/*--------------------------------------------------------------------
 *    The MB-system:	mbsys_mr1v2001.c	3/6/2003
 *	$Id: mbsys_mr1v2001.c 1917 2012-01-10 19:25:33Z caress $
 *
 *    Copyright (c) 2003-2012 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_mr1v2001v2001.c defines the data structures used by MBIO functions
 * to store interferometry sonard data processed by the Hawaii Mapping
 * Research Group. This includes data from the MR1, SCAMP, and WHOI
 * DSL 120
 *.
 * The data formats associated with mbsys_mr1v2001v2001 are:
 *      MBF_MR1PRVR2 : MBIO ID 63
 *
 * Author:	D. W. Caress
 * Date:	March 6, 2003
 * $Log: mbsys_mr1v2001.c,v $
 * Revision 5.2  2006/01/24 19:11:17  caress
 * Version 5.0.8 beta.
 *
 * Revision 5.1  2005/11/05 00:48:05  caress
 * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc().
 *
 * Revision 5.0  2003/03/10 20:03:59  caress
 * Initial version.
 *
 *
 *
 */

/* standard include files */
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <string.h>
#include <time.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_mr1v2001.h"

 static char rcs_id[]="$Id: mbsys_mr1v2001.c 1917 2012-01-10 19:25:33Z caress $";

/*--------------------------------------------------------------------*/
int mbsys_mr1v2001_alloc(int verbose, void *mbio_ptr, void **store_ptr, 
			int *error)
{
	char	*function_name = "mbsys_mr1v2001_alloc";
	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 mbio descriptor */
	mb_io_ptr = (struct mb_io_struct *) mbio_ptr;

	/* allocate memory for data structure */
	status = mb_malloc(verbose,sizeof(struct mbsys_mr1v2001_struct),
				store_ptr,error);
 	memset(*store_ptr, 0, sizeof(struct mbsys_mr1v2001_struct));

	/* print output debug statements */
	if (verbose >= 2)
		{
		fprintf(stderr,"\ndbg2  MBIO function <%s> completed\n",function_name);
		fprintf(stderr,"dbg2  Return values:\n");
		fprintf(stderr,"dbg2       store_ptr:  %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_mr1v2001_deall(int verbose, void *mbio_ptr, void **store_ptr, 
			int *error)
{
	char	*function_name = "mbsys_mr1v2001_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_mr1v2001_dimensions(int verbose, void *mbio_ptr, void *store_ptr, 
		int *kind, int *nbath, int *namp, int *nss, int *error)
{
	char	*function_name = "mbsys_mr1v2001_dimensions";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;

	/* 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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get beam and pixel numbers */
		*nbath = 2 * MAX(pingport->ps_btycount, pingstbd->ps_btycount) + 3;
		*namp = 0;
		*nss = 2 * MAX(pingport->ps_sscount, pingstbd->ps_sscount);
		}

	/* extract data from structure */
	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_mr1v2001_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_mr1v2001_extract";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;
	int	beam_center, pixel_center;
	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       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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		
		/* get time */
		*time_d = ping->png_tm.tv_sec + 0.000001 * ping->png_tm.tv_usec;
		mb_get_date(verbose,*time_d,time_i);

		/* get navigation */
		if (!mr1_isnand(ping->png_tlon)
			&& !mr1_isnand(ping->png_tlon))
			{
			*navlon = ping->png_tlon;
			*navlat = ping->png_tlat;
			}
		else if (!mr1_isnand(ping->png_slon)
			&& !mr1_isnand(ping->png_slon))
			{
			*navlon = ping->png_slon;
			*navlat = ping->png_slat;
			}
		else
			{
			*navlon = 0.0;
			*navlat = 0.0;
			}

		/* get heading */
		if (!mr1_isnand(ping->png_tcourse))
			*heading = ping->png_tcourse;
		else if (!mr1_isnand(store->ping.png_compass.sns_repval))
			{
			*heading = store->ping.png_compass.sns_repval;
			if (!mr1_isnand(store->ping.png_magcorr))
				*heading += store->ping.png_magcorr;
			}

		/* set speed to zero */
		*speed = 0.0;
			
		/* set beamwidths in mb_io structure */
		mb_io_ptr->beamwidth_ltrack = 2.0;
		mb_io_ptr->beamwidth_xtrack = 0.1;

		/* zero data arrays */
		for (i=0;i<MBSYS_MR1V2001_BEAMS;i++)
			{
			beamflag[i] = MB_FLAG_NULL;
			bath[i] = 0.0;
			bathacrosstrack[i] = 0.0;
			bathalongtrack[i] = 0.0;
			}
		for (i=0;i<MBSYS_MR1V2001_PIXELS;i++)
			{
			ss[i] = 0.0;
			ssacrosstrack[i] = 0.0;
			ssalongtrack[i] = 0.0;
			}

		/* read beam and pixel values into storage arrays */
		*nbath = 2 * MAX(pingport->ps_btycount, pingstbd->ps_btycount) + 3;
		*namp = 0;
		*nss = 2 * MAX(pingport->ps_sscount, pingstbd->ps_sscount);
		if (*nss > 0) *nss += 3;
		beam_center = *nbath/2;
		pixel_center = *nss/2;
		for (i=0;i<pingport->ps_btycount;i++)
			{
			j = beam_center - i - 2;
			if (store->pbty[2*i+1] > 0)
			    {
			    beamflag[j] = MB_FLAG_NONE;
			    bath[j] = store->pbty[2*i+1];
			    }
			else if (store->pbty[2*i+1] < 0)
			    {
			    beamflag[j] = 
				MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[j] = -store->pbty[2*i+1];
			    }
			else
			    {
			    beamflag[j] = MB_FLAG_NULL;
			    bath[j] = store->pbty[2*i+1];
			    }
			bathacrosstrack[j] = -store->pbty[2*i];
			bathalongtrack[j] = 0.0;
			}
		for (i=0;i<3;i++)
			{
			j = beam_center + i - 1;
			if (j == beam_center)
				{
				if (ping->png_alt > 0.0)
				    {
				    beamflag[j] = MB_FLAG_NONE;
				    bath[j] 
					= ping->png_depth.sns_repval + ping->png_alt;
				    }
				else if (ping->png_alt < 0.0)
				    {
				    beamflag[j] = 
					MB_FLAG_MANUAL + MB_FLAG_FLAG;
				    bath[j] 
					= ping->png_depth.sns_repval - ping->png_alt;
				    }
				else
				    {
				    beamflag[j] = MB_FLAG_NULL;
				    bath[j] = 0.0;
				    }
				}
			else
				{
				beamflag[j] = MB_FLAG_NULL;
				bath[j] = 0.0;
				}
			bathacrosstrack[j] = 0.0;
			bathalongtrack[j] = 0.0;
			}
		for (i=0;i<pingstbd->ps_btycount;i++)
			{
			j = beam_center + 2 + i;
			if (store->sbty[2*i+1] > 0)
			    {
			    beamflag[j] = MB_FLAG_NONE;
			    bath[j] = store->sbty[2*i+1];
			    }
			else if (store->sbty[2*i+1] < 0)
			    {
			    beamflag[j] = 
				MB_FLAG_MANUAL + MB_FLAG_FLAG;
			    bath[j] = -store->sbty[2*i+1];
			    }
			else
			    {
			    beamflag[j] = MB_FLAG_NULL;
			    bath[j] = store->sbty[2*i+1];
			    }
			bathacrosstrack[j] = store->sbty[2*i];
			bathalongtrack[j] = 0.0;
			}
		for (i=0;i<pingport->ps_sscount;i++)
			{
			j = pixel_center - i - 2;
			ss[j] = store->pss[i];
			ssacrosstrack[j] = -pingport->ps_ssoffset 
				- i*ping->png_atssincr;
			ssalongtrack[j] = 0.0;
			}
		for (i=0;i<3;i++)
			{
			j = pixel_center + i - 1;
			ss[j] = 0.0;
			ssacrosstrack[j] = 0.0;
			ssalongtrack[j] = 0.0;
			}
		for (i=0;i<pingstbd->ps_sscount;i++)
			{
			j = pixel_center + 2 + i;
			ss[j] = store->sss[i];
			ssacrosstrack[j] = pingstbd->ps_ssoffset 
				+ i*ping->png_atssincr;
			ssalongtrack[j] = 0.0;
			}

		/* 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);
			fprintf(stderr,"dbg4       nbath:      %d\n",
				*nbath);
			for (i=0;i<*nbath;i++)
			  fprintf(stderr,"dbg4       beam:%d  flag:%3d  bath:%6g  acrosstrack:%6g  alongtrack:%6g\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:%6g  acrosstrack:%6g  alongtrack:%6g\n",
				i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
			fprintf(stderr,"dbg4        nss:      %d\n",
				*nss);
			for (i=0;i<*nss;i++)
			  fprintf(stderr,"dbg4        pixel:%d   ss:%6g  acrosstrack:%6g  alongtrack:%6g\n",
				i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
			}

		/* 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]);
		fprintf(stderr,"dbg2        nss:      %d\n",
			*nss);
		for (i=0;i<*nss;i++)
		  fprintf(stderr,"dbg2        pixel:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
			i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
		}
	if (verbose >= 2)
		{
		fprintf(stderr,"dbg2       error:      %d\n",*error);
		fprintf(stderr,"dbg2  Return status:\n");
		fprintf(stderr,"dbg2       status:     %d\n",status);
		}

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_mr1v2001_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_mr1v2001_insert";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;
	int	beam_center, pixel_center;
	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);
		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]);
		fprintf(stderr,"dbg2        nss:       %d\n",nss);
		if (verbose >= 3) 
		 for (i=0;i<nss;i++)
		  fprintf(stderr,"dbg3        pixel:%d   ss:%f  acrosstrack:%f  alongtrack:%f\n",
			i,ss[i],ssacrosstrack[i],ssalongtrack[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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		ping->png_tm.tv_sec = (int) time_d;
		ping->png_tm.tv_usec = (int) 1000000.0*(time_d - ping->png_tm.tv_sec);

		/* get navigation */
		if (navlon < 0.0) navlon = navlon + 360.0;
		ping->png_tlon = navlon;
		ping->png_tlat = navlat;

		/* get heading */
		ping->png_tcourse = heading;

		/* get speed */

		/* get port bathymetry */
		beam_center = nbath/2;
		for (i=0;i<pingport->ps_btycount;i++)
			{
			j = beam_center - 2 - i;
			if (beamflag[j] != MB_FLAG_NULL)
				{
				if (mb_beam_check_flag(beamflag[j]))
				    store->pbty[2*i+1] 
					= -bath[j];
				else
				    store->pbty[2*i+1] 
					= bath[j];
				store->pbty[2*i]
					= -bathacrosstrack[j];
				}
			else
				{
				store->pbty[2*i+1] = 0.0;
				store->pbty[2*i] = 0.0;
				}
			}

		/* get center beam bathymetry */
		if (beamflag[beam_center] == MB_FLAG_NULL)
			{
			ping->png_alt = 0.0;
			}
		else if (mb_beam_check_flag(beamflag[beam_center]))
			{
			ping->png_alt = -bath[beam_center] 
				+ ping->png_depth.sns_repval;
			}
		else
			{
			ping->png_alt = bath[beam_center] 
				- ping->png_depth.sns_repval;
			}

		/* get starboard bathymetry */
		for (i=0;i<pingstbd->ps_btycount;i++)
			{
			j = beam_center + 2 + i;
			if (beamflag[j] != MB_FLAG_NULL)
				{
				if (mb_beam_check_flag(beamflag[j]))
				    store->sbty[2*i+1] 
					= -bath[j];
				else
				    store->sbty[2*i+1] 
					= bath[j];
				store->sbty[2*i]
					= bathacrosstrack[j];
				}
			else
				{
				store->sbty[2*i] = 0.0;
				store->sbty[2*i+1] = 0.0;
				}
			}

		/* get port sidescan */
		pixel_center = nss/2;
		for (i=0;i<pingport->ps_sscount;i++)
			{
			j = pixel_center - 2 - i;
			store->pss[i] 
				= ss[j];
			}

		/* get starboard sidescan */
		for (i=0;i<pingstbd->ps_sscount;i++)
			{
			j = pixel_center + 2 + i;
			store->sss[i] 
				= ss[j];
			}
		}

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

	/* 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_mr1v2001_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_mr1v2001_ttimes";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;
	double	depth, xtrack;
	int	beam_center;
	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       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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get sound velocity at transducers */
		if (!mr1_isnanf(ping->png_sndvel))
			*ssv = ping->png_sndvel;
		else
			*ssv = 1500.0;
		*draft = ping->png_depth.sns_repval;

		/* get nbeams */
		*nbeams = 2 * MAX(pingport->ps_btycount, pingstbd->ps_btycount) + 3;
		beam_center = *nbeams/2;

		/* zero data arrays */
		for (i=0;i<*nbeams;i++)
			{
			ttimes[i] = 0.0;
			angles[i] = 0.0;
			angles_forward[i] = 0.0;
			angles_null[i] = 0.0;
			heave[i] = 0.0;
			alongtrack_offset[i] = 0.0;
			}

		/* get travel times and angles */
		for (i=0;i<pingport->ps_btycount;i++)
			{
			j = beam_center - i - 2;
			angles_null[j] = MBSYS_MR1V2001_XDUCER_ANGLE;
			angles_forward[j] = 180.0;
			depth = fabs(store->pbty[2*i])
				- store->ping.png_depth.sns_repval;
			xtrack = -store->pbty[2*i+1];
			if (fabs(store->pbty[2*i]) > 0.0)
				{
				ttimes[j] = 2.0 * sqrt(depth*depth 
					    + xtrack*xtrack)/ ping->png_sndvel;
				angles[j] = fabs(RTD*atan(xtrack/fabs(depth)));
				heave[j] = 0.0;
				}
			else
				{
				ttimes[j] = 0.0;
				angles[j] = 0.0;
				heave[j] = 0.0;
				}
			}
		for (i=0;i<3;i++)
			{
			j = beam_center + i - 1;
			angles_null[j] = 0.0;
			angles_forward[j] = 0.0;
			if (j == beam_center)
				{
				if (!mr1_isnanf(ping->png_alt)
					&& !mr1_isnanf(ping->png_sndvel))
					ttimes[j] = 2.0 * ping->png_alt 
							/ ping->png_sndvel;
				else
					ttimes[j] = 0.0;
				angles[j] = 0.0;
				heave[j] = 0.0;
				}
			else
				{
				ttimes[j] = 0.0;
				angles[j] = 0.0;
				}
			}
		for (i=0;i<pingstbd->ps_btycount;i++)
			{
			j = beam_center + 2 + i;
			angles_null[j] = MBSYS_MR1V2001_XDUCER_ANGLE;
			angles_forward[j] = 0.0;
			depth = fabs(store->sbty[2*i]) 
				- store->ping.png_depth.sns_repval;
			xtrack = store->sbty[2*i+1];
			if (fabs(store->sbty[2*i]) > 0.0)
				{
				ttimes[j] = 2.0 * sqrt(depth*depth 
					    + xtrack*xtrack)/ ping->png_sndvel;;
				angles[j] = fabs(RTD*atan(xtrack/fabs(depth)));
				angles_forward[j] = 0.0;
				heave[j] = 0.0;
				}
			else
				{
				ttimes[j] = 0.0;
				angles[j] = 0.0;
				}
			}

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

		/* done translating values */

		}

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

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

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

	/* return status */
	return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_mr1v2001_detects(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, int *nbeams,
	int *detects, int *error)
{
	char	*function_name = "mbsys_mr1v2001_detects";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;
	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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		/* get nbeams */
		*nbeams = 2 * MAX(pingport->ps_btycount, pingstbd->ps_btycount) + 3;

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

		/* 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_mr1v2001_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr,
	int *kind, double *transducer_depth, double *altitude, 
	int *error)
{
	char	*function_name = "mbsys_mr1v2001_extract_altitude";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;
	double	bestdepth;
	double	bestxtrack;
	int	found;
	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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		*transducer_depth = fabs(ping->png_depth.sns_repval);
		if (!mr1_isnanf(ping->png_alt)
			&& ping->png_alt > 0.0)
			*altitude = ping->png_alt;
		else
			{
			bestxtrack = 10000.0;
			bestdepth = 0.0;
			found = MB_NO;
			for (i=0;i<pingport->ps_btycount;i++)
				{
				if (store->pbty[2*i+1] > 0
				    && store->pbty[2*i] < bestxtrack)
				    {
				    bestdepth = store->pbty[2*i+1];
				    bestxtrack = store->pbty[2*i];
				    found = MB_YES;
				    }
				}
			for (i=0;i<pingstbd->ps_btycount;i++)
				{
				if (store->sbty[2*i+1] > 0
				    && store->sbty[2*i] < bestxtrack)
				    {
				    bestdepth = store->sbty[2*i+1];
				    bestxtrack = store->sbty[2*i];
				    found = MB_YES;
				    }
				}
			if (found == MB_NO)
			    {
			    for (i=0;i<pingport->ps_btycount;i++)
				{
				if (store->pbty[2*i+1] < 0
				    && store->pbty[2*i] < bestxtrack)
				    {
				    bestdepth = store->pbty[2*i+1];
				    bestxtrack = store->pbty[2*i];
				    found = MB_YES;
				    }
				}
			    for (i=0;i<pingstbd->ps_btycount;i++)
				{
				if (store->sbty[2*i+1] < 0
				    && store->sbty[2*i] < bestxtrack)
				    {
				    bestdepth = store->sbty[2*i+1];
				    bestxtrack = store->sbty[2*i];
				    found = MB_YES;
				    }
				}
			    }
			if (found == MB_YES)
				*altitude = bestdepth - *transducer_depth;
			else
				*altitude = 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);
		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_mr1v2001_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_mr1v2001_extract_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;

	/* 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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

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

	/* extract data from structure */
	if (*kind == MB_DATA_DATA)
		{
		
		/* get time */
		*time_d = ping->png_tm.tv_sec + 0.000001 * ping->png_tm.tv_usec;
		mb_get_date(verbose,*time_d,time_i);

		/* get navigation */
		if (!mr1_isnand(ping->png_tlon)
			&& !mr1_isnand(ping->png_tlon))
			{
			*navlon = ping->png_tlon;
			*navlat = ping->png_tlat;
			}
		else if (!mr1_isnand(ping->png_slon)
			&& !mr1_isnand(ping->png_slon))
			{
			*navlon = ping->png_slon;
			*navlat = ping->png_slat;
			}
		else
			{
			*navlon = 0.0;
			*navlat = 0.0;
			}

		/* get heading */
		if (!mr1_isnand(ping->png_tcourse))
			*heading = ping->png_tcourse;
		else if (!mr1_isnand(store->ping.png_compass.sns_repval))
			{
			*heading = store->ping.png_compass.sns_repval;
			if (!mr1_isnand(store->ping.png_magcorr))
				*heading += store->ping.png_magcorr;
			}

		/* set speed to zero */
		*speed = 0.0;

		/* get draft */
		*draft = ping->png_depth.sns_repval;

		/* get roll pitch and heave */
		*roll = ping->png_roll.sns_repval;
		*pitch = ping->png_pitch.sns_repval;
		*heave = 0.0;

		/* 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);
			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 */

		}

	/* 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_mr1v2001_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_mr1v2001_insert_nav";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	MR1File *header;
	Ping *ping;
	PingSide *pingport;
	PingSide *pingstbd;

	/* 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_mr1v2001_struct *) store_ptr;

	/* get pointers */
	header = &(store->header);
	ping = &(store->ping);
	pingport = &(ping->png_sides[0]);
	pingstbd = &(ping->png_sides[1]);

	/* insert data in structure */
	if (store->kind == MB_DATA_DATA)
		{
		/* get time */
		ping->png_tm.tv_sec = (int) time_d;
		ping->png_tm.tv_usec = (int) 1000000.0*(time_d - ping->png_tm.tv_sec);

		/* get navigation */
		if (navlon < 0.0) navlon = navlon + 360.0;
		ping->png_tlon = navlon;
		ping->png_tlat = navlat;

		/* get heading */
		ping->png_tcourse = heading;

		/* get speed */

		/* get draft */
		ping->png_depth.sns_repval = draft;

		/* get roll pitch and heave */
		ping->png_roll.sns_repval = roll;
		ping->png_pitch.sns_repval = pitch;
		}

	/* 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_mr1v2001_copy(int verbose, void *mbio_ptr, 
			void *store_ptr, void *copy_ptr,
			int *error)
{
	char	*function_name = "mbsys_mr1v2001_copy";
	int	status = MB_SUCCESS;
	struct mb_io_struct *mb_io_ptr;
	struct mbsys_mr1v2001_struct *store;
	struct mbsys_mr1v2001_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_mr1v2001_struct *) store_ptr;
	copy = (struct mbsys_mr1v2001_struct *) copy_ptr;

	/* copy the data */
	copy->kind = store->kind;
	copy->header.mf_version = store->header.mf_version;
	copy->header.mf_count = store->header.mf_count;
	if (copy->header.mf_log != NULL)
		free(copy->header.mf_log);
	if (copy->header.mf_count > 0)
		{
		copy->header.mf_log 
			= (char *) calloc((MemSizeType) (copy->header.mf_count+1), 
					sizeof(char));
		if (copy->header.mf_log != NULL)
			{
			memcpy(copy->header.mf_log,
				store->header.mf_log,
				copy->header.mf_count);
			copy->header.mf_log[copy->header.mf_count] = '\0';
			}
		else
			{
			status = MB_FAILURE;
			*error = MB_ERROR_MEMORY_FAIL;
			}
		}
	copy->ping = store->ping;
	copy->mr1buffersize = store->mr1buffersize;
	if (mr1_pngrealloc(&(copy->ping), &(copy->mr1buffer), &(copy->mr1buffersize))
		== MR1_SUCCESS)
		{
		status = MB_SUCCESS;
		*error = MB_ERROR_NO_ERROR;
		memcpy(copy->mr1buffer,store->mr1buffer,copy->mr1buffersize);
		mr1_getpngdataptrs(&(copy->ping), copy->mr1buffer,
					&(copy->compass),
					&(copy->depth),
					&(copy->pitch),
					&(copy->roll),
					&(copy->pbty),
					&(copy->sbty),
					&(copy->pss),
					&(copy->sss));
		}
	else
		{
		status = MB_FAILURE;
		*error = MB_ERROR_MEMORY_FAIL;
		}
	
	/* 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);
}
/*--------------------------------------------------------------------*/