/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_reson.c	3.00	8/20/94
 *	$Id: mbsys_reson.c 1917 2012-01-10 19:25:33Z caress $
 *
 *    Copyright (c) 1994-2012 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.
 *--------------------------------------------------------------------*/
/*
 * mbsys_reson.c contains the functions for handling the data structure
 * used by MBIO functions to store data from Reson SEABAT multibeam 
 * sonar systems, including the 9001, 9002, and 8101 sonars.
 * The data formats which are commonly used to store Reson SeaBat
 * data in files include
 *      MBF_CBAT9001/9002 : MBIO ID 81
 *      MBF_CBAT8101 : MBIO ID 82/83
 *
 * Author:	D. W. Caress
 * Date:	August 20, 1994
 *
 * $Log: mbsys_reson.c,v $
 * Revision 5.7  2005/11/05 00:48:03  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.6  2003/04/17 21:05:23  caress
 * Release 5.0.beta30
 *
 * Revision 5.5  2003/01/15 20:51:48  caress
 * Release 5.0.beta28
 *
 * Revision 5.4  2002/09/18 23:32:59  caress
 * Release 5.0.beta23
 *
 * Revision 5.3  2001/08/25 00:57:48  caress
 * Adding beamwidth values to extract functions.
 *
 * Revision 5.2  2001/07/20  00:32:54  caress
 * Release 5.0.beta03
 *
 * Revision 5.1  2001/01/22  07:43:34  caress
 * Version 5.0.beta01
 *
 * Revision 5.0  2000/12/01  22:48:41  caress
 * First cut at Version 5.0.
 *
 * Revision 4.17  2000/10/11  01:03:21  caress
 * Convert to ANSI C
 *
 * Revision 4.16  2000/09/30  06:32:52  caress
 * Snapshot for Dale.
 *
 * Revision 4.15  1999/08/16  23:14:41  caress
 * Added ability to handle Mesotech SM2000 data
 *
 * Revision 4.14  1999/03/31  18:11:35  caress
 * MB-System 4.6beta7
 *
 * Revision 4.13  1999/01/01  23:41:06  caress
 * MB-System version 4.6beta6
 *
 * Revision 4.12  1998/10/05 17:46:15  caress
 * MB-System version 4.6beta
 *
 * Revision 4.11  1997/07/25  14:19:53  caress
 * Version 4.5beta2.
 * Much mucking, particularly with Simrad formats.
 *
 * Revision 4.10  1997/04/21  17:02:07  caress
 * MB-System 4.5 Beta Release.
 *
 * Revision 4.9  1996/08/05  15:21:58  caress
 * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support.
 *
 * Revision 4.9  1996/08/05  15:21:58  caress
 * Just redid i/o for Simrad sonars, including adding EM12S and EM121 support.
 *
 * Revision 4.8  1996/04/22  13:21:19  caress
 * Now have DTR and MIN/MAX defines in mb_define.h
 *
 * Revision 4.7  1996/04/22  10:57:09  caress
 * DTR define now in mb_io.h
 *
 * Revision 4.6  1995/11/27  21:52:10  caress
 * New version of mb_ttimes with ssv and angles_null.
 *
 * Revision 4.5  1995/09/28  18:10:48  caress
 * Various bug fixes working toward release 4.3.
 *
 * Revision 4.4  1995/08/17  14:41:09  caress
 * Revision for release 4.3.
 *
 * Revision 4.3  1995/07/13  21:41:13  caress
 * Check in in midst of general bug fixing flail.
 *
 * Revision 4.2  1995/03/06  19:38:54  caress
 * Changed include strings.h to string.h for POSIX compliance.
 *
 * Revision 4.1  1994/11/09  21:40:34  caress
 * Changed ttimes extraction routines to handle forward beam angles
 * so that alongtrack distances can be calculated.
 *
 * Revision 4.0  1994/10/21  12:35:00  caress
 * Release V4.0
 *
 * Revision 1.1  1994/10/21  12:20:01  caress
 * Initial revision
 *
 *
 *
 */

/* 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_reson.h"

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

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

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

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

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

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

	/* initialize everything */
	store->kind = MB_DATA_NONE;
	store->sonar = MBSYS_RESON_UNKNOWN;

	/* parameter telegram */
	store->par_year = 0;
	store->par_month = 0;
	store->par_day = 0;
	store->par_hour = 0;
	store->par_minute = 0;
	store->par_second = 0;
	store->par_hundredth_sec = 0;
	store->par_thousandth_sec = 0;
	store->roll_offset = 0;	/* roll offset (degrees) */
	store->pitch_offset = 0;	/* pitch offset (degrees) */
	store->heading_offset = 0;	/* heading offset (degrees) */
	store->time_delay = 0;		/* positioning system delay (sec) */
	store->transducer_depth = 0;	/* tranducer depth (meters) */
	store->transducer_height = 0;	/* reference height (meters) */
	store->transducer_x = 0;	/* reference fore-aft offset (meters) */
	store->transducer_y = 0;	/* reference athwartships 
						offset (meters) */
	store->antenna_x = 0;		/* antenna athwartships 
						offset (meters) */
	store->antenna_y = 0;		/* antenna athwartships 
						offset (meters) */
	store->antenna_z = 0;		/* antenna height (meters) */
	store->motion_sensor_x = 0;	/* motion sensor 
						athwartships offset (meters) */
	store->motion_sensor_y = 0;	/* motion sensor 
						athwartships offset (meters) */
	store->motion_sensor_z = 0;	/* motion sensor 
						height offset (meters) */
	store->spare = 0;
	store->line_number = 0;
	store->start_or_stop = 0;
	store->transducer_serial_number = 0;
	for (i=0;i<MBSYS_RESON_COMMENT_LENGTH;i++)
		store->comment[i] = '\0';

	/* position (position telegrams) */
	store->pos_year = 0;
	store->pos_month = 0;
	store->pos_day = 0;
	store->pos_hour = 0;
	store->pos_minute = 0;
	store->pos_second = 0;
	store->pos_hundredth_sec = 0;
	store->pos_thousandth_sec = 0;
	store->pos_latitude = 0;
	store->pos_longitude = 0;
	store->utm_northing = 0;
	store->utm_easting = 0;
	store->utm_zone_lon = 0;
	store->utm_zone = 0;
	store->hemisphere = 0;
	store->ellipsoid = 0;
	store->pos_spare = 0;
	store->semi_major_axis = 0;
	store->other_quality = 0;

	/* sound velocity profile */
	store->svp_year = 0;
	store->svp_month = 0;
	store->svp_day = 0;
	store->svp_hour = 0;
	store->svp_minute = 0;
	store->svp_second = 0;
	store->svp_hundredth_sec = 0;
	store->svp_thousandth_sec = 0;
	store->svp_num = 0;
	for (i=0;i<500;i++)
		{
		store->svp_depth[i] = 0; /* 0.1 meters */
		store->svp_vel[i] = 0;	/* 0.1 meters/sec */
		}

	/* time stamp */
	store->year = 0;
	store->month = 0;
	store->day = 0;
	store->hour = 0;
	store->minute = 0;
	store->second = 0;
	store->hundredth_sec = 0;
	store->thousandth_sec = 0;
	store->roll = 0;
	store->pitch = 0;
	store->heading = 0;
	store->heave = 0;
	store->ping_number = 0;
	store->sound_vel = 0;
	store->mode = 0;
	store->gain1 = 0;
	store->gain2 = 0;
	store->gain3 = 0;
	store->beams_bath = MBSYS_RESON_MAXBEAMS;
	for (i=0;i<MBSYS_RESON_MAXBEAMS;i++)
		{
		store->bath[i] = 0;
		store->bath_acrosstrack[i] = 0;
		store->bath_alongtrack[i] = 0;
		store->tt[i] = 0;
		store->angle[i] = 0;
		store->quality[i] = 0;
		store->amp[i] = 0;
		}

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		mb_fix_y2k(verbose, store->year, &time_i[0]);
		time_i[1] = store->month;
		time_i[2] = store->day;
		time_i[3] = store->hour;
		time_i[4] = store->minute;
		time_i[5] = store->second;
		time_i[6] = 10000*store->hundredth_sec 
			+ 100*store->thousandth_sec;
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->longitude*0.00000009;
		*navlat = store->latitude*0.00000009;

		/* get heading */
		*heading = 0.01*store->heading;

		/* get speed  */
		*speed = 0.0;
		
		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_ltrack = 1.5;
		mb_io_ptr->beamwidth_xtrack = 1.5;

		/* read distance and depth values into storage arrays */
		*nbath = store->beams_bath;
		*namp = store->beams_bath;
		*nss = 0;
		depthscale = 0.01;
		dacrscale  = 0.01;
		daloscale  = 0.01;
		reflscale  = 1.0;
		for (i=0;i<*nbath;i++)
			{
			if (store->quality[i] == 0
			    || store->bath[i] == 0)
			    {
			    beamflag[i] = MB_FLAG_NULL;
			    bath[i] = depthscale*store->bath[i];
			    }
			else if (store->quality[i] >= 3)
			    {
			    beamflag[i] = MB_FLAG_NONE;
			    bath[i] = depthscale*store->bath[i];
			    }
			else
			    {
			    beamflag[i] 
				= MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[i] = depthscale*store->bath[i];
			    }
			bathacrosstrack[i] 
				= dacrscale*store->bath_acrosstrack[i];
			bathalongtrack[i] 
				= daloscale*store->bath_alongtrack[i];
			}
		for (i=0;i<*namp;i++)
			{
			amp[i] = reflscale*store->amp[i];
			}

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

		/* done translating values */

		}

	/* extract nav from structure */
	else if (*kind == MB_DATA_NAV)
		{
		/* get time */
		mb_fix_y2k(verbose, store->pos_year, &time_i[0]);
		time_i[1] = store->pos_month;
		time_i[2] = store->pos_day;
		time_i[3] = store->pos_hour;
		time_i[4] = store->pos_minute;
		time_i[5] = store->pos_second;
		time_i[6] = 10000*store->pos_hundredth_sec 
			+ 100*store->pos_thousandth_sec;
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->pos_longitude*0.00000009;
		*navlat = store->pos_latitude*0.00000009;

		/* get heading */
		*heading = 0.01*store->heading;

		/* get speed  */
		*speed = 0.0;

		/* read distance and depth values into storage arrays */
		*nbath = 0;
		*namp = 0;
		*nss = 0;

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

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson_insert(int verbose, void *mbio_ptr, void *store_ptr, 
		int kind, int time_i[7], double time_d,
		double navlon, double navlat,
		double speed, double heading,
		int nbath, int namp, int nss,
		char *beamflag, double *bath, double *amp, 
		double *bathacrosstrack, double *bathalongtrack,
		double *ss, double *ssacrosstrack, double *ssalongtrack,
		char *comment, int *error)
{
	char	*function_name = "mbsys_reson_insert";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson_struct *store;
	double	depthscale, dacrscale,daloscale,reflscale;
	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);
		fprintf(stderr,"dbg2       kind:       %d\n",kind);
		}
	if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
		{
		fprintf(stderr,"dbg2       time_i[0]:  %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:  %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:  %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:  %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:  %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:  %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:  %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:     %f\n",time_d);
		fprintf(stderr,"dbg2       navlon:     %f\n",navlon);
		fprintf(stderr,"dbg2       navlat:     %f\n",navlat);
		fprintf(stderr,"dbg2       speed:      %f\n",speed);
		fprintf(stderr,"dbg2       heading:    %f\n",heading);
		}
	if (verbose >= 2 && kind == MB_DATA_DATA)
		{
		fprintf(stderr,"dbg2       nbath:      %d\n",nbath);
		if (verbose >= 3) 
		 for (i=0;i<nbath;i++)
		  fprintf(stderr,"dbg3       beam:%d  flag:%3d  bath:%f  acrosstrack:%f  alongtrack:%f\n",
			i,beamflag[i],bath[i],
			bathacrosstrack[i],bathalongtrack[i]);
		fprintf(stderr,"dbg2       namp:       %d\n",namp);
		if (verbose >= 3) 
		 for (i=0;i<namp;i++)
		  fprintf(stderr,"dbg3        beam:%d   amp:%f  acrosstrack:%f  alongtrack:%f\n",
			i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
		}
	if (verbose >= 2 && kind == MB_DATA_COMMENT)
		{
		fprintf(stderr,"dbg2       comment:     \ndbg2       %s\n",
			comment);
		}

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

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

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

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		mb_unfix_y2k(verbose, time_i[0], &store->year);
		store->month = time_i[1];
		store->day = time_i[2];
		store->hour = time_i[3];
		store->minute = time_i[4];
		store->second = time_i[5];
		store->hundredth_sec = time_i[6]/10000;
		store->thousandth_sec = 
			(time_i[6] - 10000*store->hundredth_sec)/100;

		/*get navigation */
		store->longitude = (int) (navlon/0.00000009);
		store->latitude = (int) (navlat/0.00000009);

		/* get heading */
		store->heading = (int) (heading * 100);

		/* insert distance and depth values into storage arrays */
		store->beams_bath = nbath;
		depthscale = 0.01;
		dacrscale  = 0.01;
		daloscale  = 0.01;
		reflscale  = 1.0;
		for (i=0;i<nbath;i++)
			{
			if (beamflag[i] 
			    == MB_FLAG_NULL)
			    {
			    store->bath[i] = bath[i]/depthscale;
			    store->quality[i] = 0;
			    }
			else if (mb_beam_check_flag(beamflag[i]))
			    {
			    store->bath[i] = bath[i]/depthscale;
			    store->quality[i] = 1;
			    }
			else
			    {
			    store->bath[i] = bath[i]/depthscale;
			    store->quality[i] = 3;
			    }
			store->bath_acrosstrack[i]
				= bathacrosstrack[i]/dacrscale;
			store->bath_alongtrack[i] 
				= bathalongtrack[i]/daloscale;
			}
		for (i=0;i<namp;i++)
			{
			store->amp[i] = amp[i]/reflscale;
			}
		}

	/* insert nav in structure */
	else if (store->kind == MB_DATA_NAV)
		{
		/* get time */
		mb_unfix_y2k(verbose, time_i[0], &store->pos_year);
		store->pos_month = time_i[1];
		store->pos_day = time_i[2];
		store->pos_hour = time_i[3];
		store->pos_minute = time_i[4];
		store->pos_second = time_i[5];
		store->pos_hundredth_sec = time_i[6]/10000;
		store->pos_thousandth_sec = 
			(time_i[6] - 10000*store->pos_hundredth_sec)/100;

		/*get navigation */
		store->pos_longitude = (int) (navlon/0.00000009);
		store->pos_latitude = (int) (navlat/0.00000009);

		/* get heading */
		store->heading = (int) (heading * 100);
		}

	/* insert comment in structure */
	else if (store->kind == MB_DATA_COMMENT)
		{
		strncpy(store->comment,comment,199);
		}

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson_ttimes(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams,
	double *ttimes, double *angles, 
	double *angles_forward, double *angles_null,
	double *heave, double *alongtrack_offset, 
	double *draft, double *ssv, int *error)
{
	char	*function_name = "mbsys_reson_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson_struct *store;
	double	ttscale, angscale;
	double	heave_use;
	double	angle, pitch;
	int	icenter, anglemin;
	int	i;

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get nbeams */
		*nbeams = store->beams_bath;

		/* get depth offset (heave + transducer_depth) */
		heave_use = 0.001 * store->heave;
		*draft = 0.001 * store->transducer_depth;
		*ssv = 0.1 * store->sound_vel;
		
		/* get first starboard angle */
		icenter = 0;
		anglemin = 32000;
		for (i=0;i<*nbeams;i++)
			{
			if (store->angle[i] != 0 
			    && store->angle[i] < anglemin)
			    {
			    anglemin = store->angle[i];
			    icenter = i;
			    }
			}
		if (icenter > 0 
		    && icenter < *nbeams - 1)
		    {
		    if (store->angle[icenter+1] < store->angle[icenter-1])
			icenter++;
		    }

		/* get travel times, angles */
		ttscale = 0.00001;
		angscale = 0.005;
		for (i=0;i<*nbeams;i++)
			{
			ttimes[i] = ttscale * store->tt[i];
			if (i < icenter)
			    angle = 90.0 + angscale * store->angle[i];
			else
			    angle = 90.0 - angscale * store->angle[i];
			pitch = angscale * store->pitch;
			mb_rollpitch_to_takeoff(
				verbose, pitch, angle, 
				&angles[i], 
				&angles_forward[i], error);
			angles_null[i] = angles[i];
			heave[i] = heave_use;
			alongtrack_offset[i] = 0.0;
			}

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

		/* done translating values */

		}

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

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

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

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get nbeams */
		*nbeams = store->beams_bath;

		/* get detects */
		for (i=0;i<*nbeams;i++)
			{
			detects[i] = MB_DETECT_AMPLITUDE;
			}

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

		/* done translating values */

		}

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

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

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

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		bath_best = 0.0;
		depthscale = 0.01;
		dacrscale  = 0.01;
		if (store->bath[store->beams_bath/2] != 0
		    && store->quality[store->beams_bath/2] >= 3)
		    bath_best = depthscale 
				* store->bath[store->beams_bath/2];
		else
		    {
		    xtrack_min = 99999999.9;
		    for (i=0;i<store->beams_bath;i++)
			{
			if (store->bath[i] != 0 
			    && store->quality[i] >= 3
			    && fabs(store->bath_acrosstrack[i]) < xtrack_min)
			    {
			    xtrack_min = fabs(dacrscale * store->bath_acrosstrack[i]);
			    bath_best = depthscale * store->bath[i];
			    }
			}		
		    }
		if (bath_best == 0.0)
		    {
		    xtrack_min = 99999999.9;
		    for (i=0;i<store->beams_bath;i++)
			{
			if (store->quality[i] > 0
			    && store->quality[i] < 3
			    && fabs(dacrscale * store->bath_acrosstrack[i]) < xtrack_min)
			    {
			    xtrack_min = fabs(dacrscale * store->bath_acrosstrack[i]);
			    bath_best = depthscale * store->bath[i];
			    }
			}		
		    }
		*transducer_depth = 0.001 * store->transducer_depth
				    + 0.001 * store->heave;
		*altitude = bath_best - *transducer_depth;

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

		/* done translating values */

		}

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

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

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

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

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get time */
		mb_fix_y2k(verbose, store->year, &time_i[0]);
		time_i[1] = store->month;
		time_i[2] = store->day;
		time_i[3] = store->hour;
		time_i[4] = store->minute;
		time_i[5] = store->second;
		time_i[6] = 10000*store->hundredth_sec 
			+ 100*store->thousandth_sec;
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->longitude*0.00000009;
		*navlat = store->latitude*0.00000009;

		/* get heading */
		*heading = 0.01*store->heading;

		/* get speed  */
		*speed = 0.0;

		/* get draft  */
		*draft = 0.001 * store->transducer_depth;

		/* get roll pitch and heave */
		*roll = 0.005*store->roll;
		*pitch = 0.005*store->pitch;
		*heave = 0.001*store->heave;

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

		/* done translating values */

		}

	/* extract nav from structure */
	else if (*kind == MB_DATA_NAV)
		{
		/* get time */
		mb_fix_y2k(verbose, store->pos_year, &time_i[0]);
		time_i[1] = store->pos_month;
		time_i[2] = store->pos_day;
		time_i[3] = store->pos_hour;
		time_i[4] = store->pos_minute;
		time_i[5] = store->pos_second;
		time_i[6] = 10000*store->pos_hundredth_sec 
			+ 100*store->pos_thousandth_sec;
		mb_get_time(verbose,time_i,time_d);

		/* get navigation */
		*navlon = store->pos_longitude*0.00000009;
		*navlat = store->pos_latitude*0.00000009;

		/* get heading */
		*heading = 0.01*store->heading;

		/* get speed  */
		*speed = 0.0;

		/* get draft  */
		*draft = 0.001 * store->transducer_depth;

		/* get roll pitch and heave */
		*roll = 0.005*store->roll;
		*pitch = 0.005*store->pitch;
		*heave = 0.001*store->heave;

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

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson_insert_nav(int verbose, void *mbio_ptr, void *store_ptr,
		int time_i[7], double time_d,
		double navlon, double navlat,
		double speed, double heading, double draft, 
		double roll, double pitch, double heave,
		int *error)
{
	char	*function_name = "mbsys_reson_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson_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);
		fprintf(stderr,"dbg2       time_i[0]:  %d\n",time_i[0]);
		fprintf(stderr,"dbg2       time_i[1]:  %d\n",time_i[1]);
		fprintf(stderr,"dbg2       time_i[2]:  %d\n",time_i[2]);
		fprintf(stderr,"dbg2       time_i[3]:  %d\n",time_i[3]);
		fprintf(stderr,"dbg2       time_i[4]:  %d\n",time_i[4]);
		fprintf(stderr,"dbg2       time_i[5]:  %d\n",time_i[5]);
		fprintf(stderr,"dbg2       time_i[6]:  %d\n",time_i[6]);
		fprintf(stderr,"dbg2       time_d:     %f\n",time_d);
		fprintf(stderr,"dbg2       navlon:     %f\n",navlon);
		fprintf(stderr,"dbg2       navlat:     %f\n",navlat);
		fprintf(stderr,"dbg2       speed:      %f\n",speed);
		fprintf(stderr,"dbg2       heading:    %f\n",heading);
		fprintf(stderr,"dbg2       draft:      %f\n",draft);
		fprintf(stderr,"dbg2       roll:       %f\n",roll);
		fprintf(stderr,"dbg2       pitch:      %f\n",pitch);
		fprintf(stderr,"dbg2       heave:      %f\n",heave);
		}

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

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

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		mb_unfix_y2k(verbose, time_i[0], &store->year);
		store->month = time_i[1];
		store->day = time_i[2];
		store->hour = time_i[3];
		store->minute = time_i[4];
		store->second = time_i[5];
		store->hundredth_sec = time_i[6]/10000;
		store->thousandth_sec = 
			(time_i[6] - 10000*store->hundredth_sec)/100;

		/*get navigation */
		store->longitude = (int) (navlon/0.00000009);
		store->latitude = (int) (navlat/0.00000009);

		/* get heading */
		store->heading = (int) (heading * 100);

		/* get draft  */
		store->transducer_depth = 1000 * draft;

		/* get roll pitch and heave */
		store->roll = roll*200.0;
		store->pitch = pitch*200.0;
		store->heave = heave*200.0;
		}

	/* insert nav in structure */
	else if (store->kind == MB_DATA_NAV)
		{
		/* get time */
		mb_unfix_y2k(verbose, time_i[0], &store->pos_year);
		store->pos_month = time_i[1];
		store->pos_day = time_i[2];
		store->pos_hour = time_i[3];
		store->pos_minute = time_i[4];
		store->pos_second = time_i[5];
		store->pos_hundredth_sec = time_i[6]/10000;
		store->pos_thousandth_sec = 
			(time_i[6] - 10000*store->pos_hundredth_sec)/100;

		/*get navigation */
		store->pos_longitude = (int) (navlon/0.00000009);
		store->pos_latitude = (int) (navlat/0.00000009);

		/* get heading */
		store->heading = (int) (heading * 100);

		/* get draft  */
		store->transducer_depth = 1000 * draft;

		/* get roll pitch and heave */
		store->roll = roll*200.0;
		store->pitch = pitch*200.0;
		store->heave = heave*200.0;
		}

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson_extract_svp(int verbose, void *mbio_ptr, void *store_ptr,
		int *kind, int *nsvp,
		double *depth, double *velocity,
		int *error)
{
	char	*function_name = "mbsys_reson_extract_svp";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson_struct *store;
	int	i;

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

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

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

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

	/* extract data from structure */
	if (*kind == MB_DATA_VELOCITY_PROFILE)
		{
		/* get number of depth-velocity pairs */
		*nsvp = store->svp_num;
		
		/* get profile */
		for (i=0;i<*nsvp;i++)
			{
			depth[i] = 0.1 * store->svp_depth[i];
			velocity[i] = 0.1 * store->svp_vel[i];
			}

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_reson_insert_svp(int verbose, void *mbio_ptr, void *store_ptr,
		int nsvp,
		double *depth, double *velocity,
		int *error)
{
	char	*function_name = "mbsys_reson_insert_svp";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_reson_struct *store;
	int	i;

	/* print input debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> called\n",function_name);
		fprintf(stderr,"dbg2  Revision id: %s\n",rcs_id);
		fprintf(stderr,"dbg2  Input arguments:\n");
		fprintf(stderr,"dbg2       verbose:    %d\n",verbose);
		fprintf(stderr,"dbg2       mbio_ptr:   %lu\n",(size_t)mbio_ptr);
		fprintf(stderr,"dbg2       store_ptr:  %lu\n",(size_t)store_ptr);
		fprintf(stderr,"dbg2       nsvp:       %d\n",nsvp);
		for (i=0;i<nsvp;i++)
		    fprintf(stderr,"dbg2       depth[%d]: %f   velocity[%d]: %f\n",i, depth[i], i, velocity[i]);
		}

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

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

	/* insert data in structure */
	if (store->kind == MB_DATA_VELOCITY_PROFILE)
		{
		/* get number of depth-velocity pairs */
		store->svp_num = MIN(nsvp, MBSYS_RESON_MAXSVP);
		
		/* get profile */
		for (i=0;i<store->svp_num;i++)
			{
			store->svp_depth[i] = (int) (10 * depth[i]);
			store->svp_vel[i] = (int) (10 * velocity[i]);
			}
		}

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

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

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

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

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

	/* copy the data */
	*copy = *store;

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

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