounterd */
	Rev_count = &mb_io_ptr->save2;	   /* Raw Event counter */
	Nav_count = &mb_io_ptr->save3;	   /* number of Nav records */
	Angle_count = &mb_io_ptr->save4;  /* etc....... */
	Svp_count = &mb_io_ptr->save5;
	Raw_count = &mb_io_ptr->save6;
	MDevent_count = &mb_io_ptr->save7;
	*FirstReftime = 0.0;	/* time from the first header */
	*Header_count = 0; /* number of header records encounterd */
	*Rev_count = 0;	   /* Raw Event counter */
	*Nav_count = 0;	   /* number of Nav records */
	*Angle_count = 0;  /* etc....... */
	*Svp_count = 0;
	*Raw_count = 0;
	*MDevent_count = 0;

	/* initialize everything to zeros */
	mbr_zero_hsmdldih(verbose,data_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 mbr_dem_hsmdldih(int verbose, void *mbio_ptr, int *error)
{
	char    *function_name = "mbr_dem_hsmdldih";
	int	  status = MB_SUCCESS;
	struct  mb_io_struct *mb_io_ptr;

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

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

	/* deallocate memory for data descriptor */
	status = mb_free(verbose,&mb_io_ptr->raw_data,error);
	status = mb_free(verbose,&mb_io_ptr->store_data,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 mbr_zero_hsmdldih(int verbose, char *data_ptr, int *error)
{
	char	 *function_name = "mbr_zero_hsmdldih";
	int	 status = MB_SUCCESS;
	struct mbf_hsmdldih_struct *data;
	int	 i;

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


	/* get pointer to data descriptor */
	data = (struct mbf_hsmdldih_struct *) data_ptr;

	/* initialize everything to zeros */
	if (data != NULL)
		{
		for (i=0;i<4;i++)
			{
			data->scsid[i]= 0;
			data->scsart[i]= 0;
			}
		data->scslng = 0;
		data->scsext = 0;
		data->scsblcnt = 0;
		data->scsres1 = 0.0;
		data->transid = 0;	/* indicates what kind of data */
		data->reftime = -1.0;	/* unitialized */

		data->datuhr = -1.0;

		for (i=0;i<8;i++)
			data->mksysint[i]=0;

		for (i=0;i<84;i++)
			data->mktext[i]=0;

		data->navid = 0;
		data->year = 0;
		data->month = 0;
		data->day = 0;
		data->hour = 0;
		data->minute = 0;
		data->second = 0;
		data->millisecond = 0.0;

		data->lon = 0.0;
		data->lat = 0.0;


		data->ckeel = 0.0;
		data->cmean = 0.0;
		data->Port = 0;
		data->noho = 0;
		data->skals = 0;

		for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
			{
			data->spfb[i] = 0;
			data->angle[i] = mbf_hsmdldih_beamangle[i];
			data->depth[i] = 0.0;
			data->distance[i] = 0.0;
			}

		data->ss_range = 0.0;
		for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
			data->ss[i] = 0;

		data->heading_tx = 0.0;
		for (i=0;i<5;i++)
			data->heading_rx[i] = 0.0;

		data->roll_tx = 0.0;
		for (i=0;i<5;i++)
			data->roll_rx[i] = 0.0;

		data->pitch_tx = 0.0;
		for (i=0;i<5;i++)
			data->pitch_rx[i] = 0.0;

		data->num_vel = 0;
		for (i=0;i<MBF_HSMDLDIH_MAXVEL;i++)
			{
			data->vdepth[i] = 0.0;
			data->velocity[i] = 0.0;
			}

		}

	/* assume success */
	status = MB_SUCCESS;
	*error = MB_ERROR_NO_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 mbr_rt_hsmdldih(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	 *function_name = "mbr_rt_hsmdldih";
	int	 status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbf_hsmdldih_struct *data;
	struct mbsys_hsmd_struct *store;
	int	time_i[7];
	double	time_d;
	double	lon, lat, heading, speed;
	int	 i;

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

	/* get pointers to mbio descriptor and data structures */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
	data = (struct mbf_hsmdldih_struct *) mb_io_ptr->raw_data;
	store = (struct mbsys_hsmd_struct *) store_ptr;
  
	/* read next (record of) data from file */
	status = mbr_hsmdldih_rd_data(verbose,mbio_ptr,error);

	/* print debug statements */
	if (verbose >= 5) 
		{
		fprintf(stderr,"dbg5: In function name:\t%s\n", function_name);
		fprintf(stderr,"dbg5:\t Returned from  mbr_hsmdldih_rd_data()\n");
		fprintf(stderr,"dbg5:\t Status:\t%d\n", status);
		fprintf(stderr,"dbg5:\t data->kind:\t%d\n", data->kind);
		fprintf(stderr,"dbg5:\t store_ptr: \t%lu\n",(size_t)store_ptr);
		}

	/* set error and kind in mb_io_ptr */
	mb_io_ptr->new_error = *error;
	mb_io_ptr->new_kind = data->kind;
	
	/* add nav records to list for interpolation */
	if (status == MB_SUCCESS 
		&& data->kind == MB_DATA_NAV)
		{
		time_i[0] = data->year;
		time_i[1] = data->month;
		time_i[2] = data->day;
		time_i[3] = data->hour;
		time_i[4] = data->minute;
		time_i[5] = data->second;
		time_i[6] = 1000 * data->millisecond;
		mb_get_time(verbose, time_i, &time_d);
		lon = data->lon;
		lat = data->lat;
		mb_navint_add(verbose, mbio_ptr, time_d, lon, lat, error);
		}

	/* interpolate navigation for survey pings if needed */
	if (status == MB_SUCCESS 
		&& data->kind == MB_DATA_DATA
		&& data->lon == 0.0
		&& data->lat == 0.0
		&& mb_io_ptr->nfix >= 1)
		{
		time_i[0] = data->year;
		time_i[1] = data->month;
		time_i[2] = data->day;
		time_i[3] = data->hour;
		time_i[4] = data->minute;
		time_i[5] = data->second;
		time_i[6] = 1000 * data->millisecond;
		mb_get_time(verbose, time_i, &time_d);
		heading = data->heading_tx;
		mb_navint_interp(verbose, mbio_ptr, time_d, heading, 0.0, 
				    &lon, &lat, &speed, error);
		data->lon = lon;
		data->lat = lat;
		data->speed = speed;
		}

	/* translate values to data storage structure */
	if (status == MB_SUCCESS
		&& store != NULL)
    		{
		/* type of data record */
		store->kind = data->kind;

		/* header values */
		for (i=0;i<4;i++)
			{
			store->scsid[i] = data->scsid[i];
			store->scsart[i] = data->scsart[i];
			}
		store->scslng = data->scslng;
		store->scsext = data->scsext;
		store->scsblcnt = data->scsblcnt;
		store->scsres1 = data->scsres1;
		store->transid = data->transid;
		store->reftime = data->reftime;

		/* event data */
		store->datuhr = data->datuhr;
		for (i=0;i<8;i++)
			store->mksysint[i] = data->mksysint[i];
		for (i=0;i<84;i++)
			store->mktext[i] = data->mktext[i];

		/* navigation data */
		store->navid = data->navid;
		store->year = data->year;
		store->month = data->month;
		store->day = data->day;
		store->hour = data->hour;
		store->minute = data->minute;
		store->second = data->second;
		store->secf = data->secf;
		store->millisecond = data->millisecond;
		store->PingTime = data->PingTime;
		store->lon = data->lon;
		store->lat = data->lat;
		store->pos_sens[0] = data->pos_sens[0];
		store->pos_sens[1] = data->pos_sens[1];

		/* travel time, bathymetry and sidescan data */
		store->ckeel = data->ckeel;
		store->cmean = data->cmean;
		store->Port = data->Port;
		store->noho = data->noho;
		store->skals = data->skals;
		for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
			{
	  		store->spfb[i] = data->spfb[i];
	 		store->depth[i] = data->depth[i];
	  		store->distance[i] = data->distance[i];
	  		store->angle[i] = data->angle[i];
			}
		store->ss_range = data->ss_range;
		for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
			{
			store->ss[i] = data->ss[i];
			}
		store->heading_tx = data->heading_tx;
		store->roll_tx = data->roll_tx;
		store->pitch_tx = data->pitch_tx;
		for (i=0;i<5;i++)
			{
			store->heading_rx[i] = data->heading_rx[i];
			store->pitch_rx[i] = data->pitch_rx[i];
			store->roll_rx[i] = data->roll_rx[i];
			}

		/* MD event data */
		store->evid = data->evid;
		for (i=0;i<84;i++)
			store->evtext[i] = data->evtext[i];

		store->num_vel = data->num_vel;
		if (store->num_vel > MBF_HSMDLDIH_MAXVEL)
		    store->num_vel = 0;
		for (i=0;i<store->num_vel;i++)
			{
			store->vdepth[i] = data->vdepth[i];
			store->velocity[i] = data->velocity[i];
			}

		/* comment */
		strncpy(store->comment,data->comment,MBSYS_HSMD_COMMENT);
		store->heave = data->heave;
		store->speed = data->speed;
    		}

	/* 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 mbr_wt_hsmdldih(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	*function_name = "mbr_wt_hsmdldih";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbf_hsmdldih_struct *data;
	char	*data_ptr;
	struct mbsys_hsmd_struct *store;
	int	i;

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

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

	/* get pointer to raw data structure */
	data = (struct mbf_hsmdldih_struct *) mb_io_ptr->raw_data;
	data_ptr = (char *) data;
	store = (struct mbsys_hsmd_struct *) store_ptr;

	/* first translate values from data storage structure */
	if (store != NULL)
    		{
		/* type of data record */
		data->kind = store->kind;

		/* header values */
		for (i=0;i<4;i++)
			{
			data->scsid[i] = store->scsid[i];
			data->scsart[i] = store->scsart[i];
			}
		data->scslng = store->scslng;
		data->scsext = store->scsext;
		data->scsblcnt = store->scsblcnt;
		data->scsres1 = store->scsres1;
		data->transid = store->transid;
		data->reftime = store->reftime;

		/* event data */
		data->datuhr = store->datuhr;
		for (i=0;i<8;i++)
			data->mksysint[i] = store->mksysint[i];
		for (i=0;i<84;i++)
			data->mktext[i] = store->mktext[i];

		/* navigation data */
		data->navid = store->navid;
		data->year = store->year;
		data->month = store->month;
		data->day = store->day;
		data->hour = store->hour;
		data->minute = store->minute;
		data->second = store->second;
		data->secf = store->secf;
		data->millisecond = store->millisecond;
		data->PingTime = store->PingTime;
		data->lon = store->lon;
		data->lat = store->lat;
		data->pos_sens[0] = store->pos_sens[0];
		data->pos_sens[1] = store->pos_sens[1];

		/* travel time, bathymetry and sidescan data */
		data->ckeel = store->ckeel;
		data->cmean = store->cmean;
		data->Port = store->Port;
		data->noho = store->noho;
		data->skals = store->skals;
		for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
			{
	  		data->spfb[i] = store->spfb[i];
	 		data->depth[i] = store->depth[i];
	  		data->distance[i] = store->distance[i];
	  		data->angle[i] = store->angle[i];
			}
		data->ss_range = store->ss_range;
		for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
			{
			data->ss[i] = store->ss[i];
			}
		data->heading_tx = store->heading_tx;
		data->roll_tx = store->roll_tx;
		data->pitch_tx = store->pitch_tx;
		for (i=0;i<5;i++)
			{
			data->heading_rx[i] = store->heading_rx[i];
			data->pitch_rx[i] = store->pitch_rx[i];
			data->roll_rx[i] = store->roll_rx[i];
			}

		/* MD event data */
		data->evid = store->evid;
		for (i=0;i<84;i++)
			data->evtext[i] = store->evtext[i];

		data->num_vel = store->num_vel;
		if (data->num_vel > MBF_HSMDLDIH_MAXVEL)
		    data->num_vel = 0;
		for (i=0;i<data->num_vel;i++)
			{
			data->vdepth[i] = store->vdepth[i];
			data->velocity[i] = store->velocity[i];
			}

		/* comment */
		strncpy(data->comment,store->comment,MBSYS_HSMD_COMMENT);
		data->heave = store->heave;
		data->speed = store->speed;
    		}

	/* write next data to file */
	status = mbr_hsmdldih_wr_data(verbose,mbio_ptr,data_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 mbr_hsmdldih_rd_data(int verbose, void *mbio_ptr, int *error)
{
	char    *function_name = "mbr_hsmdldih_rd_data";
	int     status = MB_SUCCESS;
	struct  mb_io_struct *mb_io_ptr;
	struct  mbf_hsmdldih_struct *data;
	char    *data_ptr;
	FILE    *mbfp;
	XDR	*xdrs;		/* xdr i/o pointer */
	int     i;
	int     time_i[7];
	double	scale;
	double	PingTime;	/* Synthesised time of this ping 
				 		PingTime = Base_time 
				 		+ (current.datuhr 
						- FirstReftime) */

	double *FirstReftime;	/* time from the first header */
	int  *Header_count; /* number of header records encounterd */
	int  *Rev_count;	   /* Raw Event counter */
	int  *Nav_count;	   /* number of Nav records */
	int  *Angle_count;  /* etc....... */
	int  *Svp_count;
	int  *Raw_count;
	int  *MDevent_count;

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

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

	/* get pointer to raw data structure */
	data = (struct mbf_hsmdldih_struct *) mb_io_ptr->raw_data;
	data_ptr = (char *) data;	/* The data structure pointer */
	mbfp = mb_io_ptr->mbfp;		/* The file pointer */
	xdrs = mb_io_ptr->xdrs;
	FirstReftime = &mb_io_ptr->saved1;	/* time from the first header */
	Header_count = &mb_io_ptr->save1; /* number of header records encounterd */
	Rev_count = &mb_io_ptr->save2;	   /* Raw Event counter */
	Nav_count = &mb_io_ptr->save3;	   /* number of Nav records */
	Angle_count = &mb_io_ptr->save4;  /* etc....... */
	Svp_count = &mb_io_ptr->save5;
	Raw_count = &mb_io_ptr->save6;
	MDevent_count = &mb_io_ptr->save7;

	/* set file position */
	mb_io_ptr->file_pos = mb_io_ptr->file_bytes;

	/* Start reading an HSMD Header structure */
	/* read the first four bytes */
	for (i=0;i<4;i++)
		status = xdr_char(xdrs, &data->scsid[i]);
		
	/* loop until the beginning of a record is found */
	while (status == MB_SUCCESS
		&& strncmp(data->scsid, "DXT", 3) != 0)
		{
		if (data->scsid[1] == 'D'
		    || data->scsid[2] == 'D'
		    || data->scsid[3] == 'D')
		    {
		    for (i=0;i<3;i++)
			    data->scsid[i] = data->scsid[i+1];		    
		    status = xdr_char(xdrs, &data->scsid[3]);		
		    }
		else
		    {
		    while (status == MB_SUCCESS
			&& data->scsid[0] != 'D')
			{
			if ((status = fread(&data->scsid[0],
				1,1,mb_io_ptr->mbfp)) != 1)
				{
				status = MB_FAILURE;
				*error = MB_ERROR_EOF;
				}
			}
		    if (status == MB_SUCCESS)
			{
			for (i=1;i<4;i++)
			    status = xdr_char(xdrs, &data->scsid[i]);
			}	
		    }
		}
		
	/* now read the rest of the record */
	if (status == MB_SUCCESS)
		for (i=0;i<4;i++)
			status = xdr_char(xdrs, &data->scsart[i]);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scslng);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scsext);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scsblcnt);
	if (status == MB_SUCCESS)
		status = xdr_double(xdrs, &data->scsres1);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->transid);

	/* get first time and initialize the time base */
	if (status == MB_SUCCESS)
		status = xdr_double(xdrs, &data->reftime);
	if (status == MB_SUCCESS
		&& data->transid != MBF_HSMDLDIH_COM)
		{
		(*Header_count)++;
		if (*Header_count == 1)	
			*FirstReftime = data->reftime;
		}

	/* check status */
	if (status == MB_SUCCESS)
	      	*error = MB_ERROR_NO_ERROR;
	else
	      	*error = MB_ERROR_EOF;

	/* print out some debug messages */
	if (verbose >= 2 && status == MB_SUCCESS)
		{
		fprintf(stderr,"\ndbg2: ========================== \n");
		fprintf(stderr,"dbg2: HED (0) # %d\t%.3lf\t%.3lf \n", 
				*Header_count,data->reftime, data->reftime-*FirstReftime);
		}
	if (verbose >= 5 && status == MB_SUCCESS)
		{
		fprintf(stderr,"dbg5: data  From Header:\n");
		fprintf(stderr,"dbg5: \t->scsid : \t%s\n",data->scsid);
		fprintf(stderr,"dbg5: \t->scsart: \t%s\n",data->scsart);
		fprintf(stderr,"dbg5: \t->scslng: \t%d\t0x%0X\n",
		  		data->scslng,data->scslng);
		fprintf(stderr,"dbg5: \t->scsext:  \t%d\n",
				data->scsext);
		fprintf(stderr,"dbg5: \t->scsblcnt:\t%d\n",
				data->scsblcnt);
		fprintf(stderr,"dbg5: \t->scsres1: \t%lf\n",
				data->scsres1);
		fprintf(stderr,"dgb5: \t->transid: \t%d\n",
				data->transid);
		fprintf(stderr,"dgb5: \t->reftime: \t%lf\n",
				data->reftime);
		}

     	/* done reading the header part of this data record 
		- now read the rest*/

	/* read the appropriate data records */
	if (status == MB_SUCCESS ) 
		{ 
		switch(data->transid)
	  		{
	  		case (MBF_HSMDLDIH_RAW):	/* 1, Raw data record */
	    			{
				data->kind = MB_DATA_DATA; 

	      			(*Raw_count)++;	/* the number of this kind of record */

				/* get water velocity and travel time data */
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ckeel);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->cmean);
	      			if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->Port);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->noho);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->skals);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_int(xdrs, &data->spfb[i]);

				/* Check for bad beams - broken records produce
				    bogus data - it happens with HSMD systems!!! */
				if (data->skals)
					scale = 0.00015;
				else
					scale = 0.000015;
				if (status == MB_SUCCESS)
				for (i=0; i<MBF_HSMDLDIH_BEAMS_PING; i++ )
		    			{
	 				if (data->spfb[i] < -65535
					    || data->spfb[i] > 65535)
					    {
					    data->spfb[i] = 0;
					    }
					}

				/* Calculate bathymetry.
					The travel times are scaled to 
					seconds, then adjusted for the mean sound
					speed, then do the simple geometry to
					calculate depth and cross-track. */
				if (data->skals)
					scale = 0.00015;
				else
					scale = 0.000015;
				if (status == MB_SUCCESS)
				for (i=0; i<MBF_HSMDLDIH_BEAMS_PING; i++ )
		    			{
	 				data->depth[i] = 
						(fabs(scale * data->spfb[i]) 
						* 0.5 * data->cmean)
	    					* cos(data->angle[i] * DTR);
	 				data->distance[i] = 
	    					data->depth[i] 
						* tan(data->angle[i] * DTR );
	  				if (data->spfb[i] < 0)
	   					data->depth[i] = 
							-data->depth[i];
					if (data->Port == -1)
						data->distance[i] = 
							-data->distance[i];
					}

				/* get sidescan data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ss_range);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
						status = xdr_char(xdrs, (char *)&data->ss[i]);

				/* get attitude data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->heading_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->heading_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->roll_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->roll_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->pitch_tx); 
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->pitch_rx[i]);

				/* Establish the time of day for this
				 * ping. "Raw" (travel time) data records 
				 * do not contain time of day, only the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

	      			/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Setting time of Ping in RAW\n:");
					fprintf(stderr,"dbg2: \t->year:   \t%4d\n",data->year);
					fprintf(stderr,"dbg2: \t->month:  \t%2d\n",data->month);
					fprintf(stderr,"dgb2: \t->day:    \t%2d\n",data->day);
					fprintf(stderr,"dgb2: \t->hour:   \t%2d\n",data->hour);
					fprintf(stderr,"dbg2: \t->minute: \t%2d\n",data->minute);
					fprintf(stderr,"dbg2: \t->second: \t%2d\n",data->second);
					fprintf(stderr,"dbg2: \t->millisecond: \t%3d\n",data->millisecond);
					fprintf(stderr,"\ndbg2: \t->Lat:   \t%.4lf\n",data->lat);
					fprintf(stderr,"\ndbg2: \t->Lon:   \t%.4lf\n",data->lon);
					}
				if (verbose >= 2 && status == MB_SUCCESS)
					fprintf(stderr,"\ndbg2: RAW (1) \t%3d\t%4d %2d %2d %2d:%2d:%2d.%3d\n", 
						data->Port, data->year, data->month, data->day, 
						data->hour, data->minute, data->second, data->millisecond);
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Raw\n");
					fprintf(stderr,"dbg2: \tckeel\t%8.2lf\n", data->ckeel);
					fprintf(stderr,"dbg2: \tcmean\t%8.2lf\n", data->cmean);
					fprintf(stderr,"dgb2: \tPort\t%d\n", data->Port);
					fprintf(stderr,"\tnoho\t%d\n", data->noho);
					fprintf(stderr,"\tskals\t%d\n", data->skals);
					fprintf(stderr,"\tspfbs\n");
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t(%02d) %10d (%02d) %10d (%02d) %10d (%02d) %10d\n",
			      				i,data->spfb[i], 
							i+1,data->spfb[i+1], 
							i+2, data->spfb[i+2], 
							i+3, data->spfb[i+3]);
		   				}
					fprintf(stderr,"\tss_range\t%lf\n", data->ss_range);
					fprintf(stderr,"\tampl\n");	       
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t%d\t%d\t%d\t%d\n",
							data->ss[i], 
							data->ss[i+1], 
							data->ss[i+2],
			      				data->ss[i+3]);
		    				}
		  
					fprintf(stderr,"\theading_tx\t%8.3lf\n", data->heading_tx);
					fprintf(stderr,"\theading_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->heading_rx[0],
						data->heading_rx[1],
						data->heading_rx[2],
						data->heading_rx[3],
						data->heading_rx[4]);
		  
					fprintf(stderr,"\troll_tx\t%8.3lf\n", data->roll_tx);
					fprintf(stderr,"\troll_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->roll_rx[0],
						data->roll_rx[1],
						data->roll_rx[2],
						data->roll_rx[3],
						data->roll_rx[4]);
		  
					fprintf(stderr,"\tpitch_tx\t%8.3lf\n", data->pitch_tx);
					fprintf(stderr,"\tpitch_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->pitch_rx[0],
						data->pitch_rx[1],
						data->pitch_rx[2],
						data->pitch_rx[3],
						data->pitch_rx[4]);
		  
					}

				/* check status */
				if (status == MB_SUCCESS)
					{
	      				*error = MB_ERROR_NO_ERROR;
					}
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}
	      
	  		case (MBF_HSMDLDIH_BAT):	/* 8, LDEO bathy data record */
	    			{
				data->kind = MB_DATA_DATA; 

	      			(*Raw_count)++;	/* the number of this kind of record */

				/* get time and position */
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->PingTime);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lon);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lat);
				
				/* get water velocity and travel time data */
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ckeel);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->cmean);
	      			if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->Port);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->noho);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->skals);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_int(xdrs, &data->spfb[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_double(xdrs, &data->depth[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_double(xdrs, &data->distance[i]);

				/* get sidescan data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ss_range);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
						status = xdr_char(xdrs, (char *)&data->ss[i]);

				/* get attitude data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->heading_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->heading_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->roll_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->roll_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->pitch_tx); 
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->pitch_rx[i]);

				/* Establish the time of day for this
				 * ping. "Raw" (travel time) data records 
				 * do not contain time of day, only the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					status = mb_get_date(verbose,
						    data->PingTime,time_i);
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

	      			/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Setting time of Ping in RAW\n:");
					fprintf(stderr,"dbg2: \t->year:   \t%4d\n",data->year);
					fprintf(stderr,"dbg2: \t->month:  \t%2d\n",data->month);
					fprintf(stderr,"dgb2: \t->day:    \t%2d\n",data->day);
					fprintf(stderr,"dgb2: \t->hour:   \t%2d\n",data->hour);
					fprintf(stderr,"dbg2: \t->minute: \t%2d\n",data->minute);
					fprintf(stderr,"dbg2: \t->second: \t%2d\n",data->second);
					fprintf(stderr,"dbg2: \t->millisecond: \t%3d\n",data->millisecond);
					fprintf(stderr,"\ndbg2: \t->Lat:   \t%.4lf\n",data->lat);
					fprintf(stderr,"\ndbg2: \t->Lon:   \t%.4lf\n",data->lon);
					}
				if (verbose >= 2 && status == MB_SUCCESS)
					fprintf(stderr,"\ndbg2: RAW (1) \t%3d\t%4d %2d %2d %2d:%2d:%2d.%3d\n", 
						data->Port, data->year, data->month, data->day, 
						data->hour, data->minute, data->second, data->millisecond);
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Raw\n");
					fprintf(stderr,"dbg2: \tckeel\t%8.2lf\n", data->ckeel);
					fprintf(stderr,"dbg2: \tcmean\t%8.2lf\n", data->cmean);
					fprintf(stderr,"dgb2: \tPort\t%d\n", data->Port);
					fprintf(stderr,"\tnoho\t%d\n", data->noho);
					fprintf(stderr,"\tskals\t%d\n", data->skals);
					fprintf(stderr,"\tspfbs\n");
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t(%02d) %10d (%02d) %10d (%02d) %10d (%02d) %10d\n",
			      				i,data->spfb[i], 
							i+1,data->spfb[i+1], 
							i+2, data->spfb[i+2], 
							i+3, data->spfb[i+3]);
		   				}
					fprintf(stderr,"\tss_range\t%lf\n", data->ss_range);
					fprintf(stderr,"\tampl\n");	       
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t%d\t%d\t%d\t%d\n",
							data->ss[i], 
							data->ss[i+1], 
							data->ss[i+2],
			      				data->ss[i+3]);
		    				}
		  
					fprintf(stderr,"\theading_tx\t%8.3lf\n", data->heading_tx);
					fprintf(stderr,"\theading_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->heading_rx[0],
						data->heading_rx[1],
						data->heading_rx[2],
						data->heading_rx[3],
						data->heading_rx[4]);
		  
					fprintf(stderr,"\troll_tx\t%8.3lf\n", data->roll_tx);
					fprintf(stderr,"\troll_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->roll_rx[0],
						data->roll_rx[1],
						data->roll_rx[2],
						data->roll_rx[3],
						data->roll_rx[4]);
		  
					fprintf(stderr,"\tpitch_tx\t%8.3lf\n", data->pitch_tx);
					fprintf(stderr,"\tpitch_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->pitch_rx[0],
						data->pitch_rx[1],
						data->pitch_rx[2],
						data->pitch_rx[3],
						data->pitch_rx[4]);
					}

				/* check status */
				if (status == MB_SUCCESS)
					{
	      				*error = MB_ERROR_NO_ERROR;
					}
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}
	      
	  		case (MBF_HSMDLDIH_NAV): /* 2, Navigation data record */
	    			{
				(*Nav_count)++;
				data->kind = MB_DATA_NAV;

				/* get nav data */
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->navid);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->year);
				if (status == MB_SUCCESS)
					mb_fix_y2k(verbose, data->year, &data->year);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->month);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->day);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->hour);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->minute);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs,&data->secf);
				if (status == MB_SUCCESS)
					{
					/* break decimal seconds into integer
						seconds and msec */
					data->second = (int) data->secf;
					data->millisecond = (int) (1000 * (data->secf - data->second));
					}

				/* get position */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lat);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lon);
				if (status == MB_SUCCESS)
					status = xdr_char(xdrs, &data->pos_sens[0]);
				if (status == MB_SUCCESS)
					status = xdr_char(xdrs, &data->pos_sens[1]);

				/* Establish the time of day for this
				 * nav record. Nav data records 
				 * do contain time of day, but the values
				 * seem unreliable. Thus, we use the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

	      			/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					fprintf(stderr,"\ndbg2: NAV (2) # %3d\t%4d %2d %2d %2d:%2d:%2d.%3d\n", 
						*Nav_count, data->year, data->month, data->day, 
						data->hour, data->minute, data->second, data->millisecond);
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"dbg2: \nNav\n");
					fprintf(stderr,"dbg2: \t->navid:  \t%d\n",data->navid);
					fprintf(stderr,"dbg2: \t->year:   \t%4d\n",data->year);
					fprintf(stderr,"dbg2: \t->month:  \t%2d\n",data->month);
					fprintf(stderr,"dbg2: \t->day:    \t%2d\n",data->day);
					fprintf(stderr,"dbg2: \t->hour:   \t%2d\n",data->hour);
					fprintf(stderr,"dbg2: \t->minute: \t%2d\n",data->minute);
					fprintf(stderr,"dbg2: \t->second: \t%2d\n",data->second);
					fprintf(stderr,"dbg2: \t->millisec::\t%.3f\n",data->secf);
		  		    
					fprintf(stderr,"dbg2: \t->lat:    \t%lf\n",data->lat);
					fprintf(stderr,"dbg2: \t->lon:    \t%lf\n",data->lon);
					fprintf(stderr,"dbg2: \t->pos_sens:\t%s\n", data->pos_sens);
					}
				if ( verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"dbg2: %4d %2d %3d %2d %2d %2d %d %10.5lf %10.5lf %2d %2s \n",
					data->year,
					data->month,
					data->day,
					data->hour,
					data->minute,
					data->second,
					data->millisecond,
					data->lat,
					data->lon,
					data->navid,
					data->pos_sens);
					}

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}

			case (MBF_HSMDLDIH_MDE):		/* 3, MD Event */
	    			{
				(*MDevent_count)++;
				data->kind = MB_DATA_EVENT; 
	      
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->evid);
	      
				if (status == MB_SUCCESS)
					for (i=0;i<84;i++)
						status = xdr_char(xdrs, &data->evtext[i]);

				/* Establish the time of day for this
				 * record. Event data records 
				 * do not contain time of day, only the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,
						    PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

				/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"MDE (3) # %d\n", *MDevent_count);
					}
	      			if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"MDE Event->\n");
					fprintf(stderr,"\t->evid:\t%d\n", data->evid);
					fprintf(stderr,"\t->evtxt:\t%s\n", data->evtext);
					}

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}

			case (MBF_HSMDLDIH_ANG): /* Transid == 4, Beam Angles */
	    			{
				(*Angle_count)++;
				data->kind = MB_DATA_ANGLE;
	      
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->noho);
	      
				if (status == MB_SUCCESS && status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						{
						status = xdr_double(xdrs, &data->angle[i]);
						mbf_hsmdldih_beamangle[i] = data->angle[i];
						}

				/* Establish the time of day for this
				 * record. Angle data records 
				 * do not contain time of day, only the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,
						    PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

				/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndbg2: ANG (4) # %d\n", *Angle_count);
					}
				if ( verbose >= 5 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb5: Ang");
					fprintf(stderr,"dbg5:\tnoho:\t%d\n", data->noho);
		  			for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i=i+4)
		   				{
		      				fprintf(stderr,"\t%02d: %8.3lf\t%02d: %8.3lf\t%02d: %8.3lf\t%02d: %8.3lf\n",
						i,data->angle[i], 
						i+1,data->angle[i+1], 
						i+2, data->angle[i+2], 
						i+3, data->angle[i+3]);
		    				}
					}

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}
	    
			case (MBF_HSMDLDIH_SVP): /* 5, Sound Velocity Profile */
	    			{
				(*Svp_count)++;
				data->kind = MB_DATA_VELOCITY_PROFILE;
				
				data->num_vel = MBF_HSMDLDIH_MAXVEL;
				for (i=0;i<data->num_vel;i++)
					{
					status = xdr_double(xdrs, &data->vdepth[i]);
					status = xdr_double(xdrs, &data->velocity[i]);
					}

				/* Establish the time of day for this
				 * record. SVP data records 
				 * do not contain time of day, only the
				 * internal Reference time. The interrupt 
				 * records contain a unix epoch time used 
				 * to convert to UTC. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,
						    PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

				/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndbg2: SVP (5) # %d\n",*Svp_count);
					}

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_EOF;
	     			break;
	    			}
	    
	    
			case (MBF_HSMDLDIH_REV):	/* 6, An Interrupt event? */
	    			{
				(*Rev_count)++;
	      
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->datuhr);
				if (status == MB_SUCCESS)
					for (i=0;i<8;i++)
						status = xdr_char(xdrs, &data->mksysint[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<84;i++)
						status = xdr_char(xdrs, &data->mktext[i]);

				/* Establish the time of day for this
				 * record. Interrupt data records 
				 * contain a unix time which is used
				 * to get time of day. */
				if (status == MB_SUCCESS)
					{
					PingTime = data->datuhr + (data->reftime 
						- *FirstReftime);
					status = mb_get_date(verbose,
						    PingTime,time_i);

					data->PingTime 		= PingTime;
					data->year 		= time_i[0];
					data->month 		= time_i[1];
					data->day 		= time_i[2];
					data->hour 		= time_i[3];
					data->minute 		= time_i[4];
					data->second 		= time_i[5];
					data->millisecond 	= time_i[6] / 1000;
					}

				/* output some debug messages */
	      			if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"dbg2:\n REV (6) # %d\t%.3lf",
						*Rev_count, data->datuhr );
					}
				if (verbose >= 5 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\nIntevent");
					fprintf(stderr,"->datuhr:  \t%lf\n",data->datuhr);
					fprintf(stderr,"\t->mksysint:\t%s\n",data->mksysint);
					fprintf(stderr,"\t->mktext:  \t%s\n",data->mktext);
					}
	      
				/* Check to see if this Raw Event is
				 * indicating the start or end of the file. */
				if (status == MB_SUCCESS 
					&& strncmp(data->mksysint, "STOP",4) == 0)
					{
					data->kind = MB_DATA_STOP;
		  			*error = MB_ERROR_NO_ERROR;
					}
				else if (status == MB_SUCCESS)
					{
					data->kind = MB_DATA_START;
		  			*error = MB_ERROR_NO_ERROR;
					}
				else
					{
					*error = MB_ERROR_EOF;
					}
				break;
	    			}

			case (MBF_HSMDLDIH_COM):	/* 7, Comment */
	    			{
				data->kind = MB_DATA_COMMENT; 

				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_COMMENT;i++)
						status = xdr_char(xdrs, &data->comment[i]);
		
				/* Check status. */
				if (status == MB_SUCCESS)
		  			*error = MB_ERROR_NO_ERROR;
				else
					*error = MB_ERROR_EOF;
				break;
	    			}

	  		default:
	    			{			
				/* Should never get here, so fail! */
				status = MB_FAILURE;
	      			*error = MB_ERROR_UNINTELLIGIBLE;
	      
				if (verbose >=2)
					{
					fprintf(stderr,"dbg2: data->transid=%d not parsed\n",
						data->transid);
					}
				break;
	    			}
	  		}
      		}
		
	/* get file position */
	mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);

	/* 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 mbr_hsmdldih_wr_data(int verbose, void *mbio_ptr, char *data_ptr, int *error)
{
	char	  *function_name = "mbr_hsmdldih_wr_data";
	int	  status = MB_SUCCESS;
	struct  mb_io_struct *mb_io_ptr;
	struct  mbf_hsmdldih_struct *data;
	FILE	  *mbfp;
	XDR	*xdrs;		/* xdr i/o pointer */
	int     i;

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

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

	/* get pointer to raw data structure */
	data = (struct mbf_hsmdldih_struct *) data_ptr;
	mbfp = mb_io_ptr->mbfp;
	xdrs = mb_io_ptr->xdrs;

	/* make sure transid is correct */
	if (data->transid == MBF_HSMDLDIH_RAW)
		data->transid = MBF_HSMDLDIH_BAT;

	/* Start writing an HSMD Header structure */
	for (i=0;i<4;i++)
		status = xdr_char(xdrs, &data->scsid[i]);
	if (status == MB_SUCCESS)
		for (i=0;i<4;i++)
			status = xdr_char(xdrs, &data->scsart[i]);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scslng);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scsext);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->scsblcnt);
	if (status == MB_SUCCESS)
		status = xdr_double(xdrs, &data->scsres1);
	if (status == MB_SUCCESS)
		status = xdr_int(xdrs, &data->transid);
	if (status == MB_SUCCESS)
		status = xdr_double(xdrs, &data->reftime);

	/* write the appropriate data record */
	if (status == MB_SUCCESS ) 
		{ 
		switch(data->transid)
	  		{
	  		case (MBF_HSMDLDIH_BAT):	/* 8, LDEO bath data record */
	    			{
	      
				/* First make sure bathymetry edits are 
					carried over into travel times */
				for (i=0; i<MBF_HSMDLDIH_BEAMS_PING; i++ )
		    			{
					if (data->depth[i] < 0.0 &&
						data->spfb[i] > 0.0)
						data->spfb[i] = -data->spfb[i];
					else if (data->depth[i] > 0.0 &&
						data->spfb[i] < 0.0)
						data->spfb[i] = -data->spfb[i];
		    			}

	      			/* output some debug messages */
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Setting time of Ping in RAW\n:");
					fprintf(stderr,"dbg2: \t->year:   \t%4d\n",data->year);
					fprintf(stderr,"dbg2: \t->month:  \t%2d\n",data->month);
					fprintf(stderr,"dgb2: \t->day:    \t%2d\n",data->day);
					fprintf(stderr,"dgb2: \t->hour:   \t%2d\n",data->hour);
					fprintf(stderr,"dbg2: \t->minute: \t%2d\n",data->minute);
					fprintf(stderr,"dbg2: \t->second: \t%2d\n",data->second);
					fprintf(stderr,"dbg2: \t->millisecond: \t%3d\n",data->millisecond);
					fprintf(stderr,"\ndbg2: \t->Lat:   \t%.4lf\n",data->lat);
					fprintf(stderr,"\ndbg2: \t->Lon:   \t%.4lf\n",data->lon);
					}
				if (verbose >= 2 && status == MB_SUCCESS)
					fprintf(stderr,"\ndbg2: RAW (1) \t%3d\t%4d %2d %2d %2d:%2d:%2d.%3d\n", 
						data->Port, data->year, data->month, data->day, 
						data->hour, data->minute, data->second, data->millisecond);
				if (verbose >= 2 && status == MB_SUCCESS)
					{
					fprintf(stderr,"\ndgb2: Raw\n");
					fprintf(stderr,"dbg2: \tckeel\t%8.2lf\n", data->ckeel);
					fprintf(stderr,"dbg2: \tcmean\t%8.2lf\n", data->cmean);
					fprintf(stderr,"dgb2: \tPort\t%d\n", data->Port);
					fprintf(stderr,"\tnoho\t%d\n", data->noho);
					fprintf(stderr,"\tskals\t%d\n", data->skals);
					fprintf(stderr,"\tspfbs\n");
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t(%02d) %10d (%02d) %10d (%02d) %10d (%02d) %10d\n",
			      				i,data->spfb[i], 
							i+1,data->spfb[i+1], 
							i+2, data->spfb[i+2], 
							i+3, data->spfb[i+3]);
		   				}
					fprintf(stderr,"\tss_range\t%lf\n", data->ss_range);
					fprintf(stderr,"\tampl\n");	       
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i=i+4)
		    				{
						fprintf(stderr,"\t%d\t%d\t%d\t%d\n",
							data->ss[i], 
							data->ss[i+1], 
							data->ss[i+2],
			      				data->ss[i+3]);
		    				}
		  
					fprintf(stderr,"\theading_tx\t%8.3lf\n", data->heading_tx);
					fprintf(stderr,"\theading_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->heading_rx[0],
						data->heading_rx[1],
						data->heading_rx[2],
						data->heading_rx[3],
						data->heading_rx[4]);
		  
					fprintf(stderr,"\troll_tx\t%8.3lf\n", data->roll_tx);
					fprintf(stderr,"\troll_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->roll_rx[0],
						data->roll_rx[1],
						data->roll_rx[2],
						data->roll_rx[3],
						data->roll_rx[4]);
		  
					fprintf(stderr,"\tpitch_tx\t%8.3lf\n", data->pitch_tx);
					fprintf(stderr,"\tpitch_rx:\t");
					fprintf(stderr,"%8.3lf %8.3lf %8.3lf %8.3lf %8.3lf\n",
						data->pitch_rx[0],
						data->pitch_rx[1],
						data->pitch_rx[2],
						data->pitch_rx[3],
						data->pitch_rx[4]);
					}

				/* set time and position */
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->PingTime);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lon);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lat);

				/* set water velocity and travel time data */
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ckeel);
	      			if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->cmean);
	      			if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->Port);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->noho);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->skals);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_int(xdrs, &data->spfb[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_double(xdrs, &data->depth[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_double(xdrs, &data->distance[i]);

				/* set sidescan data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->ss_range);
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_PIXELS_PING;i++)
						status = xdr_char(xdrs, (char *)&data->ss[i]);

				/* set attitude data */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->heading_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->heading_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->roll_tx);
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->roll_rx[i]);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->pitch_tx); 
				if (status == MB_SUCCESS)
					for (i=0;i<5;i++)
						status = xdr_double(xdrs, &data->pitch_rx[i]);

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_WRITE_FAIL;
	     			break;
	    			}
	      
	  		case (MBF_HSMDLDIH_NAV): /* 2, Navigation data record */
	    			{
				/* set nav data */
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->navid);
				if (status == MB_SUCCESS)
					mb_unfix_y2k(verbose, data->year, &data->year);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->year);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->month);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->day);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->hour);
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs,&data->minute);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs,&data->secf);

				/* set position */
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lat);
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->lon);
				if (status == MB_SUCCESS)
					status = xdr_char(xdrs, &data->pos_sens[0]);
				if (status == MB_SUCCESS)
					status = xdr_char(xdrs, &data->pos_sens[1]);

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_WRITE_FAIL;
	     			break;
	    			}

			case (MBF_HSMDLDIH_MDE):		/* 3, MD Event */
	    			{
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->evid);
				if (status == MB_SUCCESS)
					for (i=0;i<84;i++)
						status = xdr_char(xdrs, &data->evtext[i]);

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_WRITE_FAIL;
	     			break;
	    			}

			case (MBF_HSMDLDIH_ANG): /* Transid == 4, Beam Angles */
	    			{
				if (status == MB_SUCCESS)
					status = xdr_int(xdrs, &data->noho);
				if (status == MB_SUCCESS && status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_BEAMS_PING;i++)
						status = xdr_double(xdrs, &data->angle[i]);

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_WRITE_FAIL;
	     			break;
	    			}
	    
			case (MBF_HSMDLDIH_SVP): /* 5, Sound Velocity Profile */
	    			{
				
				data->num_vel = MBF_HSMDLDIH_MAXVEL;
				for (i=0;i<data->num_vel;i++)
					{
					status = xdr_double(xdrs, &data->vdepth[i]);
					status = xdr_double(xdrs, &data->velocity[i]);
					}

				/* check status */
				if (status == MB_SUCCESS)
	      				*error = MB_ERROR_NO_ERROR;
				else
	      				*error = MB_ERROR_WRITE_FAIL;
	     			break;
	    			}

			case (MBF_HSMDLDIH_REV):	/* 6, An Interrupt event? */
	    			{
				if (status == MB_SUCCESS)
					status = xdr_double(xdrs, &data->datuhr);
				if (status == MB_SUCCESS)
					for (i=0;i<8;i++)
						status = xdr_char(xdrs, &data->mksysint[i]);
				if (status == MB_SUCCESS)
					for (i=0;i<84;i++)
						status = xdr_char(xdrs, &data->mktext[i]);
	      
				/* Check status. */
				if (status == MB_SUCCESS)
		  			*error = MB_ERROR_NO_ERROR;
				else
					*error = MB_ERROR_WRITE_FAIL;
				break;
	    			}

			case (MBF_HSMDLDIH_COM):	/* 7, Comment */
	    			{
				if (status == MB_SUCCESS)
					for (i=0;i<MBF_HSMDLDIH_COMMENT;i++)
						status = xdr_char(xdrs, &data->comment[i]);
		
				/* Check status. */
				if (status == MB_SUCCESS)
		  			*error = MB_ERROR_NO_ERROR;
				else
					*error = MB_ERROR_WRITE_FAIL;
				break;
	    			}

	  		default:
	    			{			
				/* Should never get here, so fail! */
				status = MB_FAILURE;
	      			*error = MB_ERROR_UNINTELLIGIBLE;
				break;
	    			}
	  		} 
      		}

	/* 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);
}
/*--------------------------------------------------------------------*/