/*--------------------------------------------------------------------
 *    The MB-system:	mbr_hysweep1.c	12/23/2011
 *	$Id: mbr_hysweep1.c 1985 2012-09-11 08:02:53Z caress $
 *
 *    Copyright (c) 2011-2012 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_hysweep1.c contains the functions for reading and writing
 * multibeam data in the HYSWEEP1 format.
 * These functions include:
 *   mbr_alm_hysweep1	- allocate read/write memory
 *   mbr_dem_hysweep1	- deallocate read/write memory
 *   mbr_rt_hysweep1	- read and translate data
 *   mbr_wt_hysweep1	- translate and write data
 *
 * Author:	D. W. Caress
 * Date:	December 23,2011
 *
 * $Log: mbr_hysweep1.c,v $
 *
 */

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

/* include for byte swapping */
#include "../../include/mb_swap.h"

/* local defines */
#define	MBF_HYSWEEP1_MAXLINE	32768

/* turn on debug statements here */
/* #define MBR_HYSWEEP1_DEBUG 1 */
/* #define MBR_HYSWEEP1_DEBUG2 1 */

/* essential function prototypes */
int mbr_register_hysweep1(int verbose, void *mbio_ptr,
		int *error);
int mbr_info_hysweep1(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_hysweep1(int verbose, void *mbio_ptr, int *error);
int mbr_dem_hysweep1(int verbose, void *mbio_ptr, int *error);
int mbr_rt_hysweep1(int verbose, void *mbio_ptr, void *store_ptr, int *error);
int mbr_wt_hysweep1(int verbose, void *mbio_ptr, void *store_ptr, int *error);

int mbr_hysweep1_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error);
int mbr_hysweep1_rd_line(int verbose, FILE *mbfp, char *line, int *error);
int mbr_hysweep1_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error);

static char rcs_id[]="$Id: mbr_hysweep1.c 1985 2012-09-11 08:02:53Z caress $";

/*--------------------------------------------------------------------*/
int mbr_register_hysweep1(int verbose, void *mbio_ptr, int *error)
{
	char	*function_name = "mbr_register_hysweep1";
	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_hysweep1(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_hysweep1;
	mb_io_ptr->mb_io_format_free = &mbr_dem_hysweep1;
	mb_io_ptr->mb_io_store_alloc = &mbsys_hysweep_alloc;
	mb_io_ptr->mb_io_store_free = &mbsys_hysweep_deall;
	mb_io_ptr->mb_io_read_ping = &mbr_rt_hysweep1;
	mb_io_ptr->mb_io_write_ping = &mbr_wt_hysweep1;
	mb_io_ptr->mb_io_dimensions = &mbsys_hysweep_dimensions;
	mb_io_ptr->mb_io_pingnumber = &mbsys_hysweep_pingnumber;
	mb_io_ptr->mb_io_extract = &mbsys_hysweep_extract;
	mb_io_ptr->mb_io_insert = &mbsys_hysweep_insert;
	mb_io_ptr->mb_io_extract_nav = &mbsys_hysweep_extract_nav;
	mb_io_ptr->mb_io_extract_nnav = NULL;
	mb_io_ptr->mb_io_insert_nav = &mbsys_hysweep_insert_nav;
	mb_io_ptr->mb_io_extract_altitude = &mbsys_hysweep_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_hysweep_ttimes;
	mb_io_ptr->mb_io_detects = &mbsys_hysweep_detects;
	mb_io_ptr->mb_io_gains = &mbsys_hysweep_gains;
	mb_io_ptr->mb_io_copyrecord = &mbsys_hysweep_copy;
	mb_io_ptr->mb_io_extract_rawss = NULL;
	mb_io_ptr->mb_io_insert_rawss = NULL;
	mb_io_ptr->mb_io_extract_segytraceheader = NULL;
	mb_io_ptr->mb_io_extract_segy = NULL;
	mb_io_ptr->mb_io_insert_segy = NULL;
	mb_io_ptr->mb_io_ctd = NULL;
	mb_io_ptr->mb_io_ancilliarysensor = 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       extract_segytraceheader: %lu\n",(size_t)mb_io_ptr->mb_io_extract_segytraceheader);
		fprintf(stderr,"dbg2       extract_segy:       %lu\n",(size_t)mb_io_ptr->mb_io_extract_segy);
		fprintf(stderr,"dbg2       insert_segy:        %lu\n",(size_t)mb_io_ptr->mb_io_insert_segy);
		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_hysweep1(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_hysweep1";
	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_HYSWEEP;
	*beams_bath_max = 512;
	*beams_amp_max = 512;
	*pixels_ss_max = 0;
	strncpy(format_name, "HYSWEEP1", MB_NAME_LENGTH);
	strncpy(system_name, "HYSWEEP", MB_NAME_LENGTH);
	strncpy(format_description, "Format name:          MBF_HYSWEEP1\nInformal Description: HYSWEEP multibeam data format\nAttributes:           Many multibeam sonars, \n                      bathymetry, amplitude\n                      variable beams, ascii, HYPACK.\n", MB_DESCRIPTION_LENGTH);
	*numfile = 1;
	*filetype = MB_FILETYPE_NORMAL;
	*variable_beams = MB_YES;
	*traveltime = MB_YES;
	*beam_flagging = MB_YES;
	*nav_source = MB_DATA_DATA;
	*heading_source = MB_DATA_DATA;
	*vru_source = MB_DATA_DATA;
	*svp_source = MB_DATA_VELOCITY_PROFILE;
	*beamwidth_xtrack = 1.0;
	*beamwidth_ltrack = 1.0;

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       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_hysweep1(int verbose, void *mbio_ptr, int *error)
{
	char	*function_name = "mbr_alm_hysweep1";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	int	*file_header_read;
	int	*file_header_written;

	/* 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 = 0;
	mb_io_ptr->data_structure_size = 0;
	status = mbsys_hysweep_alloc(
			verbose,mbio_ptr,
			&mb_io_ptr->store_data,error);

	/* set saved values */
	file_header_read = (int *) &mb_io_ptr->save1;
	file_header_written = (int *) &mb_io_ptr->save2;
	*file_header_read = MB_NO;
	*file_header_written = MB_NO;

	/* 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_hysweep1(int verbose, void *mbio_ptr, int *error)
{
	char	*function_name = "mbr_dem_hysweep1";
	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 pointers to mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* deallocate memory for data descriptor */
	status = mbsys_hysweep_deall(
			verbose,mbio_ptr,
			&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_rt_hysweep1(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	*function_name = "mbr_rt_hysweep1";
	int	status = MB_SUCCESS;
	int	interp_status;
	int	interp_error = MB_ERROR_NO_ERROR;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_hysweep_struct *store;
	struct mbsys_hysweep_device_struct *device;
	double	navlon, navlat;
	double	speed;
	double	alpha, beta, theta, phi;
	double	rr, xx, zz;
	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 */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* read next data from file */
	status = mbr_hysweep1_rd_data(verbose,mbio_ptr,store_ptr,error);

	/* get pointers to data structures */
	store = (struct mbsys_hysweep_struct *) store_ptr;

	/* save position if primary data */
	if (status == MB_SUCCESS
		&& (store->kind == MB_DATA_NAV
			|| store->kind == MB_DATA_NAV1
			|| store->kind == MB_DATA_NAV2))
		{
		/* check device for being enabled */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->POS_device_number]);
		if (device->DV2_enabled == MB_YES)
			{
			/* add latest fix */
			if (mb_io_ptr->projection_initialized == MB_YES)
				{
				mb_proj_inverse(verbose, mb_io_ptr->pjptr,
								store->POS_x,
								store->POS_y,
								&navlon, &navlat,
								error);
				}
			else
				{
				navlon = store->POS_x;
				navlat = store->POS_y;
				}
			mb_navint_add(verbose, mbio_ptr,
					store->time_d, navlon, navlat, error);
			}
		}

	/* save attitude if primary data */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_ATTITUDE)
		{
		/* check device for being enabled */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->HCP_device_number]);
		if (device->DV2_enabled == MB_YES)
			{
			/* add latest attitude */
			mb_attint_add(verbose, mbio_ptr,
					store->time_d, -store->HCP_heave,
					-store->HCP_roll, -store->HCP_pitch, error);
			}
		}

	/* save heading if primary data */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_HEADING)
		{
		/* check device for being enabled */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->GYR_device_number]);
		if (device->DV2_enabled == MB_YES)
			{
			/* add latest attitude */
			mb_hedint_add(verbose, mbio_ptr,
					store->time_d, store->GYR_heading, error);
			}
		}

	/* save sonardepth if primary data */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_SONARDEPTH)
		{
		/* check device for being enabled */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->DFT_device_number]);
		if (device->DV2_enabled == MB_YES)
			{
			/* add latest attitude */
			mb_depint_add(verbose, mbio_ptr,
					store->time_d, store->DFT_draft, error);
			}
		}

	/* save altitude if primary data */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_ALTITUDE)
		{
		/* check device for being enabled */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->EC1_device_number]);
		if (device->DV2_enabled == MB_YES)
			{
			/* add latest attitude */
			mb_altint_add(verbose, mbio_ptr,
					store->time_d, store->EC1_rawdepth, error);
			}
		}
#ifdef MBR_HYSWEEP1_DEBUG
if (verbose > 0)
fprintf(stderr,"Record returned: type:%d status:%d error:%d\n\n",store->kind, status, *error);
#endif

	/* if survey data then interpolate nav, heading, attitude, sonardepth onto ping times */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_DATA)
		{
		speed = 0.0;
		interp_status = mb_hedint_interp(verbose, mbio_ptr, store->time_d,
				    &(store->RMBint_heading), &interp_error);
		interp_status = mb_depint_interp(verbose, mbio_ptr, store->time_d,
				    &(store->RMBint_draft), &interp_error);

		/* ignore heading and sonar depth errors */
		interp_error = MB_ERROR_NO_ERROR;

		interp_status = mb_navint_interp(verbose, mbio_ptr, store->time_d, store->RMBint_heading, speed,
				    &(store->RMBint_lon), &(store->RMBint_lat), &speed, &interp_error);
		if (interp_status == MB_SUCCESS)
		interp_status = mb_attint_interp(verbose, mbio_ptr, store->time_d,
				    &(store->RMBint_heave), &(store->RMBint_roll),
				    &(store->RMBint_pitch), &interp_error);
		if (interp_status == MB_SUCCESS)
			{
			if (mb_io_ptr->projection_initialized == MB_YES)
				{
				mb_proj_forward(verbose, mb_io_ptr->pjptr,
								store->RMBint_lon,
								store->RMBint_lat,
								&(store->RMBint_x),
								&(store->RMBint_y),
								error);
				}
			else
				{
				store->RMBint_x = store->RMBint_lon;
				store->RMBint_y = store->RMBint_lat;
				}
			}
		else
			{
			status = MB_FAILURE;
			*error = MB_ERROR_MISSING_NAVATTITUDE;
			}
		}

	/* if survey data then calculate angles and bathymetry as necessary */
	if (status == MB_SUCCESS
		&& store->kind == MB_DATA_DATA)
		{
		/* get mapping sonar device pointer */
		device = (struct mbsys_hysweep_device_struct *)&(store->devices[store->RMB_device_number]);

		/* deal with case of multibeam sonar */
		if (store->RMB_beam_data_available & 0x0001)
			{
			/* get beam roll angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0080))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_rollangles[i]
						= device->MBI_first_beam_angle + i * device->MBI_angle_increment;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0080;
				}

			/* get beam pitch angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0040))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_pitchangles[i] = 0.0;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0040;
				}

			/* get beam takeoff and azimuthal angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0100)
				|| !(store->RMB_beam_data_available & 0x0200))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					alpha = store->RMB_sounding_pitchangles[i];
					beta = 90.0 + store->RMB_sounding_rollangles[i];

					/* correct alpha for pitch if necessary */
					if (!(device->MBI_sonar_flags & 0x0002))
						alpha += store->RMBint_pitch;

					/* correct beta for roll if necessary */
					if (!(device->MBI_sonar_flags & 0x0001))
						beta -= store->RMBint_roll;

					mb_rollpitch_to_takeoff(
						verbose,
						alpha, beta,
						&theta, &phi,
						error);
					store->RMB_sounding_takeoffangles[i] = theta;
					store->RMB_sounding_azimuthalangles[i] = phi;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0300;
				}

			/* get beam bathymetry if necessary */
			if (!(store->RMB_beam_data_available & 0x0008)
				|| !(store->RMB_beam_data_available & 0x0010)
				|| !(store->RMB_beam_data_available & 0x0020))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					rr = store->RMB_beam_ranges[i];
					theta = store->RMB_sounding_takeoffangles[i];
					phi = store->RMB_sounding_azimuthalangles[i];
					xx = rr * sin(DTR * theta);
					zz = rr * cos(DTR * theta);
					store->RMB_sounding_across[i] = xx * cos(DTR * phi);
					store->RMB_sounding_along[i] = xx * sin(DTR * phi);
					store->RMB_sounding_depths[i] = zz + store->RMBint_draft - store->RMBint_heave;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0038;
				}

			/* get beam flags if necessary */
			if (!(store->RMB_beam_data_available & 0x2000))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_flags[i] = MB_FLAG_NONE;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x2000;
				}
			}

		/* deal with case of multiple transducer sonar */
		if (store->RMB_beam_data_available & 0x0002)
			{
			/* get beam roll angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0080))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_rollangles[i] = 0.0;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0080;
				}

			/* correct beam roll angles for roll if necessary */
			if (!(device->MBI_sonar_flags & 0x0001))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_rollangles[i] += store->RMBint_roll;
					}
				}

			/* get beam pitch angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0040))
				{
				if (!(device->MBI_sonar_flags & 0x0002))
					{
					for (i=0;i<store->RMB_num_beams;i++)
						{
						store->RMB_sounding_pitchangles[i] = store->RMBint_pitch;
						}
					}
				else
					{
					for (i=0;i<store->RMB_num_beams;i++)
						{
						store->RMB_sounding_pitchangles[i] = 0.0;
						}
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0040;
				}

			/* get beam takeoff and azimuthal angles if necessary */
			if (!(store->RMB_beam_data_available & 0x0100)
				|| !(store->RMB_beam_data_available & 0x0200))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					alpha = store->RMB_sounding_pitchangles[i];
					beta = 90.0 - store->RMB_sounding_rollangles[i];
					mb_rollpitch_to_takeoff(
						verbose,
						alpha, beta,
						&theta, &phi,
						error);
					store->RMB_sounding_takeoffangles[i] = theta;
					store->RMB_sounding_azimuthalangles[i] = phi;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x0300;
				}

			/* get beam bathymetry if necessary */
			if (!(store->RMB_beam_data_available & 0x0004)
				|| !(store->RMB_beam_data_available & 0x0008)
				|| !(store->RMB_beam_data_available & 0x0010)
				|| !(store->RMB_beam_data_available & 0x0020))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					rr = store->RMB_multi_ranges[i];
					theta = store->RMB_sounding_takeoffangles[i];
					phi = store->RMB_sounding_azimuthalangles[i];
					xx = rr * sin(DTR * theta);
					zz = rr * cos(DTR * theta);
					store->RMB_sounding_across[i] = xx * cos(DTR * phi);
					store->RMB_sounding_along[i] = xx * sin(DTR * phi);
					store->RMB_sounding_depths[i] = zz + store->RMBint_draft - store->RMBint_heave;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x003C;
				}

			/* get beam flags if necessary */
			if (!(store->RMB_beam_data_available & 0x2000))
				{
				for (i=0;i<store->RMB_num_beams;i++)
					{
					store->RMB_sounding_flags[i] = MB_FLAG_NONE;
					}
				store->RMB_beam_data_available = store->RMB_beam_data_available | 0x2000;
				}
			}

		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  Multibeam bathymetry calculated by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       RMB_device_number:                 %d\n", store->RMB_device_number);
			fprintf(stderr,"dbg4       RMB_time:                          %f\n", store->RMB_time);
			fprintf(stderr,"dbg4       RMB_sonar_type:                    %d\n", store->RMB_sonar_type);
			fprintf(stderr,"dbg4       RMB_sonar_flags:                   %d\n", store->RMB_sonar_flags);
			fprintf(stderr,"dbg4       RMB_beam_data_available:           %d\n", store->RMB_beam_data_available);
			fprintf(stderr,"dbg4       RMB_num_beams:                     %d\n", store->RMB_num_beams);
			fprintf(stderr,"dbg4       RMB_num_beams_alloc:               %d\n", store->RMB_num_beams_alloc);
			fprintf(stderr,"dbg4       RMB_sound_velocity:                %f\n", store->RMB_sound_velocity);
			fprintf(stderr,"dbg4       RMB_ping_number:                   %d\n", store->RMB_ping_number);
			for (i=0;i<store->RMB_num_beams;i++)
				{
				fprintf(stderr,"dbg4       beam:%4d", i);

				if (store->RMB_beam_data_available & 0x0001)
				fprintf(stderr," mbrng:%f", store->RMB_beam_ranges[i]);

				if (store->RMB_beam_data_available & 0x0002)
				fprintf(stderr," mtrng:%f", store->RMB_multi_ranges[i]);

				if (store->RMB_beam_data_available & 0x0004)
				fprintf(stderr," est:%f", store->RMB_sounding_eastings[i]);

				if (store->RMB_beam_data_available & 0x0004)
				fprintf(stderr," nor:%f", store->RMB_sounding_northings[i]);

				if (store->RMB_beam_data_available & 0x0008)
				fprintf(stderr," dep:%f", store->RMB_sounding_depths[i]);

				if (store->RMB_beam_data_available & 0x0010)
				fprintf(stderr," ltr:%f", store->RMB_sounding_along[i]);

				if (store->RMB_beam_data_available & 0x0020)
				fprintf(stderr," atr:%f", store->RMB_sounding_across[i]);

				if (store->RMB_beam_data_available & 0x0040)
				fprintf(stderr," pth:%f", store->RMB_sounding_pitchangles[i]);

				if (store->RMB_beam_data_available & 0x0080)
				fprintf(stderr," rll:%f", store->RMB_sounding_rollangles[i]);

				if (store->RMB_beam_data_available & 0x0100)
				fprintf(stderr," toa:%f", store->RMB_sounding_takeoffangles[i]);

				if (store->RMB_beam_data_available & 0x0200)
				fprintf(stderr," azi:%f", store->RMB_sounding_azimuthalangles[i]);

				if (store->RMB_beam_data_available & 0x0400)
				fprintf(stderr," tim:%d", store->RMB_sounding_timedelays[i]);

				if (store->RMB_beam_data_available & 0x0800)
				fprintf(stderr," int:%d", store->RMB_sounding_intensities[i]);

				if (store->RMB_beam_data_available & 0x1000)
				fprintf(stderr," qua:%d", store->RMB_sounding_quality[i]);

				if (store->RMB_beam_data_available & 0x2000)
				fprintf(stderr," flg:%d", store->RMB_sounding_flags[i]);

				fprintf(stderr,"\n");
				}
			}
		}

	/* set error and kind in mb_io_ptr */
	mb_io_ptr->new_error = *error;
	mb_io_ptr->new_kind = store->kind;

	/* 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_hysweep1(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	*function_name = "mbr_wt_hysweep1";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_hysweep_struct *store;

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

	/* write next data to file */
	status = mbr_hysweep1_wr_data(verbose,mbio_ptr,store_ptr,error);

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbr_hysweep1_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	*function_name = "mbr_hysweep1_rd_data";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_hysweep_struct *store;
	struct mbsys_hysweep_device_struct *device;
	struct mbsys_hysweep_device_offset_struct *offset;
	int	*file_header_read;
	int	*file_header_written;
	int	done;
	char	line[MBF_HYSWEEP1_MAXLINE];
	int	nscan, nread;
	char	*token;
	int	DEV_device_number;
	int	DEV_device_capability;
	mb_path	DEV_device_name;
	int	DV2_device_number;
	int	DV2_device_capability;
	int	DV2_towfish;
	int	DV2_enabled;
	int	HVF_device_number;
	int	MBI_device_number;
	int	MBI_sonar_type;
	int	MBI_sonar_flags;
	int	MBI_beam_data_available;
	int	MBI_num_beams_1;
	int	MBI_num_beams_2;
	double	MBI_first_beam_angle;
	double	MBI_angle_increment;
	int	OF2_device_number;
	int	OF2_offset_type;
	double	OF2_offset_starboard;
	double	OF2_offset_forward;
	double	OF2_offset_vertical;
	double	OF2_offset_yaw;
	double	OF2_offset_roll;
	double	OF2_offset_pitch;
	double	OF2_offset_time;
	int	SSI_device_number;
	int	SSI_sonar_flags;
	int	SSI_port_num_samples;
	int	SSI_starboard_num_samples;
	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 */
	store = (struct mbsys_hysweep_struct *) store_ptr;

	/* get saved values */
	file_header_read = (int *) &mb_io_ptr->save1;
	file_header_written = (int *) &mb_io_ptr->save2;

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

	/* loop over reading data until a record is ready for return */
	done = MB_NO;
	while (*error == MB_ERROR_NO_ERROR && done == MB_NO)
		{
		/* read the next line */
		status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

		/* now make sense of the line */
		if (status == MB_SUCCESS)
			{
			/* RMB multibeam data record */
			if (strncmp(line, "RMB", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_RMB;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %x %x %x %d %lf %d",
						&(store->RMB_device_number),
						&(store->RMB_time),
						&(store->RMB_sonar_type),
						&(store->RMB_sonar_flags),
						&(store->RMB_beam_data_available),
						&(store->RMB_num_beams),
						&(store->RMB_sound_velocity),
						&(store->RMB_ping_number));
				if (nscan != 9)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* allocate space for beam data if required */
				if (store->RMB_num_beams > store->RMB_num_beams_alloc)
					{
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_beam_ranges), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_multi_ranges), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_eastings), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_northings), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_depths), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_across), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_along), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_pitchangles), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_rollangles), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_takeoffangles), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(double),
									(void **)&(store->RMB_sounding_azimuthalangles), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(int),
									(void **)&(store->RMB_sounding_timedelays), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(int),
									(void **)&(store->RMB_sounding_intensities), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(int),
									(void **)&(store->RMB_sounding_quality), error);
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RMB_num_beams * sizeof(int),
									(void **)&(store->RMB_sounding_flags), error);
					}

				/* read and parse RMB_beam_ranges if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0001)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_beam_ranges[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_multi_ranges if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0002)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_multi_ranges[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse   if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0004)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_eastings[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_northings if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0004)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_northings[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_depths if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0008)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_depths[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_along if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0010)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_along[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_across if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0020)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_across[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_pitchangles if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0040)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_pitchangles[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_rollangles if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0080)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_rollangles[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_takeoffangles if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0100)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_takeoffangles[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_azimuthalangles if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0200)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%lf", &(store->RMB_sounding_azimuthalangles[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_timedelays if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0400)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RMB_sounding_timedelays[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_intensities if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x0800)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RMB_sounding_intensities[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_quality if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x1000)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RMB_sounding_quality[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RMB_sounding_flags if included */
				if (status == MB_SUCCESS
					&& store->RMB_beam_data_available & 0x2000)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RMB_num_beams && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RMB_sounding_flags[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RMB_num_beams)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  RMB data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       RMB_device_number:                 %d\n", store->RMB_device_number);
					fprintf(stderr,"dbg4       RMB_time:                          %f\n", store->RMB_time);
					fprintf(stderr,"dbg4       RMB_sonar_type:                    %d\n", store->RMB_sonar_type);
					fprintf(stderr,"dbg4       RMB_sonar_flags:                   %d\n", store->RMB_sonar_flags);
					fprintf(stderr,"dbg4       RMB_beam_data_available:           %d\n", store->RMB_beam_data_available);
					fprintf(stderr,"dbg4       RMB_num_beams:                     %d\n", store->RMB_num_beams);
					fprintf(stderr,"dbg4       RMB_num_beams_alloc:               %d\n", store->RMB_num_beams_alloc);
					fprintf(stderr,"dbg4       RMB_sound_velocity:                %f\n", store->RMB_sound_velocity);
					fprintf(stderr,"dbg4       RMB_ping_number:                   %d\n", store->RMB_ping_number);
					for (i=0;i<store->RMB_num_beams;i++)
						{
						fprintf(stderr,"dbg4       beam:%4d", i);

						if (store->RMB_beam_data_available & 0x0001)
						fprintf(stderr," %f", store->RMB_beam_ranges[i]);

						if (store->RMB_beam_data_available & 0x0002)
						fprintf(stderr," %f", store->RMB_multi_ranges[i]);

						if (store->RMB_beam_data_available & 0x0004)
						fprintf(stderr," %f", store->RMB_sounding_eastings[i]);

						if (store->RMB_beam_data_available & 0x0004)
						fprintf(stderr," %f", store->RMB_sounding_northings[i]);

						if (store->RMB_beam_data_available & 0x0008)
						fprintf(stderr," %f", store->RMB_sounding_depths[i]);

						if (store->RMB_beam_data_available & 0x0010)
						fprintf(stderr," %f", store->RMB_sounding_along[i]);

						if (store->RMB_beam_data_available & 0x0020)
						fprintf(stderr," %f", store->RMB_sounding_across[i]);

						if (store->RMB_beam_data_available & 0x0040)
						fprintf(stderr," %f", store->RMB_sounding_pitchangles[i]);

						if (store->RMB_beam_data_available & 0x0080)
						fprintf(stderr," %f", store->RMB_sounding_rollangles[i]);

						if (store->RMB_beam_data_available & 0x0100)
						fprintf(stderr," %f", store->RMB_sounding_takeoffangles[i]);

						if (store->RMB_beam_data_available & 0x0200)
						fprintf(stderr," %f", store->RMB_sounding_azimuthalangles[i]);

						if (store->RMB_beam_data_available & 0x0400)
						fprintf(stderr," %d", store->RMB_sounding_timedelays[i]);

						if (store->RMB_beam_data_available & 0x0800)
						fprintf(stderr," %d", store->RMB_sounding_intensities[i]);

						if (store->RMB_beam_data_available & 0x1000)
						fprintf(stderr," %d", store->RMB_sounding_quality[i]);

						if (store->RMB_beam_data_available & 0x2000)
						fprintf(stderr," %d", store->RMB_sounding_flags[i]);

						fprintf(stderr,"\n");
						}
					}
				}

			/* RSS data record */
			else if (strncmp(line, "RSS", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_RSS;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %x %d %d %lf %d %lf %lf %d %d %d %d",
						&(store->RSS_device_number),
						&(store->RSS_time),
						&(store->RSS_sonar_flags),
						&(store->RSS_port_num_samples),
						&(store->RSS_starboard_num_samples),
						&(store->RSS_sound_velocity),
						&(store->RSS_ping_number),
						&(store->RSS_altitude),
						&(store->RSS_sample_rate),
						&(store->RSS_minimum_amplitude),
						&(store->RSS_maximum_amplitude),
						&(store->RSS_bit_shift),
						&(store->RSS_frequency));
				if (nscan != 9)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* allocate space for sidescan data if required */
				if (store->RSS_port_num_samples > store->RSS_port_num_samples_alloc)
					{
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RSS_port_num_samples * sizeof(int),
									(void **)&(store->RSS_starboard_num_samples), error);
					}
				if (store->RSS_starboard_num_samples > store->RSS_starboard_num_samples_alloc)
					{
					status = mb_reallocd(verbose, __FILE__, __LINE__, store->RSS_starboard_num_samples * sizeof(int),
									(void **)&(store->RSS_starboard_num_samples), error);
					}

				/* read and parse RSS_port */
				if (status == MB_SUCCESS)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RSS_port_num_samples && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RSS_port[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RSS_port_num_samples)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* read and parse RSS_starboard */
				if (status == MB_SUCCESS)
					{
					/* read the next line */
					status = mbr_hysweep1_rd_line(verbose, mb_io_ptr->mbfp, line, error);

					/* parse the line */
					if (status == MB_SUCCESS
						&& (token = strtok(line+0, " ")) != NULL)
						{
						nread = 0;
						for (i=0;i<store->RSS_starboard_num_samples && token != NULL;i++)
							{
							nscan = sscanf(token, "%d", &(store->RSS_starboard[i]));
							if (nscan == 1)
								nread++;
							token = strtok(NULL, " ");
							}
						if (nread != store->RSS_starboard_num_samples)
							{
							status = MB_FAILURE;
							*error = MB_ERROR_UNINTELLIGIBLE;
							}
						}

					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  RMB data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       RSS_device_number:                 %d\n", store->RSS_device_number);
					fprintf(stderr,"dbg4       RSS_time:                          %f\n", store->RSS_time);
					fprintf(stderr,"dbg4       RSS_sonar_flags:                   %d\n", store->RSS_sonar_flags);
					fprintf(stderr,"dbg4       RSS_port_num_samples:              %d\n", store->RSS_port_num_samples);
					fprintf(stderr,"dbg4       RSS_port_num_samples_alloc:        %d\n", store->RSS_port_num_samples_alloc);
					fprintf(stderr,"dbg4       RSS_starboard_num_samples:         %d\n", store->RSS_starboard_num_samples);
					fprintf(stderr,"dbg4       RSS_starboard_num_samples_alloc:   %d\n", store->RSS_starboard_num_samples_alloc);
					fprintf(stderr,"dbg4       RSS_sound_velocity:                %f\n", store->RSS_sound_velocity);
					fprintf(stderr,"dbg4       RSS_ping_number:                   %d\n", store->RSS_ping_number);
					fprintf(stderr,"dbg4       RSS_altitude:                      %f\n", store->RSS_altitude);
					fprintf(stderr,"dbg4       RSS_sample_rate:                   %f\n", store->RSS_sample_rate);
					fprintf(stderr,"dbg4       RSS_minimum_amplitude:             %d\n", store->RSS_minimum_amplitude);
					fprintf(stderr,"dbg4       RSS_maximum_amplitude:             %d\n", store->RSS_maximum_amplitude);
					fprintf(stderr,"dbg4       RSS_bit_shift:                     %d\n", store->RSS_bit_shift);
					fprintf(stderr,"dbg4       RSS_frequency:                     %d\n", store->RSS_frequency);
					for (i=0;i<store->RSS_port_num_samples;i++)
						{
						fprintf(stderr,"dbg4       port pixel:%5d ss:%d", i, store->RSS_port[i]);
						}
					for (i=0;i<store->RSS_port_num_samples;i++)
						{
						fprintf(stderr,"dbg4       starboard pixel:%5d ss:%d", i, store->RSS_starboard[i]);
						}
					}
				}

			/* SNR data record */
			else if (strncmp(line, "SNR", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_SNR;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
						&(store->SNR_device_number),
						&(store->SNR_time),
						&(store->SNR_ping_number),
						&(store->SNR_sonar_id),
						&(store->SNR_num_settings),
						&(store->SNR_settings[0]),
						&(store->SNR_settings[1]),
						&(store->SNR_settings[2]),
						&(store->SNR_settings[3]),
						&(store->SNR_settings[4]),
						&(store->SNR_settings[5]),
						&(store->SNR_settings[6]),
						&(store->SNR_settings[7]),
						&(store->SNR_settings[8]),
						&(store->SNR_settings[9]),
						&(store->SNR_settings[10]),
						&(store->SNR_settings[11]));
				if (nscan != (5 + store->SNR_num_settings))
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  SNR data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       SNR_device_number:                 %d\n", store->SNR_device_number);
					fprintf(stderr,"dbg4       SNR_time:                          %f\n", store->SNR_time);
					fprintf(stderr,"dbg4       SNR_ping_number:                   %d\n", store->SNR_ping_number);
					fprintf(stderr,"dbg4       SNR_sonar_id:                      %d\n", store->SNR_sonar_id);
					fprintf(stderr,"dbg4       SNR_num_settings:                  %d\n", store->SNR_num_settings);
					fprintf(stderr,"dbg4       SNR_settings[0]:                   %f\n", store->SNR_settings[0]);
					fprintf(stderr,"dbg4       SNR_settings[1]:                   %f\n", store->SNR_settings[1]);
					fprintf(stderr,"dbg4       SNR_settings[2]:                   %f\n", store->SNR_settings[2]);
					fprintf(stderr,"dbg4       SNR_settings[3]:                   %f\n", store->SNR_settings[3]);
					fprintf(stderr,"dbg4       SNR_settings[4]:                   %f\n", store->SNR_settings[4]);
					fprintf(stderr,"dbg4       SNR_settings[5]:                   %f\n", store->SNR_settings[5]);
					fprintf(stderr,"dbg4       SNR_settings[6]:                   %f\n", store->SNR_settings[6]);
					fprintf(stderr,"dbg4       SNR_settings[7]:                   %f\n", store->SNR_settings[7]);
					fprintf(stderr,"dbg4       SNR_settings[8]:                   %f\n", store->SNR_settings[8]);
					fprintf(stderr,"dbg4       SNR_settings[9]:                   %f\n", store->SNR_settings[9]);
					fprintf(stderr,"dbg4       SNR_settings[10]:                  %f\n", store->SNR_settings[10]);
					fprintf(stderr,"dbg4       SNR_settings[11]:                  %f\n", store->SNR_settings[11]);
					}

				/* if successful this completes a survey ping */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_DATA;
					store->time_d = store->TND_survey_time_d + store->RMB_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* TID data record */
			else if (strncmp(line, "TID", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_TID;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf",
						&(store->TID_device_number),
						&(store->TID_time),
						&(store->TID_tide));
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  TID data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       TID_device_number:                 %d\n", store->TID_device_number);
					fprintf(stderr,"dbg4       TID_time:                          %f\n", store->TID_time);
					fprintf(stderr,"dbg4       TID_tide:                          %f\n", store->TID_tide);
					}

				/* if successful this completes a tide record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_TIDE;
					store->time_d = store->TND_survey_time_d + store->TID_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* HCP data record */
			else if (strncmp(line, "HCP", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_HCP;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf %lf %lf",
						&(store->HCP_device_number),
						&(store->HCP_time),
						&(store->HCP_heave),
						&(store->HCP_roll),
						&(store->HCP_pitch));
				if (nscan != 5)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  HCP data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       HCP_device_number:                 %d\n", store->HCP_device_number);
					fprintf(stderr,"dbg4       HCP_time:                          %f\n", store->HCP_time);
					fprintf(stderr,"dbg4       HCP_heave:                         %f\n", store->HCP_heave);
					fprintf(stderr,"dbg4       HCP_roll:                          %f\n", store->HCP_roll);
					fprintf(stderr,"dbg4       HCP_pitch:                         %f\n", store->HCP_pitch);
					}

				/* if successful this completes an attitude record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_ATTITUDE;
					store->time_d = store->TND_survey_time_d + store->HCP_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* EC1 data record */
			else if (strncmp(line, "EC1", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_EC1;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf",
						&(store->EC1_device_number),
						&(store->EC1_time),
						&(store->EC1_rawdepth));
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  EC1 data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       EC1_device_number:                 %d\n", store->EC1_device_number);
					fprintf(stderr,"dbg4       EC1_time:                          %f\n", store->EC1_time);
					fprintf(stderr,"dbg4       EC1_rawdepth:                      %f\n", store->EC1_rawdepth);
					}

				/* if successful this completes an altitude record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_ALTITUDE;
					store->time_d = store->TND_survey_time_d + store->EC1_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* GPS data record */
			else if (strncmp(line, "GPS", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_GPS;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf %lf %lf %d %d",
						&(store->GPS_device_number),
						&(store->GPS_time),
						&(store->GPS_cog),
						&(store->GPS_sog),
						&(store->GPS_hdop),
						&(store->GPS_mode),
						&(store->GPS_nsats));
				if (nscan != 7)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  GPS data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       GPS_device_number:                 %d\n", store->GPS_device_number);
					fprintf(stderr,"dbg4       GPS_time:                          %f\n", store->GPS_time);
					fprintf(stderr,"dbg4       GPS_cog:                           %f\n", store->GPS_cog);
					fprintf(stderr,"dbg4       GPS_sog:                           %f\n", store->GPS_sog);
					fprintf(stderr,"dbg4       GPS_hdop:                          %f\n", store->GPS_hdop);
					fprintf(stderr,"dbg4       GPS_mode:                          %d\n", store->GPS_mode);
					fprintf(stderr,"dbg4       GPS_nsats:                         %d\n", store->GPS_nsats);
					}
				}

			/* GYR data record */
			else if (strncmp(line, "GYR", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_GYR;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf",
						&(store->GYR_device_number),
						&(store->GYR_time),
						&(store->GYR_heading));
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  GYR data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       GYR_device_number:                 %d\n", store->GYR_device_number);
					fprintf(stderr,"dbg4       GYR_time:                          %f\n", store->GYR_time);
					fprintf(stderr,"dbg4       GYR_heading:                       %f\n", store->GYR_heading);
					}

				/* if successful this completes a heading record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_HEADING;
					store->time_d = store->TND_survey_time_d + store->GYR_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* POS data record */
			else if (strncmp(line, "POS", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_POS;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf %lf",
						&(store->POS_device_number),
						&(store->POS_time),
						&(store->POS_x),
						&(store->POS_y));
				if (nscan != 4)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  POS data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       POS_device_number:                 %d\n", store->POS_device_number);
					fprintf(stderr,"dbg4       POS_time:                          %f\n", store->POS_time);
					fprintf(stderr,"dbg4       POS_x:                             %f\n", store->POS_x);
					fprintf(stderr,"dbg4       POS_y:                             %f\n", store->POS_y);
					}

				/* if successful this completes a navigation record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[store->POS_device_number]);
					if (device->DV2_enabled == MB_YES)
						store->kind = MB_DATA_NAV;
					else
						store->kind = MB_DATA_NAV1;
					store->time_d = store->TND_survey_time_d + store->POS_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* DEV device data record */
			else if (strncmp(line, "DEV", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_DEV;

				/* parse the first line */
				token = strtok(line+4, " ");
				nscan = sscanf(token, "%d", &(DEV_device_number));
				if (nscan == 1)
					{
					token = strtok(NULL, " ");
					nscan = sscanf(token, "%d", &(DEV_device_capability));
					}
				if (nscan == 1)
					{
					token = strtok(NULL, "\"");
					strcpy(DEV_device_name, token);
					nscan = 3;
					}
				if (nscan == 3)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[DEV_device_number]);
					device->DEV_device_number = DEV_device_number;
					device->DEV_device_capability = DEV_device_capability;
					strcpy(device->DEV_device_name, DEV_device_name);
					store->num_devices++;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  DEV data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       DEV_device_number:                 %d\n", device->DEV_device_number);
					fprintf(stderr,"dbg4       DEV_device_capability:             %d\n", device->DEV_device_capability);
					fprintf(stderr,"dbg4       DEV_device_name:                   %s\n", device->DEV_device_name);
					}
				}

			/* DV2 device data record */
			else if (strncmp(line, "DV2", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_DV2;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %x %d %d",
						&(DV2_device_number),
						&(DV2_device_capability),
						&(DV2_towfish),
						&(DV2_enabled));
				if (nscan == 4)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[DEV_device_number]);
					device->DV2_device_capability = DV2_device_capability;
					device->DV2_towfish = DV2_towfish;
					device->DV2_enabled = DV2_enabled;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  DV2 data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       DV2_device_number:                 %d\n", DV2_device_number);
					fprintf(stderr,"dbg4       DV2_device_capability:             %d\n", device->DV2_device_capability);
					fprintf(stderr,"dbg4       DV2_towfish:                       %d\n", device->DV2_towfish);
					fprintf(stderr,"dbg4       DV2_enabled:                       %d\n", device->DV2_enabled);
					}
				}

			/* EOH end of header data record */
			else if (strncmp(line, "EOH", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_EOH;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  EOH data record read by MBIO function <%s>\n",function_name);
					}

				/* handle some bookkeeping since the header has all been read */
				*file_header_read = MB_YES;

				/* set projection to UTM zone 1 if no projection specified */
				if (strlen(store->PRJ_proj4_command) == 0)
					{
					strcpy(store->PRJ_proj4_command, "UTM01N");
					}
				mb_proj_init(verbose, store->PRJ_proj4_command, &(mb_io_ptr->pjptr), error);
				mb_io_ptr->projection_initialized = MB_YES;
				}

			/* EOL end of line data record */
			else if (strncmp(line, "EOL", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_EOL;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  EOL data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* FTP file type data record */
			else if (strncmp(line, "FTP", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_FTP;

				/* parse the first line */
				nscan = sscanf(line+4, "%s",
						store->FTP_record);
				if (nscan != 1)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  FTP data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       FTP_record:                        %s\n", store->FTP_record);
					}
				}

			/* VER file type data record */
			else if (strncmp(line, "VER", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_VER;

				/* parse the first line */
				nscan = sscanf(line+4, "%s",
						store->VER_version);
				if (nscan != 1)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  VER data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       VER_version:                       %s\n", store->VER_version);
					}
				}

			/* HSP data record */
			else if (strncmp(line, "HSP", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_HSP;

				/* parse the first line */
				nscan = sscanf(line+4, "%lf %lf %lf %lf %lf %lf %d %d %lf %lf %d %d",
						&(store->HSP_minimum_depth),
						&(store->HSP_maximum_depth),
						&(store->HSP_port_offset_limit),
						&(store->HSP_stbd_offset_limit),
						&(store->HSP_port_angle_limit),
						&(store->HSP_stbd_angle_limit),
						&(store->HSP_high_beam_quality),
						&(store->HSP_low_beam_quality),
						&(store->HSP_sonar_range),
						&(store->HSP_towfish_layback),
						&(store->HSP_units),
						&(store->HSP_sonar_id));
				if (nscan != 12)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  HSP data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       HSP_minimum_depth:                 %f\n", store->HSP_minimum_depth);
					fprintf(stderr,"dbg4       HSP_maximum_depth:                 %f\n", store->HSP_maximum_depth);
					fprintf(stderr,"dbg4       HSP_port_offset_limit:             %f\n", store->HSP_port_offset_limit);
					fprintf(stderr,"dbg4       HSP_stbd_offset_limit:             %f\n", store->HSP_stbd_offset_limit);
					fprintf(stderr,"dbg4       HSP_port_angle_limit:              %f\n", store->HSP_port_angle_limit);
					fprintf(stderr,"dbg4       HSP_stbd_angle_limit:              %f\n", store->HSP_stbd_angle_limit);
					fprintf(stderr,"dbg4       HSP_high_beam_quality:             %d\n", store->HSP_high_beam_quality);
					fprintf(stderr,"dbg4       HSP_low_beam_quality:              %d\n", store->HSP_low_beam_quality);
					fprintf(stderr,"dbg4       HSP_sonar_range:                   %f\n", store->HSP_sonar_range);
					fprintf(stderr,"dbg4       HSP_towfish_layback:               %f\n", store->HSP_towfish_layback);
					fprintf(stderr,"dbg4       HSP_units:                         %d\n", store->HSP_units);
					fprintf(stderr,"dbg4       HSP_sonar_id:                      %d\n", store->HSP_sonar_id);
					}
				}

			/* HSX data record */
			else if (strncmp(line, "HSX", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_HSX;

				/* parse the first line */
				nscan = sscanf(line+4, "%d",
						&(store->HSX_record));
				if (nscan != 1)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  HSX data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       HSX_record:                        %d\n", store->HSX_record);
					}
				}

			/* HVF data record */
			else if (strncmp(line, "HVF", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_HVF;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf %lf %lf %lf %lf %lf",
						&(HVF_device_number),
						&(store->HVF_time_after_midnight),
						&(store->HVF_minimum_depth),
						&(store->HVF_maximum_depth),
						&(store->HVF_port_offset_limit),
						&(store->HVF_starboard_offset_limit),
						&(store->HVF_minimum_angle_limit),
						&(store->HVF_maximum_angle_limit));
				if (nscan != 8)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  HVF data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       HVF_device_number:                 %d\n", HVF_device_number);
					fprintf(stderr,"dbg4       HVF_time_after_midnight:           %f\n", store->HVF_time_after_midnight);
					fprintf(stderr,"dbg4       HVF_minimum_depth:                 %f\n", store->HVF_minimum_depth);
					fprintf(stderr,"dbg4       HVF_maximum_depth:                 %f\n", store->HVF_maximum_depth);
					fprintf(stderr,"dbg4       HVF_port_offset_limit:             %f\n", store->HVF_port_offset_limit);
					fprintf(stderr,"dbg4       HVF_starboard_offset_limit:        %f\n", store->HVF_starboard_offset_limit);
					fprintf(stderr,"dbg4       HVF_minimum_angle_limit:           %f\n", store->HVF_minimum_angle_limit);
					fprintf(stderr,"dbg4       HVF_maximum_angle_limit:           %f\n", store->HVF_maximum_angle_limit);
					}
				}

			/* INF data record */
			else if (strncmp(line, "INF", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_INF;

				/* parse the first line */
				if (strncmp(line, "INF \"\" \"\" \"\" \"\" ", 16) == 0)
					{
					store->INF_surveyor[0] = '\0';
					store->INF_boat[0] = '\0';
					store->INF_project[0] = '\0';
					store->INF_area[0] = '\0';
					nscan = sscanf(&(line[16]), "%lf %lf %lf",
							&(store->INF_tide_correction),
							&(store->INF_draft_correction),
							&(store->INF_sound_velocity));
					}
				else
					{
					if ((token = strtok(line+3, "\"")) != NULL)
						{
						token = strtok(NULL, "\"");
						strcpy(store->INF_surveyor, token);

						token = strtok(NULL, "\"");
						token = strtok(NULL, "\"");
						strcpy(store->INF_boat, token);

						token = strtok(NULL, "\"");
						token = strtok(NULL, "\"");
						strcpy(store->INF_project, token);

						token = strtok(NULL, "\"");
						token = strtok(NULL, "\"");
						strcpy(store->INF_area, token);
						token = strtok(NULL, "\"");
						}
					nscan = sscanf(token, "%lf %lf %lf",
							&(store->INF_tide_correction),
							&(store->INF_draft_correction),
							&(store->INF_sound_velocity));
					}
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  INF data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       INF_surveyor:                      %s\n", store->INF_surveyor);
					fprintf(stderr,"dbg4       INF_boat:                          %s\n", store->INF_boat);
					fprintf(stderr,"dbg4       INF_project:                       %s\n", store->INF_project);
					fprintf(stderr,"dbg4       INF_area:                          %s\n", store->INF_area);
					fprintf(stderr,"dbg4       INF_tide_correction:               %f\n", store->INF_tide_correction);
					fprintf(stderr,"dbg4       INF_draft_correction:              %f\n", store->INF_draft_correction);
					fprintf(stderr,"dbg4       INF_sound_velocity:                %f\n", store->INF_sound_velocity);
					}
				}

			/* LBP data record */
			else if (strncmp(line, "LBP", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_LBP;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  LBP data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* LIN data record */
			else if (strncmp(line, "LIN", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_LIN;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  LIN data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* LNN data record */
			else if (strncmp(line, "LNN", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_LNN;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  LNN data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* MBI data record */
			else if (strncmp(line, "MBI", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_MBI;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %d %d %d %d %d %lf %lf",
						&(MBI_device_number),
						&(MBI_sonar_type),
						&(MBI_sonar_flags),
						&(MBI_beam_data_available),
						&(MBI_num_beams_1),
						&(MBI_num_beams_2),
						&(MBI_first_beam_angle),
						&(MBI_angle_increment));
				if (nscan == 8)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[MBI_device_number]);
					device->MBI_sonar_type = MBI_sonar_type;
					device->MBI_sonar_flags = MBI_sonar_flags;
					device->MBI_beam_data_available = MBI_beam_data_available;
					device->MBI_num_beams_1 = MBI_num_beams_1;
					device->MBI_num_beams_2 = MBI_num_beams_2;
					device->MBI_first_beam_angle = MBI_first_beam_angle;
					device->MBI_angle_increment = MBI_angle_increment;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  MBI data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       MBI_device_number:                 %d\n", MBI_device_number);
					fprintf(stderr,"dbg4       MBI_sonar_id:                      %d\n", device->MBI_sonar_id);
					fprintf(stderr,"dbg4       MBI_sonar_receive_shape:           %d\n", device->MBI_sonar_receive_shape);
					fprintf(stderr,"dbg4       MBI_sonar_type:                    %d\n", device->MBI_sonar_type);
					fprintf(stderr,"dbg4       MBI_sonar_flags:                   %d\n", device->MBI_sonar_flags);
					fprintf(stderr,"dbg4       MBI_beam_data_available:           %d\n", device->MBI_beam_data_available);
					fprintf(stderr,"dbg4       MBI_num_beams_1:                   %d\n", device->MBI_num_beams_1);
					fprintf(stderr,"dbg4       MBI_num_beams_2:                   %d\n", device->MBI_num_beams_2);
					fprintf(stderr,"dbg4       MBI_first_beam_angle:              %f\n", device->MBI_first_beam_angle);
					fprintf(stderr,"dbg4       MBI_angle_increment:               %f\n", device->MBI_angle_increment);
					}
				}

			/* OF2 data record */
			else if (strncmp(line, "OF2", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_OF2;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %d %lf %lf %lf %lf %lf %lf %lf",
						&(OF2_device_number),
						&(OF2_offset_type),
						&(OF2_offset_starboard),
						&(OF2_offset_forward),
						&(OF2_offset_vertical),
						&(OF2_offset_yaw),
						&(OF2_offset_roll),
						&(OF2_offset_pitch),
						&(OF2_offset_time));
				if (nscan == 9)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[OF2_device_number]);
					offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[device->num_offsets]);
					offset->OF2_offset_type = OF2_offset_type;
					offset->OF2_offset_starboard = OF2_offset_starboard;
					offset->OF2_offset_forward = OF2_offset_forward;
					offset->OF2_offset_vertical = OF2_offset_vertical;
					offset->OF2_offset_yaw = OF2_offset_yaw;
					offset->OF2_offset_roll = OF2_offset_roll;
					offset->OF2_offset_pitch = OF2_offset_pitch;
					offset->OF2_offset_time = OF2_offset_time;
					device->num_offsets++;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  OF2 data record read by OF2O function <%s>\n",function_name);
					fprintf(stderr,"dbg4       OF2_device_number:                 %d\n", OF2_device_number);
					fprintf(stderr,"dbg4       num_offsets:                       %d\n", device->num_offsets);
					fprintf(stderr,"dbg4       OF2_offset_type:                   %d\n", offset->OF2_offset_type);
					fprintf(stderr,"dbg4       OF2_offset_starboard:              %f\n", offset->OF2_offset_starboard);
					fprintf(stderr,"dbg4       OF2_offset_forward:                %f\n", offset->OF2_offset_forward);
					fprintf(stderr,"dbg4       OF2_offset_vertical:               %f\n", offset->OF2_offset_vertical);
					fprintf(stderr,"dbg4       OF2_offset_yaw:                    %f\n", offset->OF2_offset_yaw);
					fprintf(stderr,"dbg4       OF2_offset_roll:                   %f\n", offset->OF2_offset_roll);
					fprintf(stderr,"dbg4       OF2_offset_pitch:                  %f\n", offset->OF2_offset_pitch);
					fprintf(stderr,"dbg4       OF2_offset_time:                   %f\n", offset->OF2_offset_time);
					}
				}

			/* PRI data record */
			else if (strncmp(line, "PRI", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_PRI;

				/* parse the first line */
				nscan = sscanf(line+4, "%d",
						&(store->primary_nav_device));
				if (nscan == 1)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[store->primary_nav_device]);
					device->PRI_primary_nav_device = 1;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  PRI data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       primary_nav_device:                %d\n", store->primary_nav_device);
					}
				}

			/* PTS data record */
			else if (strncmp(line, "PTS", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_PTS;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  PTS data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* SSI data record */
			else if (strncmp(line, "SSI", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_SSI;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %d %d %d",
						&(SSI_device_number),
						&(SSI_sonar_flags),
						&(SSI_port_num_samples),
						&(SSI_starboard_num_samples));
				if (nscan == 4)
					{
					device = (struct mbsys_hysweep_device_struct *) &(store->devices[SSI_device_number]);
					device->SSI_sonar_flags = SSI_sonar_flags;
					device->SSI_port_num_samples = SSI_port_num_samples;
					device->SSI_starboard_num_samples = SSI_starboard_num_samples;
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  SSI data record read by SSIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       SSI_device_number:                 %d\n", SSI_device_number);
					fprintf(stderr,"dbg4       SSI_sonar_flags:                   %d\n", device->SSI_sonar_flags);
					fprintf(stderr,"dbg4       SSI_port_num_samples:              %d\n", device->SSI_port_num_samples);
					fprintf(stderr,"dbg4       SSI_starboard_num_samples:         %d\n", device->SSI_starboard_num_samples);
					}
				}

			/* SVC data record */
			else if (strncmp(line, "SVC", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_SVC;

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  SVC data record read by MBIO function <%s>\n",function_name);
					}
				}

			/* TND data record */
			else if (strncmp(line, "TND", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_TND;

				/* parse the first line */
				nscan = sscanf(line+4, "%d:%d:%d %d/%d/%d",
						&(store->TND_survey_time_i[3]),
						&(store->TND_survey_time_i[4]),
						&(store->TND_survey_time_i[5]),
						&(store->TND_survey_time_i[1]),
						&(store->TND_survey_time_i[2]),
						&(store->TND_survey_time_i[0]));
				if (nscan == 6)
					{
					store->TND_survey_time_i[6] = 0;
					store->time_i[0] = store->TND_survey_time_i[0];
					store->time_i[1] = store->TND_survey_time_i[1];
					store->time_i[2] = store->TND_survey_time_i[2];
					store->time_i[3] = 0;
					store->time_i[4] = 0;
					store->time_i[5] = 0;
					store->time_i[6] = 0;
					mb_get_time(verbose, store->time_i, &(store->TND_survey_time_d));
					}
				else
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  TND data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       TND_survey_time_i[0]:              %d\n", store->TND_survey_time_i[0]);
					fprintf(stderr,"dbg4       TND_survey_time_i[1]:              %d\n", store->TND_survey_time_i[1]);
					fprintf(stderr,"dbg4       TND_survey_time_i[2]:              %d\n", store->TND_survey_time_i[2]);
					fprintf(stderr,"dbg4       TND_survey_time_i[3]:              %d\n", store->TND_survey_time_i[3]);
					fprintf(stderr,"dbg4       TND_survey_time_i[4]:              %d\n", store->TND_survey_time_i[4]);
					fprintf(stderr,"dbg4       TND_survey_time_i[5]:              %d\n", store->TND_survey_time_i[5]);
					fprintf(stderr,"dbg4       TND_survey_time_i[6]:              %d\n", store->TND_survey_time_i[6]);
					fprintf(stderr,"dbg4       TND_survey_time_d:                 %f\n", store->TND_survey_time_d);
					}
				}

			/* DFT data record */
			else if (strncmp(line, "DFT", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_DFT;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %lf",
						&(store->DFT_device_number),
						&(store->DFT_time),
						&(store->DFT_draft));
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  DFT data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       DFT_device_number:                 %d\n", store->DFT_device_number);
					fprintf(stderr,"dbg4       DFT_time:                          %f\n", store->DFT_time);
					fprintf(stderr,"dbg4       DFT_draft:                         %f\n", store->DFT_draft);
					}

				/* if successful this completes a sonar depth record */
				if (status == MB_SUCCESS)
					{
					done = MB_YES;
					store->kind = MB_DATA_SONARDEPTH;
					store->time_d = store->TND_survey_time_d + store->DFT_time;
					mb_get_date(verbose, store->time_d, store->time_i);
					}
				}

			/* FIX data record */
			else if (strncmp(line, "FIX", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_FIX;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %d",
						&(store->FIX_device_number),
						&(store->FIX_time_after_midnight),
						&(store->FIX_event_number));
				if (nscan != 3)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  FIX data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       FIX_device_number:                 %d\n", store->FIX_device_number);
					fprintf(stderr,"dbg4       FIX_time_after_midnight:           %f\n", store->FIX_time_after_midnight);
					fprintf(stderr,"dbg4       FIX_event_number:                  %d\n", store->FIX_event_number);
					}
				}

			/* PSA data record */
			else if (strncmp(line, "PSA", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_PSA;

				/* parse the first line */
				nscan = sscanf(line+4, "%d %lf %d %lf %lf",
						&(store->PSA_device_number),
						&(store->PSA_time),
						&(store->PSA_ping_number),
						&(store->PSA_a0),
						&(store->PSA_a1));
				if (nscan != 5)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  PSA data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       PSA_device_number:                 %d\n", store->PSA_device_number);
					fprintf(stderr,"dbg4       PSA_time:                          %f\n", store->PSA_time);
					fprintf(stderr,"dbg4       PSA_ping_number:                   %d\n", store->PSA_ping_number);
					fprintf(stderr,"dbg4       PSA_a0:                            %f\n", store->PSA_a0);
					fprintf(stderr,"dbg4       PSA_a1:                            %f\n", store->PSA_a1);
					}
				}

			/* COM data record */
			else if (strncmp(line, "COM", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_COM;

				/* parse the first line */
				nscan = sscanf(line+4, "%s",
						store->COM_comment);
				if (nscan != 1)
					{
					status = MB_FAILURE;
					*error = MB_ERROR_UNINTELLIGIBLE;
					}

				/* print debug statements */
				if (verbose >= 4)
					{
					fprintf(stderr,"\ndbg4  COM data record read by MBIO function <%s>\n",function_name);
					fprintf(stderr,"dbg4       COM_comment:                       %s\n", store->COM_comment);
					}
				}

			/* PRJ data record */
			else if (strncmp(line, "PRJ", 3) == 0)
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_PRJ;

				/* if no previously set projection use this one */
				if (strlen(store->PRJ_proj4_command) == 0)
					{
					/* parse the first line */
					nscan = sscanf(line+4, "%s",
							store->PRJ_proj4_command);
					if (nscan != 1)
						{
						status = MB_FAILURE;
						*error = MB_ERROR_UNINTELLIGIBLE;
						}

					/* print debug statements */
					if (verbose >= 4)
						{
						fprintf(stderr,"\ndbg4  PRJ data record read by MBIO function <%s>\n",function_name);
						fprintf(stderr,"dbg4       PRJ_proj4_command:                 %s\n", store->PRJ_proj4_command);
						}
					}

				/* do not overwrite previously set projection */
				else
					{
					/* print debug statements */
					if (verbose >= 4)
						{
						fprintf(stderr,"\ndbg4  PRJ data record ignored by MBIO function <%s>\n",function_name);
						fprintf(stderr,"dbg4       Previously set PRJ_proj4_command:  %s\n", store->PRJ_proj4_command);
						fprintf(stderr,"dbg4       Ignored PRJ_proj4_command:         %s\n", line+4);
						}
					}

				}

			/* unknown data record */
			else
				{
				store->type = MBSYS_HYSWEEP_RECORDTYPE_NONE;
				}



			}
		}
#ifdef MBR_HYSWEEP1_DEBUG
	if (status == MB_SUCCESS)
		fprintf(stderr,"HYSWEEP1 DATA READ: type:%d status:%d error:%d\n\n",
			store->kind, status, *error);
#endif

	/* 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_hysweep1_rd_line(int verbose, FILE *mbfp, char *line, int *error)
{
	char	*function_name = "mbr_hysweep1_rd_line";
	int	status = MB_SUCCESS;
	char	*result;

	/* 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       mbfp:       %lu\n",(size_t)mbfp);
		}

	/* read the next line */
	result = fgets(line,MBF_HYSWEEP1_MAXLINE,mbfp);
	if (result == line
		&& strlen(line) < MBF_HYSWEEP1_MAXLINE)
	    {
	    status = MB_SUCCESS;
	    *error = MB_ERROR_NO_ERROR;

	    if (verbose >= 4)
		{
		fprintf(stderr,"\ndbg4  Raw line read by MBIO function <%s>\n",function_name);
		fprintf(stderr,"dbg4       line: %s\n",line);
		}
	    }
	else
	    {
	    status = MB_FAILURE;
	    *error = MB_ERROR_EOF;
	    }


	/* 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       line:       %s\n",line);
		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_hysweep1_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
	char	*function_name = "mbr_hysweep1_wr_data";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_hysweep_struct *store;
	struct mbsys_hysweep_device_struct *device;
	struct mbsys_hysweep_device_offset_struct *offset;
	struct mbsys_hysweep_struct hysweeptmp;
	FILE	*mbfp;
	char	line[MBF_HYSWEEP1_MAXLINE];
	int	*file_header_read;
	int	*file_header_written;
	int	kindex;
	int	*add_MB_POS;
	int	*add_MB_HCP;
	int	*add_MB_GYR;
	int	*add_MB_DFT;
	int	*device_number_MB_POS;
	int	*device_number_MB_HCP;
	int	*device_number_MB_GYR;
	int	*device_number_MB_DFT;
	double	x,y;
	int	i, j;

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

	/* get saved values */
	file_header_read = (int *) &mb_io_ptr->save1;
	file_header_written = (int *) &mb_io_ptr->save2;
	add_MB_POS = (int *) &mb_io_ptr->save3;
	add_MB_HCP = (int *) &mb_io_ptr->save4;
	add_MB_GYR = (int *) &mb_io_ptr->save5;
	add_MB_DFT = (int *) &mb_io_ptr->save6;
	device_number_MB_POS = (int *) &mb_io_ptr->save7;
	device_number_MB_HCP = (int *) &mb_io_ptr->save8;
	device_number_MB_GYR = (int *) &mb_io_ptr->save9;
	device_number_MB_DFT = (int *) &mb_io_ptr->save10;

	/* write fileheader if needed */
	if (*file_header_written == MB_NO && store->kind != MB_DATA_COMMENT)
		{
		/* copy the mbsys_hysweep structure so that we can mess with the device list
			if needed before writing it out */
		hysweeptmp = *store;

		/* check for existence of MB-System interpolated nav, attitude, heading, and sonar depth devices
			- create if they don't exist */
		*add_MB_POS = MB_YES;
		*add_MB_HCP = MB_YES;
		*add_MB_GYR = MB_YES;
		*add_MB_DFT = MB_YES;
		for (i=0;i<hysweeptmp.num_devices;i++)
			{
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[i]);
			if (device->DV2_enabled == MB_YES)
				{
				if ((strncmp(device->DEV_device_name, "MB-System", 9) == 0))
					{
					if (device->DV2_device_capability & 0x0004)
						*add_MB_POS = MB_NO;
					if (device->DV2_device_capability & 0x0020)
						*add_MB_GYR = MB_NO;
					if (device->DV2_device_capability & 0x0200)
						*add_MB_HCP = MB_NO;
					if (device->DV2_device_capability == 0x8000)
						*add_MB_DFT = MB_NO;
					}
				else
					{
					if (device->DV2_device_capability & 0x0004)
						{
						device->DV2_enabled = MB_NO;
						}
					if (device->DV2_device_capability & 0x0020)
						{
						device->DV2_enabled = MB_NO;
						}
					if (device->DV2_device_capability & 0x0200)
						{
						device->DV2_enabled = MB_NO;
						}
					if (device->DV2_device_capability == 0x8000)
						{
						device->DV2_enabled = MB_NO;
						}
					}
				}
			}
		if (*add_MB_POS == MB_YES)
			{
			*device_number_MB_POS = hysweeptmp.num_devices;
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[hysweeptmp.num_devices]);
			device->DEV_device_number = hysweeptmp.num_devices;
			device->DEV_device_capability = 4;
			strcpy(device->DEV_device_name, "MB-System interpolated position");
			device->DV2_device_capability = 0x0004;
			device->DV2_towfish = 0;
			device->DV2_enabled = 1;

			device->num_offsets = 3;
			for (i=0;i<device->num_offsets;i++)
				{
				offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[i]);
				offset->OF2_device_number = hysweeptmp.num_devices;
				offset->OF2_offset_type = i;
				offset->OF2_offset_starboard = 0.0;
				offset->OF2_offset_forward = 0.0;
				offset->OF2_offset_vertical = 0.0;
				offset->OF2_offset_yaw = 0.0;
				offset->OF2_offset_roll = 0.0;
				offset->OF2_offset_pitch = 0.0;
				offset->OF2_offset_time = 0.0;
				}
			hysweeptmp.num_devices++;
			}
		if (*add_MB_GYR == MB_YES)
			{
			*device_number_MB_GYR = hysweeptmp.num_devices;
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[hysweeptmp.num_devices]);
			device->DEV_device_number = hysweeptmp.num_devices;
			device->DEV_device_capability = 32;
			strcpy(device->DEV_device_name, "MB-System interpolated heading");
			device->DV2_device_capability = 0x0020;
			device->DV2_towfish = 0;
			device->DV2_enabled = 1;

			device->num_offsets = 2;
			for (i=0;i<device->num_offsets;i++)
				{
				offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[i]);
				offset->OF2_device_number = hysweeptmp.num_devices;
				offset->OF2_offset_type = i + 1;
				offset->OF2_offset_starboard = 0.0;
				offset->OF2_offset_forward = 0.0;
				offset->OF2_offset_vertical = 0.0;
				offset->OF2_offset_yaw = 0.0;
				offset->OF2_offset_roll = 0.0;
				offset->OF2_offset_pitch = 0.0;
				offset->OF2_offset_time = 0.0;
				}
			hysweeptmp.num_devices++;
			}
		if (*add_MB_HCP == MB_YES)
			{
			*device_number_MB_HCP = hysweeptmp.num_devices;
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[hysweeptmp.num_devices]);
			device->DEV_device_number = hysweeptmp.num_devices;
			device->DEV_device_capability = 512;
			strcpy(device->DEV_device_name, "MB-System interpolated attitude");
			device->DV2_device_capability = 0x0200;
			device->DV2_towfish = 0;
			device->DV2_enabled = 1;

			device->num_offsets = 2;
			for (i=0;i<device->num_offsets;i++)
				{
				offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[i]);
				offset->OF2_device_number = hysweeptmp.num_devices;
				offset->OF2_offset_type = i + 1;
				offset->OF2_offset_starboard = 0.0;
				offset->OF2_offset_forward = 0.0;
				offset->OF2_offset_vertical = 0.0;
				offset->OF2_offset_yaw = 0.0;
				offset->OF2_offset_roll = 0.0;
				offset->OF2_offset_pitch = 0.0;
				offset->OF2_offset_time = 0.0;
				}
			hysweeptmp.num_devices++;
			}
		if (*add_MB_DFT == MB_YES)
			{
			*device_number_MB_DFT = hysweeptmp.num_devices;
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[hysweeptmp.num_devices]);
			device->DEV_device_number = hysweeptmp.num_devices;
			device->DEV_device_capability = 16384;
			strcpy(device->DEV_device_name, "MB-System interpolated sonar depth");
			device->DV2_device_capability = 0x1000;
			device->DV2_towfish = 0;
			device->DV2_enabled = 1;

			device->num_offsets = 3;
			for (i=0;i<device->num_offsets;i++)
				{
				offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[i]);
				offset->OF2_device_number = hysweeptmp.num_devices;
				offset->OF2_offset_type = i;
				offset->OF2_offset_starboard = 0.0;
				offset->OF2_offset_forward = 0.0;
				offset->OF2_offset_vertical = 0.0;
				offset->OF2_offset_yaw = 0.0;
				offset->OF2_offset_roll = 0.0;
				offset->OF2_offset_pitch = 0.0;
				offset->OF2_offset_time = 0.0;
				}
			hysweeptmp.num_devices++;
			}

		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  FTP data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       FTP_record:                        %s\n", hysweeptmp.FTP_record);
			fprintf(stderr,"\ndbg4  HSX data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       HSX_record:                        %d\n", hysweeptmp.HSX_record);
			fprintf(stderr,"\ndbg4  VER data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       VER_version:                       %s\n", hysweeptmp.VER_version);
			fprintf(stderr,"\ndbg4  TND data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       TND_survey_time_i[0]:              %d\n", hysweeptmp.TND_survey_time_i[0]);
			fprintf(stderr,"dbg4       TND_survey_time_i[1]:              %d\n", hysweeptmp.TND_survey_time_i[1]);
			fprintf(stderr,"dbg4       TND_survey_time_i[2]:              %d\n", hysweeptmp.TND_survey_time_i[2]);
			fprintf(stderr,"dbg4       TND_survey_time_i[3]:              %d\n", hysweeptmp.TND_survey_time_i[3]);
			fprintf(stderr,"dbg4       TND_survey_time_i[4]:              %d\n", hysweeptmp.TND_survey_time_i[4]);
			fprintf(stderr,"dbg4       TND_survey_time_i[5]:              %d\n", hysweeptmp.TND_survey_time_i[5]);
			fprintf(stderr,"dbg4       TND_survey_time_i[6]:              %d\n", hysweeptmp.TND_survey_time_i[6]);
			fprintf(stderr,"dbg4       TND_survey_time_d:                 %f\n", hysweeptmp.TND_survey_time_d);
			fprintf(stderr,"\ndbg4  INF data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       INF_surveyor:                      %s\n", hysweeptmp.INF_surveyor);
			fprintf(stderr,"dbg4       INF_boat:                          %s\n", hysweeptmp.INF_boat);
			fprintf(stderr,"dbg4       INF_project:                       %s\n", hysweeptmp.INF_project);
			fprintf(stderr,"dbg4       INF_area:                          %s\n", hysweeptmp.INF_area);
			fprintf(stderr,"dbg4       INF_tide_correction:               %f\n", hysweeptmp.INF_tide_correction);
			fprintf(stderr,"dbg4       INF_draft_correction:              %f\n", hysweeptmp.INF_draft_correction);
			fprintf(stderr,"dbg4       INF_sound_velocity:                %f\n", hysweeptmp.INF_sound_velocity);
			fprintf(stderr,"\ndbg4  HSP data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       HSP_minimum_depth:                 %f\n", hysweeptmp.HSP_minimum_depth);
			fprintf(stderr,"dbg4       HSP_maximum_depth:                 %f\n", hysweeptmp.HSP_maximum_depth);
			fprintf(stderr,"dbg4       HSP_port_offset_limit:             %f\n", hysweeptmp.HSP_port_offset_limit);
			fprintf(stderr,"dbg4       HSP_stbd_offset_limit:             %f\n", hysweeptmp.HSP_stbd_offset_limit);
			fprintf(stderr,"dbg4       HSP_port_angle_limit:              %f\n", hysweeptmp.HSP_port_angle_limit);
			fprintf(stderr,"dbg4       HSP_stbd_angle_limit:              %f\n", hysweeptmp.HSP_stbd_angle_limit);
			fprintf(stderr,"dbg4       HSP_high_beam_quality:             %d\n", hysweeptmp.HSP_high_beam_quality);
			fprintf(stderr,"dbg4       HSP_low_beam_quality:              %d\n", hysweeptmp.HSP_low_beam_quality);
			fprintf(stderr,"dbg4       HSP_sonar_range:                   %f\n", hysweeptmp.HSP_sonar_range);
			fprintf(stderr,"dbg4       HSP_towfish_layback:               %f\n", hysweeptmp.HSP_towfish_layback);
			fprintf(stderr,"dbg4       HSP_units:                         %d\n", hysweeptmp.HSP_units);
			fprintf(stderr,"dbg4       HSP_sonar_id:                      %d\n", hysweeptmp.HSP_sonar_id);
			fprintf(stderr,"\ndbg4  EOH data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"\ndbg4  HVF data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       HVF_time_after_midnight:           %f\n", hysweeptmp.HVF_time_after_midnight);
			fprintf(stderr,"dbg4       HVF_minimum_depth:                 %f\n", hysweeptmp.HVF_minimum_depth);
			fprintf(stderr,"dbg4       HVF_maximum_depth:                 %f\n", hysweeptmp.HVF_maximum_depth);
			fprintf(stderr,"dbg4       HVF_port_offset_limit:             %f\n", hysweeptmp.HVF_port_offset_limit);
			fprintf(stderr,"dbg4       HVF_starboard_offset_limit:        %f\n", hysweeptmp.HVF_starboard_offset_limit);
			fprintf(stderr,"dbg4       HVF_minimum_angle_limit:           %f\n", hysweeptmp.HVF_minimum_angle_limit);
			fprintf(stderr,"dbg4       HVF_maximum_angle_limit:           %f\n", hysweeptmp.HVF_maximum_angle_limit);
			fprintf(stderr,"\ndbg4  FIX data record to be written by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       FIX_device_number:                 %d\n", hysweeptmp.FIX_device_number);
			fprintf(stderr,"dbg4       FIX_time_after_midnight:           %f\n", hysweeptmp.FIX_time_after_midnight);
			fprintf(stderr,"dbg4       FIX_event_number:                  %d\n", hysweeptmp.FIX_event_number);
			}

		fprintf(mbfp, "FTP %s\r\n", hysweeptmp.FTP_record);
		fprintf(mbfp, "HSX %d\r\n", hysweeptmp.HSX_record);
		fprintf(mbfp, "VER %s\r\n", hysweeptmp.VER_version);
		fprintf(mbfp, "TND %2.2d:%2.2d:%2.2d %2.2d/%2.2d/%4.4d\r\n",
			hysweeptmp.TND_survey_time_i[3],
			hysweeptmp.TND_survey_time_i[4],
			hysweeptmp.TND_survey_time_i[5],
			hysweeptmp.TND_survey_time_i[1],
			hysweeptmp.TND_survey_time_i[2],
			hysweeptmp.TND_survey_time_i[0]);
		fprintf(mbfp, "INF \"%s\" \"%s\" \"%s\" \"%s\" %.2f %.2f %.2f\r\n",
			hysweeptmp.INF_surveyor,
			hysweeptmp.INF_boat,
			hysweeptmp.INF_project,
			hysweeptmp.INF_area,
			hysweeptmp.INF_tide_correction,
			hysweeptmp.INF_draft_correction,
			hysweeptmp.INF_sound_velocity);
		fprintf(mbfp, "HSP %.2f %.2f %.2f %.2f %g %g %d %d %.2f %.2f %d %d\r\n",
			hysweeptmp.HSP_minimum_depth,
			hysweeptmp.HSP_maximum_depth,
			hysweeptmp.HSP_port_offset_limit,
			hysweeptmp.HSP_stbd_offset_limit,
			hysweeptmp.HSP_port_angle_limit,
			hysweeptmp.HSP_stbd_angle_limit,
			hysweeptmp.HSP_high_beam_quality,
			hysweeptmp.HSP_low_beam_quality,
			hysweeptmp.HSP_sonar_range,
			hysweeptmp.HSP_towfish_layback,
			hysweeptmp.HSP_units,
			hysweeptmp.HSP_sonar_id);

		for (i=0;i<hysweeptmp.num_devices;i++)
			{
			device = (struct mbsys_hysweep_device_struct *) &(hysweeptmp.devices[i]);
			fprintf(mbfp, "DEV %d %d \"%s\"\r\n",
				device->DEV_device_number,
				device->DEV_device_capability,
				device->DEV_device_name);
			fprintf(mbfp, "DV2 %d %d %d %d\r\n",
				device->DEV_device_number,
				device->DV2_device_capability,
				device->DV2_towfish,
				device->DV2_enabled);
			for (j=0;j<device->num_offsets;j++)
				{
				offset = (struct mbsys_hysweep_device_offset_struct *) &(device->offsets[j]);
				fprintf(mbfp, "OF2 %d %d %.2f %.2f %.2f %.2f %.2f %.2f %.2f\r\n",
					offset->OF2_device_number,
					offset->OF2_offset_type,
					offset->OF2_offset_starboard,
					offset->OF2_offset_forward,
					offset->OF2_offset_vertical,
					offset->OF2_offset_yaw,
					offset->OF2_offset_roll,
					offset->OF2_offset_pitch,
					offset->OF2_offset_time);
				}
			if (device->PRI_primary_nav_device == i)
				{
				fprintf(mbfp, "PRI 1\r\n");
				}
			if (device->DEV_device_capability & 16)
				{
				fprintf(mbfp, "MBI %d %d %d %d %d %d %.3f %.3f\r\n",
					device->DEV_device_number,
					device->MBI_sonar_type,
					device->MBI_sonar_flags,
					device->MBI_beam_data_available,
					device->MBI_num_beams_1,
					device->MBI_num_beams_2,
					device->MBI_first_beam_angle,
					device->MBI_angle_increment);
				fprintf(mbfp, "SSI %d %d %d %d\r\n",
					device->DEV_device_number,
					device->SSI_sonar_flags,
					device->SSI_port_num_samples,
					device->SSI_starboard_num_samples);
				}
			}

		fprintf(mbfp, "PRJ %s\r\n", hysweeptmp.PRJ_proj4_command);
		fprintf(mbfp, "EOH\r\n");
		fprintf(mbfp, "HVF 99 %.3f %.1f %.1f %.1f %.1f %.1f %.1f\r\n",
			hysweeptmp.HVF_time_after_midnight,
			hysweeptmp.HVF_minimum_depth,
			hysweeptmp.HVF_maximum_depth,
			hysweeptmp.HVF_port_offset_limit,
			hysweeptmp.HVF_starboard_offset_limit,
			hysweeptmp.HVF_minimum_angle_limit,
			hysweeptmp.HVF_maximum_angle_limit);
		fprintf(mbfp, "FIX %d %.3f %d\r\n",
			hysweeptmp.FIX_device_number,
			hysweeptmp.FIX_time_after_midnight,
			hysweeptmp.FIX_event_number);
		*file_header_written = MB_YES;

		/* initialize projection */
		mb_proj_init(verbose, store->PRJ_proj4_command, &(mb_io_ptr->pjptr), error);
		mb_io_ptr->projection_initialized = MB_YES;
		}

	/* call appropriate writing routines for ping data */
	if (status == MB_SUCCESS && store->kind == MB_DATA_DATA)
		{
		/* print debug statements */
		if (verbose >= 4)
			{
			fprintf(stderr,"\ndbg4  RMB data record read by MBIO function <%s>\n",function_name);
			fprintf(stderr,"dbg4       RMB_device_number:                 %d\n", store->RMB_device_number);
			fprintf(stderr,"dbg4       RMB_time:                          %f\n", store->RMB_time);
			fprintf(stderr,"dbg4       RMB_sonar_type:                    %d\n", store->RMB_sonar_type);
			fprintf(stderr,"dbg4       RMB_sonar_flags:                   %d\n", store->RMB_sonar_flags);
			fprintf(stderr,"dbg4       RMB_beam_data_available:           %d\n", store->RMB_beam_data_available);
			fprintf(stderr,"dbg4       RMB_num_beams:                     %d\n", store->RMB_num_beams);
			fprintf(stderr,"dbg4       RMB_num_beams_alloc:               %d\n", store->RMB_num_beams_alloc);
			fprintf(stderr,"dbg4       RMB_sound_velocity:                %f\n", store->RMB_sound_velocity);
			fprintf(stderr,"dbg4       RMB_ping_number:                   %d\n", store->RMB_ping_number);
			for (i=0;i<store->RMB_num_beams;i++)
				{
				fprintf(stderr,"dbg4       beam:%4d", i);

				if (store->RMB_beam_data_available & 0x0001)
				fprintf(stderr," %f", store->RMB_beam_ranges[i]);

				if (store->RMB_beam_data_available & 0x0002)
				fprintf(stderr," %f", store->RMB_multi_ranges[i]);

				if (store->RMB_beam_data_available & 0x0004)
				fprintf(stderr," %f", store->RMB_sounding_eastings[i]);

				if (store->RMB_beam_data_available & 0x0004)
				fprintf(stderr," %f", store->RMB_sounding_northings[i]);

				if (store->RMB_beam_data_available & 0x0008)
				fprintf(stderr," %f", store->RMB_sounding_depths[i]);

				if (store->RMB_beam_data_available & 0x0010)
				fprintf(stderr," %f", store->RMB_sounding_along[i]);

				if (store->RMB_beam_data_available & 0x0020)
				fprintf(stderr," %f", store->RMB_sounding_across[i]);

				if (store->RMB_beam_data_available & 0x0040)
				fprintf(stderr," %f", store->RMB_sounding_pitchangles[i]);

				if (store->RMB_beam_data_available & 0x0080)
				fprintf(stderr," %f", store->RMB_sounding_rollangles[i]);

				if (store->RMB_beam_data_available & 0x0100)
				fprintf(stderr," %f", store->RMB_sounding_takeoffangles[i]);

				if (store->RMB_beam_data_available & 0x0200)
				fprintf(stderr," %f", store->RMB_sounding_azimuthalangles[i]);

				if (store->RMB_beam_data_available & 0x0400)
				fprintf(stderr," %d", store->RMB_sounding_timedelays[i]);

				if (store->RMB_beam_data_available & 0x0800)
				fprintf(stderr," %d", store->RMB_sounding_intensities[i]);

				if (store->RMB_beam_data_available & 0x1000)
				fprintf(stderr," %d", store->RMB_sounding_quality[i]);

				if (store->RMB_beam_data_available & 0x2000)
				fprintf(stderr," %d", store->RMB_sounding_flags[i]);

				fprintf(stderr,"\n");
				}
			}

		/* add desired interpolated data */
		if (*add_MB_POS == MB_YES)
			{
			sprintf(line, "POS %d %.3f %.2f %.2f\r\n",
				*device_number_MB_POS,
				store->RMB_time,
				store->RMBint_x,
				store->RMBint_y);
			fputs(line, mbfp);
			}
		if (*add_MB_GYR == MB_YES)
			{
			sprintf(line, "GYR %d %.3f %.2f\r\n",
				*device_number_MB_GYR,
				store->RMB_time,
				store->RMBint_heading);
			fputs(line, mbfp);
			}
		if (*add_MB_HCP == MB_YES)
			{
			sprintf(line, "HCP %d %.3f %.2f %.2f %.2f\r\n",
				*device_number_MB_HCP,
				store->RMB_time,
				store->HCP_heave,
				store->HCP_roll,
				store->HCP_pitch);
			fputs(line, mbfp);
			}
		if (*add_MB_DFT == MB_YES)
			{
			sprintf(line, "DFT %d %.3f %.2f\r\n",
				*device_number_MB_DFT,
				store->RMB_time,
				store->RMBint_draft);
			fputs(line, mbfp);
			}

		/* write first line */
		fprintf(mbfp, "RMB %d %.3f %d %d %x %d %.2f %d\r\n",
			store->RMB_device_number,
			store->RMB_time,
			store->RMB_sonar_type,
			store->RMB_sonar_flags,
			store->RMB_beam_data_available,
			store->RMB_num_beams,
			store->RMB_sound_velocity,
			store->RMB_ping_number);

		/* write RMB_beam_ranges if included */
		if (store->RMB_beam_data_available & 0x0001)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_beam_ranges[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_beam_ranges[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_multi_ranges if included */
		if (store->RMB_beam_data_available & 0x0002)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_multi_ranges[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_multi_ranges[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_eastings if included */
		if (store->RMB_beam_data_available & 0x0004)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_eastings[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_eastings[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_northings if included */
		if (store->RMB_beam_data_available & 0x0004)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_northings[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_northings[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_depths if included */
		if (store->RMB_beam_data_available & 0x0008)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_depths[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_depths[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_along if included */
		if (store->RMB_beam_data_available & 0x0010)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_along[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_along[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_across if included */
		if (store->RMB_beam_data_available & 0x0020)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_across[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_across[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_pitchangles if included */
		if (store->RMB_beam_data_available & 0x0040)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_pitchangles[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_pitchangles[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_rollangles if included */
		if (store->RMB_beam_data_available & 0x0080)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_rollangles[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_rollangles[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_takeoffangles if included */
		if (store->RMB_beam_data_available & 0x0100)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_takeoffangles[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_takeoffangles[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_azimuthalangles if included */
		if (store->RMB_beam_data_available & 0x0200)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %.2f", store->RMB_sounding_azimuthalangles[i]);
				else
					sprintf(line+kindex, "%.2f", store->RMB_sounding_azimuthalangles[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_timedelays if included */
		if (store->RMB_beam_data_available & 0x0400)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %d", store->RMB_sounding_timedelays[i]);
				else
					sprintf(line+kindex, "%d", store->RMB_sounding_timedelays[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_intensities if included */
		if (store->RMB_beam_data_available & 0x0800)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %d", store->RMB_sounding_intensities[i]);
				else
					sprintf(line+kindex, "%d", store->RMB_sounding_intensities[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_quality if included */
		if (store->RMB_beam_data_available & 0x1000)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %d", store->RMB_sounding_quality[i]);
				else
					sprintf(line+kindex, "%d", store->RMB_sounding_quality[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write RMB_sounding_flags if included */
		if (store->RMB_beam_data_available & 0x2000)
			{
			/* write the next line */
			line[0]= '\0';
			for (i=0;i<store->RMB_num_beams;i++)
				{
				kindex = strlen(line);
				if (i > 0)
					sprintf(line+kindex, " %d", store->RMB_sounding_flags[i]);
				else
					sprintf(line+kindex, "%d", store->RMB_sounding_flags[i]);
				}
			kindex = strlen(line);
			sprintf(line+kindex, "\r\n");
			fputs(line, mbfp);
			}

		/* write SNR record */
		sprintf(line, "SNR %d %.3f %d %d %d",
			store->SNR_device_number,
			store->SNR_time,
			store->SNR_ping_number,
			store->SNR_sonar_id,
			store->SNR_num_settings);
		for (i=0;i<store->SNR_num_settings;i++)
			{
			kindex = strlen(line);
			sprintf(line+kindex, " %g", store->SNR_settings[i]);
			}
		kindex = strlen(line);
		sprintf(line+kindex, "\r\n");
		fputs(line, mbfp);

		}

	/* call appropriate writing routine for other records */
	else if (status == MB_SUCCESS)
		{
		/* write HCP record */
		if (store->kind == MB_DATA_ATTITUDE)
			{
			sprintf(line, "HCP %d %.3f %.2f %.2f %.2f\r\n",
				store->HCP_device_number,
				store->HCP_time,
				store->HCP_heave,
				store->HCP_roll,
				store->HCP_pitch);
			fputs(line, mbfp);
			}

		/* write GYR record */
		else if (store->kind == MB_DATA_HEADING)
			{
			sprintf(line, "GYR %d %.3f %.2f\r\n",
				store->GYR_device_number,
				store->GYR_time,
				store->GYR_heading);
			fputs(line, mbfp);
			}

		/* write DFT record */
		else if (store->kind == MB_DATA_SONARDEPTH)
			{
			sprintf(line, "DFT %d %.3f %.2f\r\n",
				store->DFT_device_number,
				store->DFT_time,
				store->DFT_draft);
			fputs(line, mbfp);
			}

		/* write GPS and POS record */
		else if (store->kind == MB_DATA_NAV
			|| store->kind == MB_DATA_NAV1)
			{
			if (store->GPS_device_number == store->POS_device_number)
				{
				sprintf(line, "GPS %d %.3f %.2f %.2f %.2f %d %d\r\n",
					store->GPS_device_number,
					store->GPS_time,
					store->GPS_cog,
					store->GPS_sog,
					store->GPS_hdop,
					store->GPS_mode,
					store->GPS_nsats);
				fputs(line, mbfp);
				}

			sprintf(line, "POS %d %.3f %.2f %.2f\r\n",
				store->POS_device_number,
				store->POS_time,
				store->POS_x,
				store->POS_y);
			fputs(line, mbfp);
			}

		/* write EC1 record */
		else if (store->kind == MB_DATA_ALTITUDE)
			{
			sprintf(line, "EC1 %d %.3f %.2f\r\n",
				store->EC1_device_number,
				store->EC1_time,
				store->EC1_rawdepth);
			fputs(line, mbfp);
			}

		/* write TID record */
		else if (store->kind == MB_DATA_TIDE)
			{
			sprintf(line, "TID %d %.3f %.2f\r\n",
				store->TID_device_number,
				store->TID_time,
				store->TID_tide);
			fputs(line, mbfp);
			}

		/* write comment */
		else if (store->kind == MB_DATA_COMMENT)
			{
			sprintf(line, "COM %s\r\n", store->COM_comment);
			}
		}

#ifdef MBR_HYSWEEP1_DEBUG
	fprintf(stderr,"HYSWEEP1 DATA WRITTEN: type:%d status:%d error:%d\n\n",
	store->kind, status, *error);
#endif

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